CN102139486A - Control system for robot palletizer with self-maintenance function - Google Patents
Control system for robot palletizer with self-maintenance functionDownload PDFInfo
- Publication number
- CN102139486A CN102139486ACN 201110097081CN201110097081ACN102139486ACN 102139486 ACN102139486 ACN 102139486ACN 201110097081CN201110097081CN 201110097081CN 201110097081 ACN201110097081 ACN 201110097081ACN 102139486 ACN102139486 ACN 102139486A
- Authority
- CN
- China
- Prior art keywords
- robot
- bus
- circuit
- module
- production line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- General Factory Administration (AREA)
- Manipulator (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及的是一种自动化控制技术领域的装置，具体是一种具有自维护功能的码垛机器人控制系统。The invention relates to a device in the technical field of automation control, in particular to a palletizing robot control system with self-maintenance function.
背景技术Background technique
自从上个世纪70年代末，日本将机器人技术应用到码垛工艺以来，码垛机器人得到了迅速的发展。由于其占地面积小，能够同时处理多种物料和码垛多个料垛，并且处理速度快，抓取重量也在不断提高，码垛机器人的使用大大降低了人工劳动强度，极大的提高了生产效率。因而码垛机器人在世界各国受到了广泛的青睐，在石油、化工、食品加工、饮料、包装运输等领域得到广泛应用。Since Japan applied robot technology to the palletizing process in the late 1970s, palletizing robots have developed rapidly. Due to its small footprint, it can handle multiple materials and stack multiple stacks at the same time, and the processing speed is fast, and the grabbing weight is also increasing. The use of palletizing robots greatly reduces the labor intensity and greatly improves production efficiency. Therefore, palletizing robots are widely favored in countries all over the world, and are widely used in petroleum, chemical, food processing, beverage, packaging and transportation and other fields.
工厂里的一条生长线上往往由多个码垛机器人组成。它们在流水线上串联工作，相互协作，合力完成整道工作。各个机器人都独立完成工作中的不同工作步骤。因此，在这个过程中，保证每一个码垛机器人的正常工作都至关重要。当流水线上任何一个机器人出现故障，不得不停下当前工作，那么整条生产线都将因此受到影响，被迫停止运行。这种事故将严重影响工厂的生产进度，给企业带来巨大的经济损失。因此，如何保证整条生产线能够最大限度正常运行对生产企业而言意义重大。A growth line in a factory often consists of multiple palletizing robots. They work in series on the assembly line, cooperate with each other, and work together to complete the whole work. Each robot independently completes different work steps in the job. Therefore, in this process, it is very important to ensure the normal work of each palletizing robot. When any robot on the assembly line fails and has to stop its current work, the entire production line will be affected and forced to stop running. This kind of accident will seriously affect the production progress of the factory and bring huge economic losses to the enterprise. Therefore, how to ensure the maximum normal operation of the entire production line is of great significance to the production enterprise.
