Industrial robot control integrated device

Abstract

The invention relates to an industrial robot control integrated device which comprises a programmable logic control module 1, a programmable logic control module 2, an industrial robot grabbing driving module, a photoelectric control network module, a power supply module, a wiring terminal strip, a wire strip, a cable and a mounting box body. A plurality of functions controlled by the industrial robot are modularized, a control program is written into the programmable logic control module after being standardized, in actual application, the industrial robot can be controlled and driven to operate normally only by setting control parameters according to production process requirements and performing simple debugging, and meanwhile, an expansion network interface is reserved for large-scale use, so that the industrial robot can be controlled and driven to operate normally. The control problem of putting the high-efficiency large-scale industrial robot into use is solved, and a large number of manpower debugging resources are saved.

Description

Technical Field

[0001] This industrial robot control integration device belongs to the field of industrial robot application technology. Background Technology

[0002] Currently, robots are needed for production and processing in automated production lines and precision machining lines in industrial manufacturing. With the development of drive and transmission technology, perception and sensing technology, control theory and software, in order for industrial robots to operate accurately according to the control trajectory, the vision system must accurately take target values, exchange data with the control system, and control the servo motor to operate accurately. Through software technology, the industrial robot operation control technology program is optimized into a standard program, written into the programmable logic controller, and multiple functions are modularly integrated to develop this industrial robot control integration device. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated control device for industrial robots, which simplifies the use of industrial robots, reduces on-site debugging time, and allows for rapid troubleshooting in case of malfunctions. This enables the efficient deployment of industrial robots and the control of large-scale clusters to automatically collaborate and complete production tasks.

[0004] The above objectives are achieved through the following technical solution: An industrial robot control integration device, including a programmable logic control module 1 and a programmable logic control module 2, an industrial robot gripping drive module, a photoelectric control network module, a power supply module, terminal blocks and cables, and a mounting housing. Each module has its own independent functional modules. Programmable logic control module 1 and programmable logic control module 2 carry the written control program. A vision system communication interface is provided to facilitate network connection between the vision system and the industrial robot control integration device. A network interface is provided for data exchange and command execution with a host computer. An RS485 serial port is provided to facilitate data communication with sensing sensors, detection devices, etc. An industrial robot gripping drive module is provided for quickly and safely driving the industrial robot arm to grip. The system isolates the core control module from direct signal connection to the programmable logic control module (PLC), and includes a photoelectric control network module for remote operation control, interface monitoring, module expansion, and vision networking of industrial robots. A power supply module provides stable power to all functional modules. For both PLC 1 and PLC 2, input and output digital signals are connected using busbars, which is more standardized and neater than ordinary cables. Output pulse signals use shielded cables to prevent interference from external electromagnetic fields and ensure stable pulse signal output. RS485 serial communication uses shielded twisted-pair cable to ensure stable communication. For PLC 1, the input signal terminal I0.0 is connected to terminal 53. Section 1 is set as the industrial robot's operation activation trigger signal, with input signal terminal I0.1 connected to terminal block 53. Section 2 is set as the industrial robot's start signal, with input signal terminal I0.2 connected to terminal block 53. Section 3 is set as the industrial robot's stop signal, with input signal terminal I0.3 connected to terminal block 53. Section 4 is set as the industrial robot's single-action / continuous signal, with input signal terminal I0.4 connected to terminal block 53. Section 5 is set as the industrial robot's 1-axis manual signal, with input signal terminal I0.5 connected to terminal block 53. Section 6 is set as the industrial robot's 2-axis manual signal. Input signal terminal I0.6 is connected to section 7 of terminal block 53 and is configured as a 3-axis manual signal for the industrial robot. Input signal terminal I0.7 is connected to section 8 of terminal block 53 and is configured as a 1-axis limit signal for the industrial robot. Input signal terminal I1.0 is connected to section 9 of terminal block 53 and is configured as a 2-axis limit signal for the industrial robot. Input signal terminal I1.1 is connected to section 10 of terminal block 53 and is configured as a 3-axis limit signal for the industrial robot. Input signal terminal I1.2 is connected to section 11 of terminal block 53 and is configured as a reset signal for the industrial robot. Input signal terminal I1.3-2...The 0-bit terminal is connected to sections 12-17 of terminal block 53 as a spare signal for the industrial robot. Input signal terminals 1I-2I+ are connected to sections 18-21 of terminal block 53 as analog input signals for the industrial robot. Output signal terminals Q0.0-0.1 are connected to sections 5-6 of terminal block 31 as 1-axis pulse drive signals for the industrial robot. Output signal terminals Q0.2-0.3 are connected to sections 3-4 of terminal block 31 as 2-axis pulse drive signals for the industrial robot. Output signal terminals Q0.4-Q0.5 are connected to sections 1-2 of terminal block 31 as 3-axis pulse drive signals for the industrial robot. Output signal terminal Q1.0 is connected to... The third control terminal of the industrial robot gripping drive module 17 is set as the drive input terminal for the high-power arm gripping control 1. The output signal terminal Q1.1 is connected to the second control terminal of the industrial robot gripping drive module 17, set as the drive input terminal for the high-power arm gripping control 2. The output signal terminal Q1.2 is connected to the first control terminal of the industrial robot gripping drive module 17, set as the drive input terminal for the high-power arm gripping control 3. The RS485 serial port component, installed on the right panel of the industrial robot control integration device, can connect to external sensors and detectors for data reading and writing communication. The RJ45 interface 2 of the programmable logic control module 1 is connected to the RJ45 interface 3 of the programmable logic control module 2 for communication and networking. The RJ45 interface 1 of the programmable logic control module 1 is connected to the photoelectric control network module of the industrial robot control integration device for networking.