经过对现有技术的检索发现，当前广泛应用的码垛机器人通常各自独立运行，每个码垛机器人由一个主控系统和各个关机驱动系统组成。根据其多轴控制方法，或基于PLC或PC实现多轴控制，较先进的码垛机器人采用基于现场总线的多轴控制系统，比如在汽车行业广泛应用CAN总线。比如中国专利文献号：CN1923468，名称：一种搬运码垛机器人，中国专利文献号：CN101362329A，名称：码垛机器人以及中国专利文献号：CN101817452A，名称：装箱、码垛机器人。这几个专利中介绍了几种不同的码垛机器人，其中控制系统大致如下所述：码垛机器人对应的机器关节的电机由关节驱动器独立驱动，进行闭环控制，进而精确控制对应的机器关节的转动。主控系统则对整个机器人的运动进行控制，协调控制对应的机器关节的运动，补偿误差，以实现对末端执行器的精确控制。而三个专利都未涉及多个码垛机器人的通行协调合作以及机器人针对故障的自检测和容错控制功能。一条生产线上的各个机器人之间并无相互通信和协调。因此当一个码垛机器人出现故障时，机器人自己不能采取响应的措施进行调整，以实现容错控制，维持工作。其他的机器人也无法获得相应信息，不能对此做出响应，采取措施协调配合出现故障的机器人，来维持生产线的正常运作。After searching the prior art, it is found that currently widely used palletizing robots usually operate independently, and each palletizing robot is composed of a main control system and various shutdown drive systems. According to its multi-axis control method, or based on PLC or PC to realize multi-axis control, more advanced palletizing robots adopt multi-axis control system based on field bus, such as CAN bus is widely used in the automotive industry. For example, Chinese patent document number: CN1923468, title: a handling and palletizing robot, Chinese patent document number: CN101362329A, name: palletizing robot and Chinese patent document number: CN101817452A, title: packing and palletizing robot. Several different palletizing robots are introduced in these patents, and the control system is roughly as follows: the motors of the corresponding machine joints of the palletizing robot are independently driven by the joint driver to perform closed-loop control, and then precisely control the corresponding machine joints. turn. The main control system controls the movement of the entire robot, coordinates and controls the movement of the corresponding machine joints, and compensates for errors to achieve precise control of the end effector. However, none of the three patents involves the general coordination and cooperation of multiple palletizing robots and the self-detection and fault-tolerant control functions of the robots for faults. There is no communication and coordination between the various robots on a production line. Therefore, when a palletizing robot fails, the robot itself cannot take corresponding measures to adjust to achieve fault-tolerant control and maintain work. Other robots cannot obtain the corresponding information and cannot respond to it, and take measures to coordinate with the malfunctioning robot to maintain the normal operation of the production line.
因此，需要对现有生产线上的码垛机器人的控制系统进行改造和创新，一方面使码垛机器人在出现故障时能够针对出现的故障进行判断，调整运动参数或者改变动作，以实现自我维护，以最大限度来维持整个生产线运作的正常进行。另一方面，出错的码垛机器人将自己的诊断信息发送到总线上，将自己的故障信息通知总控系统和同一生产线上的其他机器人，总控系统对此做出判断，采取相应措施，一方面将故障信息显示在工作界面上，通知生产线相关管理人员，同时协调生产线上其他机器人，比如降低工作速度，以配合出现故障的机器人，最大可能的维持生产线的正常运行。Therefore, it is necessary to transform and innovate the control system of the palletizing robot on the existing production line. On the one hand, the palletizing robot can judge the fault when it fails, adjust the motion parameters or change the action to achieve self-maintenance. To maintain the normal operation of the entire production line to the maximum extent. On the other hand, the faulty palletizing robot sends its own diagnostic information to the bus, and notifies the general control system and other robots on the same production line of its own fault information. The general control system makes judgments and takes corresponding measures. On the one hand, the fault information is displayed on the working interface, and the relevant management personnel of the production line are notified. At the same time, other robots on the production line are coordinated, such as reducing the working speed, to cooperate with the faulty robot, and to maintain the normal operation of the production line as much as possible.
发明内容Contents of the invention
本发明针对现有技术存在的上述不足，提供一种具有自维护功能的码垛机器人控制系统，不仅能控制码垛机器人对应的机器关节的运动，而且可以实时监测码垛机器人的运动状态，在出现故障时能够进行自动调整，实现容错控制，同时将故障信息反馈至总控制系统。总控制系统报警显示故障信息，同时控制同一生产线上的其他机器人采取措施，协调配合出现故障的机器人，来维持生产线的正常运作。The present invention aims at the above-mentioned deficiencies existing in the prior art, and provides a palletizing robot control system with self-maintenance function, which can not only control the motion of the machine joints corresponding to the palletizing robot, but also monitor the motion state of the palletizing robot in real time. When a fault occurs, it can be automatically adjusted to achieve fault-tolerant control, and at the same time, the fault information is fed back to the general control system. The general control system alarms and displays fault information, and at the same time controls other robots on the same production line to take measures to coordinate with the faulty robot to maintain the normal operation of the production line.
本发明是通过以下技术方案实现的，本发明包括：生产线主控模块、总线接口模块、电机驱动模块、传感器模块、通信总线、机器人主控模块和码垛机器人，其中：机器人主控模块与总线接口模块相连接并输出控制信息至机器人的局部CAN总线，发送至机器人的对应的机器关节电机驱动模块，机器人主控模块通过机器人的局部CAN总线与传感器模块相连接并接收传感器模块反馈的机器人状态信息，机器人主控模块与总线接口模块相连接通过生产线的上级CAN总线与生产线主控模块相连接并输出生产线控制信息和反馈机器人状态信息，所述的通信总线包括：机器人局部CAN总线和生产线CAN总线相连接，机器人局部CAN总线分别与总线接口模块、电机驱动模块和传感器模块相连接并分别传输总线控制信息进而伺服控制关节电机运动、反馈受控关节运动状态信息以及反馈传感器信息，生产线主控模块与各个机器人的主控模块通过总线接口模块与生产线CAN总线相连接并传输机器人反馈状态信息和下发的控制信息。The present invention is achieved through the following technical solutions, the present invention includes: a production line main control module, a bus interface module, a motor drive module, a sensor module, a communication bus, a robot main control module and a palletizing robot, wherein: the robot main control module and the bus The interface module is connected and outputs the control information to the local CAN bus of the robot, and sends it to the corresponding machine joint motor drive module of the robot. The main control module of the robot is connected to the sensor module through the local CAN bus of the robot and receives the robot status fed back by the sensor module. Information, the robot main control module is connected with the bus interface module through the superior CAN bus of the production line and the production line main control module is connected and output production line control information and feedback robot status information, the communication bus includes: robot local CAN bus and production line CAN bus The local CAN bus of the robot is connected with the bus interface module, the motor drive module and the sensor module respectively and transmits the bus control information to servo control the joint motor movement, feedback the movement state information of the controlled joint and the feedback sensor information, and the main control of the production line The module and the main control module of each robot are connected to the CAN bus of the production line through the bus interface module and transmit the feedback status information of the robot and the issued control information.
所述的电机驱动模块包括：第一电源电路、第一总线通信电路、第一控制电路、电机状态检测电路和电机驱动电路，其中：第一电源电路与第一总线通信电路、第一控制电路，电机状态检测电路和电机驱动电路相连并为各个电路提供工作所需工作电压，第一控制电路通过第一总线通信电路连接到CAN总线上并接收机器人主控模块发送的控制信息和反馈机器人关节的状态信息，第一控制电路与电机驱动电路相连接并根据控制信息控制电机驱动电路驱动机器人关节转动，第一控制电路与电机状态检测电路相连接并采集关节电机的运行状态同时反馈至机器人主控模块。The motor drive module includes: a first power supply circuit, a first bus communication circuit, a first control circuit, a motor state detection circuit and a motor drive circuit, wherein: the first power supply circuit and the first bus communication circuit, the first control circuit , the motor state detection circuit is connected to the motor drive circuit and provides the required working voltage for each circuit, the first control circuit is connected to the CAN bus through the first bus communication circuit and receives the control information sent by the robot main control module and the feedback robot joint state information, the first control circuit is connected with the motor drive circuit and controls the motor drive circuit to drive the joints of the robot to rotate according to the control information, the first control circuit is connected with the motor state detection circuit and collects the running state of the joint motor and feeds it back to the main robot control module.