[0005] The programmable logic control module 2 has the following input signal terminals: I0.0 is connected to the 7th section of terminal block 31, configured as a manual signal for industrial robot axis 4; I0.1 is connected to the 8th section of terminal block 31, configured as a manual signal for industrial robot axis 5; I0.2 is connected to the 9th section of terminal block 31, configured as a manual signal for industrial robot axis 6; I0.3 is connected to the 10th section of terminal block 31, configured as a limit signal for industrial robot axis 4; I0.4 is connected to the 11th section of terminal block 31, configured as a limit signal for industrial robot axis 5; I0.5 is connected to the 12th section of terminal block 31, configured as a limit signal for industrial robot axis 6; I0.6-1.0 are connected to the 13th-15th sections of terminal block 31, configured as spare signals for the industrial robot; the 16th section of terminal block 31 is a spare terminal; and the output signal terminal Q... The 0.0-0.1 terminal is connected to sections 20-21 of terminal block 31 and is set as the pulse drive signal for industrial robot axis 4. The output signal terminal Q0.2-0.3 is connected to sections 18-19 of terminal block 31 and is set as the pulse drive signal for industrial robot axis 5. The output signal terminal Q0.4-0.5 is connected to sections 16-17 of terminal block 31 and is set as the pulse drive signal for industrial robot axis 6. The output signal terminal Q0.7 is connected to the 6th group of control terminals of industrial robot gripping drive module 17 and is set as the drive input terminal for industrial robot high-power gripping control 4. The output signal terminal Q1.0 is connected to the 5th group of control terminals of industrial robot gripping drive module 17 and is set as the drive input terminal for industrial robot power gripping control 5. The output signal terminal Q1.1 is connected to the 4th group of control terminals of industrial robot gripping drive module 17 and is set as the drive input terminal for industrial robot power gripping control 6.

[0006] The industrial robot controller integration device connects the photoelectric control network module to the programmable logic controller module 2 via RJ45 interface 5 and RJ45 interface 4, and to the programmable logic controller module 1 via RJ45 interface 6. It also connects to the programmable logic controller module via RJ45 interface 7, enabling network expansion for the programmable logic controller module. The device also allows for camera signal input from the vision system via RJ45 interface 8, communication with the host computer via RJ45 interface 9, and RJ45 interface 10 as a backup communication interface. Fiber optic interface 1 connects to a central or remote host computer, and fiber optic interface 2 is reserved as a backup. Two RS485 serial port components enable communication with other sensing sensors and detection devices, facilitating data reading and writing, thus adding intelligent sensing elements to the industrial robot. Through standardized program judgment, intelligent control of the industrial robot is achieved. Attached Figure Description

[0007] The accompanying drawings, which constitute a part of this invention, are used to enhance the understanding of the invention. The illustrative examples of the invention are used to explain the apparatus of the invention and do not constitute an undue limitation of the invention. Figure 1 This is a schematic diagram of the structure of an industrial robot control integration device according to an embodiment of the present invention.

[0008] Figure 2 This is a schematic diagram of the right panel interface and wiring terminal structure of an industrial robot control integration device according to an embodiment of the present invention.

[0009] Figure 3 This is a schematic diagram of the wiring terminal structure of the rear panel of the industrial robot control integration device according to one embodiment of the present invention.

[0010] In the picture 1. Power cable assembly 2. Power module 3. RS485 serial port assembly 1 4. RJ45 interface 1 5. RJ45 interface 2 6. Output signal indicator 7. Input signal indicator 8. Analog input signal indicator 9. Programmable logic control module 1 10. RS485 serial port assembly 2 11. RJ45 interface 3 12. RJ45 interface 4 13. Input signal indicator 14. Analog input signal indicator 15. Programmable logic control module 1 16. Output indicator 17. Robot gripping drive module 18. Terminal block 19. Terminal block (Section 1) 20. Terminal block (Section 2) 21. Terminal block (Section 3) 22. Terminal block (Section 4) 23. Terminal block (Section 5) 24. Terminal block (Section 6) 25. Terminal block (Section 7) 26. Terminal block (Section 8) 27. Terminal block (Section 9) 28. Terminal block (Section 10) 29. Terminal block (Section 11) 30. Terminal block (Section 12) 31. Terminal block 32. Terminal block Section 1 Terminal Block 33; Section 2 Terminal Block 34; Section 3 Terminal Block 35; Section 4 Terminal Block 36; Section 5 Terminal Block 37; Section 6 Terminal Block 38; Section 7 Terminal Block 39; Section 8 Terminal Block 40; Section 9 Terminal Block 41; Section 10 Terminal Block 42; Section 11 Terminal Block 43; Section 12 Terminal Block 44; Section 13 Terminal Block 45; Section 14 Terminal Block 46; Section 15 Terminal Block 47; Section 16 Terminal Block 48 Terminal block section 17; Terminal block section 18; Terminal block section 50; Terminal block section 19; Terminal block section 20; Terminal block section 21; Terminal block section 53; Terminal block section 54; Terminal block section 1; Terminal block section 2; Terminal block section 3; Terminal block section 4; Terminal block section 5; Terminal block section 5; Terminal block section 6; Terminal block section 60; Terminal block section 7; Terminal block section 8; Terminal block section 9; Terminal block section 10; Terminal block section 11; Terminal block section 12; Terminal block section 13; Terminal block section 14; Terminal block section 15; Terminal block section 16; Terminal block section 17; Terminal block section 18; Terminal block section 19; Terminal block section 20; Terminal block section 21; 75-1 RS485 serial port assembly 2 female connector; 76-1 RS485 serial port assembly 1 female connector 77 photoelectric conversion module 78 fiber optic interface 1 79 fiber optic interface 2 80 RJ45 interface 7 81 RJ45 interface 8 82 RJ45 interface 9 83 RJ45 interface 10 84 RJ45 interface 5 85 RJ45 interface 6 86 mounting enclosure. Detailed Implementation

[0011] The present invention will now be described and illustrated in detail with reference to the accompanying drawings. This description and illustration are for illustrative and explanatory purposes only and should not be construed as limiting the scope of protection of the present invention in any way.

[0012] Examples of embodiments of the present invention: Figure 1-3 An industrial robot control integration device includes: programmable logic control module 1 9 and programmable logic control module 2 15, industrial robot gripping drive module 17, photoelectric control network module 77, power supply module 2, terminal blocks 18, 31, and 53 and cable strips, cable 1, shielded wire, and mounting box 86.

[0013] Examples of embodiments of the present invention: Figure 1-3 An industrial robot control integration device includes: programmable logic control module 1 9 and programmable logic control module 2 15, industrial robot gripping drive module 17, photoelectric control network module 77, power supply module 2, terminal blocks 18, 31, and 53 and cable strips, cable 1, shielded wire, and mounting box 86.