所述的传感器模块包括：第二电源电路、第二总线通信电路、第二控制电路和传感器电路，其中：第二电源电路与第二总线通信电路、第二控制电路和传感器电路相连并为各个电路提供工作所需工作电压，第二控制电路通过第二总线通信电路连接到CAN总线上并反馈机器人的状态信息，第二控制电路与传感器电路相连接并采集机器人的运行状态同时反馈至机器人主控模块。The sensor module includes: a second power supply circuit, a second bus communication circuit, a second control circuit and a sensor circuit, wherein: the second power supply circuit is connected with the second bus communication circuit, the second control circuit and the sensor circuit and is each The circuit provides the working voltage required for work. The second control circuit is connected to the CAN bus through the second bus communication circuit and feeds back the status information of the robot. control module.
所述的通信总线包括：机器人的局部CAN总线以及生产线的上级CAN总线，其中：机器人局部CAN总线分别与总线接口模块、电机驱动模块和传感器模块相连接并分别传输总线控制信息进而伺服控制关节电机运动、反馈受控关节运动状态信息以及反馈传感器信息，生产线主控模块与各个机器人的主控模块通过总线接口模块与生产线上级CAN总线相连接并传输机器人反馈状态信息和下发的控制信息。The communication bus includes: the local CAN bus of the robot and the superior CAN bus of the production line, wherein: the local CAN bus of the robot is connected with the bus interface module, the motor drive module and the sensor module respectively and transmits the bus control information and then servo-controls the joint motor Motion, feedback of controlled joint motion status information and feedback sensor information, the main control module of the production line and the main control module of each robot are connected to the upper CAN bus of the production line through the bus interface module and transmit the feedback status information of the robot and the issued control information.
所述的码垛机器人包括：码垛机器人机架、若干个机器关节、末端执行器和关节电机，其中：若干个机器关节串联安装并与码垛机器人机架直接相连，末端执行器安装在最末端的机器关节上，关节电机安装在对应的机器关节处。The palletizing robot includes: a palletizing robot frame, several machine joints, end effectors and joint motors, wherein: several machine joints are installed in series and directly connected with the palletizing robot frame, and the end effector is installed at the most On the machine joint at the end, the joint motor is installed at the corresponding machine joint.
正常工作时，生产线上各个码垛机器人各自独立工作。机器人主控计算机控制码垛机器人的运动，一方面通过机器人的局部CAN总线向对应的机器关节电机驱动模块下发对应的机器关节的控制信息，对应的机器关节电机驱动模块根据控制命令控制对应的机器关节按照规划完成既定动作，同时机器人主控计算机从传感器模块采集对应的机器关节的运动状态信息和机器人的状态信息，比如机器人当前的姿态，机器人对应的机器关节的角度，电机电流大小等。通过对这些采集到的状态信息进行分析，机器人可以判断目前的工作状态是否正常。各个机器人将自己的状态信息通过生产线的CAN总线反馈至生产线总控计算机，生产线总控计算机将这些信息在总控制室显示出来，可供管理人员参考。而当某一个码垛机器人出现故障时，机器人主控计算机通过传感器反馈的信息，诊断故障信息，判断故障可能的原因，并自动采取相应措施，比如降低关节运行速度，重新进行运动规划，避免使用出故障关节等。通过这些容错控制措施，机器人将尽量保证工作的正常运行，以避免生产流水线的中断，另一方面，机器人主控计算机立刻将故障信息通过CAN总线反馈回生产线主控计算机。生产线主控计算机得到故障信息，即可启动报警，将故障信息显示在控制室的显示屏上，另外将故障信息通知同一生产线的其他码垛机器人，令其降低运行速度，以配合故障机器人的工作速度，避免产品在出故障的机器人处发生堆积，影响生产流水线的运行。During normal operation, each palletizing robot on the production line works independently. The main control computer of the robot controls the movement of the palletizing robot. On the one hand, the control information of the corresponding machine joint is sent to the corresponding machine joint motor drive module through the local CAN bus of the robot, and the corresponding machine joint motor drive module controls the corresponding machine joint according to the control command. The machine joints complete the predetermined actions according to the plan, and at the same time, the main control computer of the robot collects the motion state information of the corresponding machine joints and the state information of the robot from the sensor module, such as the current posture of the robot, the angle of the corresponding machine joints of the robot, and the magnitude of the motor current. By analyzing the collected state information, the robot can judge whether the current working state is normal. Each robot feeds back its status information to the production line master control computer through the CAN bus of the production line, and the production line master control computer displays the information in the master control room for reference by managers. When a palletizing robot fails, the main control computer of the robot diagnoses the fault information through the information fed back by the sensor, judges the possible cause of the fault, and automatically takes corresponding measures, such as reducing the running speed of the joints, re-planning the motion, and avoiding using Malfunctioning joints etc. Through these fault-tolerant control measures, the robot will try to ensure the normal operation of the work to avoid the interruption of the production line. On the other hand, the main control computer of the robot will immediately feed back the fault information to the main control computer of the production line through the CAN bus. When the main control computer of the production line gets the fault information, it can start the alarm, display the fault information on the display screen in the control room, and notify other palletizing robots in the same production line of the fault information to reduce their operating speed to cooperate with the faulty robot. Speed, to avoid product accumulation at the faulty robot, affecting the operation of the production line.
本发明通过在普通的码垛机器人控制系统里加入了新的自维护容错控制。在出现故障时可通过对故障机器人以及整条生产线的其他码垛机器人的相应调整，最大可能的维持整条生产线的正常运行。当生产线上某一个码垛机器人出现故障时，机器人自身的控制系统能够及时发现故障，进行可能的自我维护，以实现容错控制，以维持生产流水线的运行，同时出错的码垛机器人将自己的诊断信息发送到总线上，将自己的故障信息通知总控系统和同一生产线上的其他机器人，总控系统一方面能将故障信息显示在工作界面上，通知生产线相关管理人员，同时协调生产线上其他机器人，以配合出现故障的机器人，最大可能的维持生产线的正常运行。The present invention adds new self-maintenance and fault-tolerant control to the common palletizing robot control system. When a fault occurs, the faulty robot and other palletizing robots in the entire production line can be adjusted accordingly to maintain the normal operation of the entire production line as much as possible. When a palletizing robot on the production line fails, the robot's own control system can detect the fault in time and perform possible self-maintenance to achieve fault-tolerant control and maintain the operation of the production line. At the same time, the faulty palletizing robot will diagnose itself The information is sent to the bus, and its own fault information is notified to the master control system and other robots on the same production line. , to cooperate with the failed robot, and maintain the normal operation of the production line as much as possible.
附图说明Description of drawings
图1是本发明系统结构示意图。Fig. 1 is a schematic diagram of the system structure of the present invention.
图2是实施例工作流程图。Fig. 2 is the working flow diagram of the embodiment.