[0014] Industrial robot control integration device, programmable logic control module 1 9, wire bar, cable 1, shielded wire wiring: Terminal I0.0 is connected to the left terminal of section 1, 54 of terminal block 53, and the right terminal is connected to the run activation trigger signal button; Terminal I0.1 is connected to the left terminal of section 2, 55 of terminal block 53, and the right terminal is connected to the start button; Terminal I0.2 is connected to the left terminal of section 3, 56 of terminal block 53, and the right terminal is connected to the stop signal button; Terminal I0.3 is connected to the left terminal of section 4, 57 of terminal block 53, and the right terminal is connected to the single-action / continuous changeover switch; Terminal I0.4... Terminal I0.5 is connected to the left terminal of section 58 of terminal block 53, and the right terminal is connected to the manual button for axis 1 of the industrial robot. Terminal I0.5 is connected to the left terminal of section 59 of terminal block 53, and the right terminal is connected to the manual button for axis 2. Terminal I0.6 is connected to the left terminal of section 60 of terminal block 53, and the right terminal is connected to the manual button for axis 3 of the industrial robot. Terminal I0.7 is connected to the left terminal of section 61 of terminal block 53, and the right terminal is connected to the limit switch for axis 1 of the industrial robot. Terminal I1.0 is connected to section 62 of terminal block 53. The left and right terminals are connected to the limit switch for axis 1 of the industrial robot. Terminal I1.1 is connected to the left terminal of section 63 of terminal block 53 (section 10), and the right terminal is connected to the limit switch for axis 2 of the industrial robot. Terminal I1.2 is connected to the left terminal of section 64 of terminal block 53 (section 11), and the right terminal is connected to the limit switch for axis 3 of the industrial robot. The output signal terminal Q0.0-0.1 is connected to the left terminals 36-37 of sections 5-6 of terminal block 31, and the right terminal is connected to the pulse input drive signal terminal for axis 1 of the industrial robot. The output signal terminal Q0.2-0.3... The left terminal of section 3-4 of terminal 31 is connected to the left terminal, the right terminal is connected to the input drive pulse signal terminal of the 2-axis of the industrial robot, the output signal terminal Q0.4-0.5 is connected to the left terminal of section 1-2 of terminal 31, the right terminal is connected to the input drive pulse signal terminal of the 3-axis of the industrial robot, the output signal terminal Q1.0 is connected to the 3rd control terminal of the industrial robot gripping drive module 17, the output signal terminal Q1.1 is connected to the 2nd control terminal of the industrial robot gripping drive module 17, and the output signal terminal Q1.2 is connected to the 1st control terminal of the industrial robot gripping drive module 17.

[0015] Industrial robot control integration device, programmable logic control module 2 15, wiring harness, cable, shielded wire: Terminal I0.0 connects to the left terminal of section 7, 38 of terminal block 31, and the right terminal connects to the 4-axis manual button of the industrial robot; Terminal I0.1 connects to the left terminal of section 8, 39 of terminal block 31, and the right terminal connects to the 5-axis manual button of the industrial robot; Terminal I0.2 connects to the left terminal of section 9, 40 of terminal block 31, and the right terminal connects to the 6-axis manual button of the industrial robot. Terminal I0.3 is connected to the left terminal of section 41 (10th segment) of terminal 31, and the right terminal is connected to the 4-axis limit signal of the industrial robot. Terminal I0.4 is connected to the left terminal of section 42 (11th segment) of terminal 31, and the right terminal is connected to the 5-axis limit signal of the industrial robot. Terminal I0.5 is connected to the left terminal of section 43 (12th segment) of terminal 31, and the right terminal is connected to the 6-axis limit signal of the industrial robot. Terminal I0.6-1.0 is connected to... Terminal blocks 31, sections 13-15, terminals 44-46 are for spare signals. Output signal terminals Q0.0-0.1 are connected to terminals 51-52 (left and right) of sections 20-21 of terminal block 31. Output signal terminals Q0.2-0.3 are connected to terminals 49-50 of sections 18-19 of terminal block 31. Output signal terminals Q0.2-0.3 are connected to terminals 49-50 (left and right) ... Terminal Q0.4-0.5 is connected to terminals 47-48 of sections 16-17 of terminal block 31. The left and right terminals are connected to the 6-axis pulse drive signal input terminals of the industrial robot. Terminal Q0.7 is connected to the 6th control terminal of the robot gripping drive module 17. Terminal Q1.0 is connected to the 5th control terminal of the robot gripping drive module 17. Terminal Q1.1 is connected to the 4th control terminal of the robot gripping drive module 17.