图3为电机驱动模块和传感器模块结构示意图Figure 3 is a schematic diagram of the structure of the motor drive module and the sensor module
图4为所涉及码垛机器人结构示意图Figure 4 is a schematic diagram of the structure of the palletizing robot involved
具体实施方式Detailed ways
下面对本发明的实施例作详细说明，本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
如图1所示，本实施例包括：生产线主控模块1、总线接口模块2、电机驱动模块3、传感器模块4、通信总线5、机器人主控模块6和码垛机器人7，其中：机器人主控模块6与总线接口模块2相连接并输出控制信息至机器人的局部CAN总线5，发送至机器人的对应的机器关节电机驱动模块3，机器人主控模块6通过机器人的局部CAN总线5与传感器模块4相连接并接收传感器模块4反馈的机器人状态信息，机器人主控模块6与总线接口模块2相连接通过生产线的上级CAN总线与生产线主控模块1相连接并输出生产线控制信息和反馈机器人状态信息，所述的通信总线5包括：机器人局部CAN总线5和生产线CAN总线相连接，机器人局部CAN总线5分别与总线接口模块2、电机驱动模块3和传感器模块4相连接并分别传输总线控制信息进而伺服控制关节电机运动、反馈受控关节运动状态信息以及反馈传感器信息，生产线主控模块1与各个机器人的主控模块1通过总线接口模块2与生产线CAN总线相连接并传输机器人反馈状态信息和下发的控制信息。As shown in Figure 1, this embodiment includes: a production line
本实施例中：In this example:
所述的生产线主控模块1通过生产线总控计算机得以实现。The
所述的总线接口模块2通过PC104CAN卡得以实现。The
所述的机器人主控模块6通过机器人主控计算机得以实现。The robot
所述的电机驱动模块3包括：第一电源电路8、第一总线通信电路9、第一控制电路10、电机状态检测电路11和电机驱动电路12，其中：第一电源电路8与第一总线通信电路9、第一控制电路10，电机状态检测电路11和电机驱动电路12相连并为各个电路提供工作所需工作电压，第一控制电路10通过第一总线通信电路9连接到CAN总线上并接收机器人主控模块6发送的控制信息和反馈机器人关节的状态信息，第一控制电路10与电机驱动电路12相连接并根据控制信息控制电机驱动电路12驱动机器人关节转动，第一控制电路10与电机状态检测电路11相连接并采集关节电机的运行状态同时反馈至机器人主控模块6。The
所述的传感器模块4包括：第二电源电路13、第二总线通信电路14、第二控制电路15和传感器电路16，其中：第二电源电路13与第二总线通信电路14、第二控制电路15和传感器电路16相连并为各个电路提供工作所需工作电压，第二控制电路15通过第二总线通信电路14连接到CAN总线上并反馈机器人的状态信息，第二控制电路15与传感器电路16相连接并采集机器人的运行状态同时反馈至机器人主控模块6。The
所述的通信总线5包括：机器人的局部CAN总线17以及生产线的上级CAN总线18，其中：机器人局部CAN总线17分别与总线接口模块2、电机驱动模块3和传感器模块4相连接并分别传输总线控制信息进而伺服控制关节电机运动、反馈受控关节运动状态信息以及反馈传感器信息，生产线主控模块1与各个机器人的主控模块1通过总线接口模块2与生产线上级CAN总线18相连接并传输机器人反馈状态信息和下发的控制信息。Described
所述的码垛机器人7包括：码垛机器人机架19、若干个机器关节20、末端执行器21和关节电机22，其中：若干个机器关节20串联安装并与码垛机器人机架19直接相连，末端执行器21安装在最末端的机器关节20上，关节电机22安装在对应的机器关节20处。The
如图2所示，本实施例通过以下方式进行工作：As shown in Figure 2, the present embodiment works in the following ways:
所有的码垛机器人7均连接到CAN总线上，并且设置好相关参数，启动系统，此时，各个机器人根据自己所分配的任务完成相应的动作。机器人主控计算机通过PCCAN卡的其中一个接口直接连接在机器人的局部CAN总线5上。作为码垛机器人7的控制核心，机器人主控计算机根据生产任务规划动作控制码垛机器人7运动。机器人主控计算机通过CAN总线下发运动指令给对应的机器关节控制器来控制码垛机器人7对应的机器关节转动，并对运动进行补偿，协调动作，以实现末端执行器的精确运动。另外机器人主控计算机实时采集机器人对应的机器关节的运动信息和机器人上的各个传感器的输出信息，据此实时监控机器人的运动状态，码垛机器人7的对应的机器关节由电机驱动模块3驱动，电机驱动控制模块从CAN总线上接收机器人主控计算机下发的控制命令，控制电机驱动电路12驱动关节转动，实现位置，速度，电流环闭环控制，并实时得到关节的运动状态，反馈回机器人主控计算机。码垛机器人7上还会安装一些传感器模块4实时采集周围环境信息，末端执行器位置姿态信息，并由传感器模块4的控制电路10反馈回机器人主控计算机。机器人主控计算机通过PCCAN卡的另外一个接口连接到生产线的上级CAN总线，将此机器人的实时状态信息反馈给生产线总控计算机。生产线总控计算机安装在总控制室里，通过生产线的上级CAN总线连接生产线上的各个码垛机器人7，实时监测各个码垛机器人7的运行状态。All
当某个机器人出现故障时，比如关节电机驱动力不够，此时关节电流会急剧增加，机器人主控计算机从关节驱动模块3获得关节电流数值增大，故机器人主控计算机判定此关节出现故障，一方面机器人主控计算机通过调整电机控制参数，更改机器人动作等措施，来减小故障关节电机电流，同时机器人主控计算机通过生产线上的上级CAN总线将故障信息反馈至生产线总控计算机，生产线总控计算机从CAN总线上获取故障信息，立即报警提示生产线相关管理人员，在控制室的显示屏上显示故障信息，同时生产线总控计算机通过CAN总线通知生产线上的其他码垛机器人7降低运行速度，以配合故障机器人的工作速度，以实现最大限度的维持整条生产线的正常运行。When a robot fails, for example, the drive force of the joint motor is insufficient, the joint current will increase sharply at this time, and the robot main control computer obtains an increase in the joint current value from the
Claims (5)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110097081CN102139486B (en) | 2011-04-14 | 2011-04-14 | Palletizing robot control system with self-maintenance function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110097081CN102139486B (en) | 2011-04-14 | 2011-04-14 | Palletizing robot control system with self-maintenance function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102139486Atrue CN102139486A (en) | 2011-08-03 |
| CN102139486B CN102139486B (en) | 2013-02-27 |
Family
ID=44407398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110097081Expired - Fee RelatedCN102139486B (en) | 2011-04-14 | 2011-04-14 | Palletizing robot control system with self-maintenance function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102139486B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431035A (en)* | 2011-11-28 | 2012-05-02 | 台达电子企业管理（上海）有限公司 | Distributed manipulator control system |
| CN103802105A (en)* | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm control system |
| CN104089790A (en)* | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Vibration type robot palletizer fault prediction method |
| CN104089576A (en)* | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Abrasion and deformation detection method of palletizing robot |
| CN104635523A (en)* | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Non-contact power supply type feeding and discharging system |
| CN104635654A (en)* | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Loadport control system |
| CN104635718A (en)* | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN106041935A (en)* | 2016-07-27 | 2016-10-26 | 重庆峰创科技有限公司 | High-reliability fault-tolerant control device for an industrial robot |
| CN106217376A (en)* | 2016-08-27 | 2016-12-14 | 广东奥讯智能设备技术有限公司 | A kind of robot control system based on serial communication protocol and control method |
| WO2017113220A1 (en)* | 2015-12-30 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Industrial robot and fault determination method therefor |
| WO2017113424A1 (en)* | 2015-12-31 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Robot control system and driver fault determination method therefor |
| CN107322598A (en)* | 2017-07-24 | 2017-11-07 | 合肥星袖机械科技有限公司 | A kind of automatic production line material Transport Robot Control System for Punch |
| CN108847006A (en)* | 2018-07-09 | 2018-11-20 | 京东方科技集团股份有限公司 | A kind of apparatus monitoring method and system |
| CN109397046A (en)* | 2018-12-10 | 2019-03-01 | 佳奕筱安(上海)机器人科技有限公司 | Milling robot and its application method based on electric current loop power control |
| CN110271004A (en)* | 2019-07-04 | 2019-09-24 | 泉州轻工职业学院 | A kind of robot palletizer control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101122793A (en)* | 2006-08-09 | 2008-02-13 | 临安微创网格信息工程有限公司 | Industrial production line embedded type main control system |
| CN101226398A (en)* | 2008-01-17 | 2008-07-23 | 上海交通大学 | Distributed solder joint quality monitoring system and method |
| CN101293350A (en)* | 2008-06-12 | 2008-10-29 | 上海交通大学 | Distributed Dual Bus Motion Control System for Humanoid Robot |
| CN101446824A (en)* | 2008-12-08 | 2009-06-03 | 青岛理工大学 | A material picking operation control system and method for a production line |
| US20090222112A1 (en)* | 2008-03-03 | 2009-09-03 | Sick Ag | Safety device for the safe activation of connected actuators |