[0016] The industrial robot control integration device has the following interface wiring: network interface 84 (RJ45 interface 5) of the photoelectric control network module 77 is connected to network interface 12 (RJ45 interface 4) of the programmable control module 2 15; network interface 85 (RJ45 interface 6) is connected to network interface 4 (RJ45 interface 1) of the programmable control module 1; fiber optic interface 78 (fiber optic interface 1) of the photoelectric control network module 77 is connected to the remote host computer; fiber optic interface 79 (fiber optic interface 2) is a spare interface; network interface 80 (RJ45 interface 7) is connected to the network port of the expansion module (if an expansion module is available); network interface 81 (RJ45 interface 8) is connected to the network interface of the vision industrial camera; and network interface 82 (RJ45 interface 9) is connected to the host computer network interface.

[0017] After the wiring of the industrial robot control integration device, including the cable tray, cable 1, and shielded cable, is completed, the power supply of the industrial robot control integration device is connected through the power cable assembly. Parameter settings are then performed: configure the network IP address, connect to the network, and power on. On the host computer interface, you can set the speed and distance values ​​of the industrial robot's 1st, 2nd, 3rd, 4th, 5th, and 6th axes, as well as the gripping torque range of the industrial robot arm, according to process requirements.

[0018] Industrial robot control integration device, control and operation: After networking with the host computer, on the monitoring interface, pressing the manual switch (manual / automatic switch) and the field switch (field / touchscreen / remote switch) will trigger the programmable logic control module 1. When the input signal indicator 7 at terminal I0.0-0.1 and terminal I0.3 are lit, pressing the manual button for axis 1 will start the operation of axis 1 of the industrial robot, and the output signal indicator 6 will light up simultaneously. Similarly, axes 2-6 of the industrial robot can be started. Pressing the automatic switch of the manual / automatic switch on the interface, or the field switch of the field / touchscreen / remote switch, will switch the industrial robot control integration device to automatic control mode. Pressing the touchscreen switch will switch the industrial robot control integration device to touchscreen-controlled mode, and pressing the remote switch will switch the industrial robot control integration device to remote control mode. Regardless of the control mode, the industrial robot will run precisely according to the control trajectory. At the same time, the host computer communicates with the industrial robot control integration device through the network, writes and reads real-time data, and can clearly monitor the working status data of the industrial robot during operation, such as running speed, running distance, and limit status, thus realizing the precise monitoring function of the industrial robot.

Claims

1. An integrated control device for industrial robots, characterized in that, It includes programmable logic control module 1 and programmable logic control module 2, industrial robot gripping drive module, photoelectric control network module, power supply module, terminal block and cable, and mounting box.

2. According to claim 1, the industrial robot control integration device is characterized in that the programmable logic control module 1 has 14 input digital signal points, 4 analog signal points, 3 output digital signal points, and 6 output pulse signal points; the programmable logic control module 2 has 9 input digital signal points, 5 reserved spare points, 4 reserved analog signal points, 6 output pulse signal points, and 3 output digital signal points, and all points are interconnected in the program logic.

3. According to claim 2, the industrial robot control integration device is characterized in that both the programmable logic control module 1 and the programmable logic control module 2 are written with mutually related standardized control programs.

4. According to claim 1, the industrial robot control integration device is characterized in that the industrial robot gripping drive module has 6 sets of electronic control modules welded onto an integrated circuit board, the welding surface is covered and sealed with silicone coating, and the wiring is fastened with 304 stainless steel screws.

5. According to claim 1, the industrial robot integration device is characterized in that, The photoelectric control network module has 6 network ports, 2 on the rear panel and 4 on the front panel, and 2 fiber optic interfaces arranged side by side.

6. According to claim 1, the industrial robot integration device is characterized in that, The programmable logic control module 1 and programmable logic control module 2 input and output digital signal points, set up line bus connections, analog signal points, set up shielded wire connections, and pulse signals set up shielded wire connections.

7. According to claim 1, the industrial robot integration device is characterized in that, The control function is modularized and the program is standardized. The programmable logic control module 1 and programmable logic control module 2 are equipped with dual network interfaces.

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