| JP4412329B2 (en)* | 2007-01-31 | 2010-02-10 | 株式会社デンソーウェーブ | Robot control apparatus and robot position command value correction method |
- 2011
- 2011-04-14CNCN 201110097081patent/CN102139486B/ennot_activeExpired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101122793A (en)* | 2006-08-09 | 2008-02-13 | 临安微创网格信息工程有限公司 | Industrial production line embedded type main control system |
| JP4412329B2 (en)* | 2007-01-31 | 2010-02-10 | 株式会社デンソーウェーブ | Robot control apparatus and robot position command value correction method |
| CN101226398A (en)* | 2008-01-17 | 2008-07-23 | 上海交通大学 | Distributed solder joint quality monitoring system and method |
| US20090222112A1 (en)* | 2008-03-03 | 2009-09-03 | Sick Ag | Safety device for the safe activation of connected actuators |
| CN101293350A (en)* | 2008-06-12 | 2008-10-29 | 上海交通大学 | Distributed Dual Bus Motion Control System for Humanoid Robot |
| CN101446824A (en)* | 2008-12-08 | 2009-06-03 | 青岛理工大学 | A material picking operation control system and method for a production line |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431035A (en)* | 2011-11-28 | 2012-05-02 | 台达电子企业管理（上海）有限公司 | Distributed manipulator control system |
| CN102431035B (en)* | 2011-11-28 | 2015-04-22 | 台达电子企业管理（上海）有限公司 | Distributed manipulator control system |
| CN103802105A (en)* | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Mechanical arm control system |
| CN104635718A (en)* | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN104635654A (en)* | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Loadport control system |
| CN104635523A (en)* | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Non-contact power supply type feeding and discharging system |
| CN104089790A (en)* | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Vibration type robot palletizer fault prediction method |
| CN104089576A (en)* | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Abrasion and deformation detection method of palletizing robot |
| WO2017113220A1 (en)* | 2015-12-30 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Industrial robot and fault determination method therefor |
| CN107614212A (en)* | 2015-12-30 | 2018-01-19 | 深圳配天智能技术研究院有限公司 | Industrial Robot and Its Fault Judgment Method |
| CN107614212B (en)* | 2015-12-30 | 2021-02-26 | 深圳配天智能技术研究院有限公司 | Industrial robot and fault judgment method thereof |
| WO2017113424A1 (en)* | 2015-12-31 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Robot control system and driver fault determination method therefor |
| CN107848110A (en)* | 2015-12-31 | 2018-03-27 | 深圳配天智能技术研究院有限公司 | Fault Judgment Method for Robot Control System and Its Driver |
| CN106041935A (en)* | 2016-07-27 | 2016-10-26 | 重庆峰创科技有限公司 | High-reliability fault-tolerant control device for an industrial robot |
| CN106217376A (en)* | 2016-08-27 | 2016-12-14 | 广东奥讯智能设备技术有限公司 | A kind of robot control system based on serial communication protocol and control method |
| CN107322598A (en)* | 2017-07-24 | 2017-11-07 | 合肥星袖机械科技有限公司 | A kind of automatic production line material Transport Robot Control System for Punch |
| CN108847006A (en)* | 2018-07-09 | 2018-11-20 | 京东方科技集团股份有限公司 | A kind of apparatus monitoring method and system |
| CN109397046A (en)* | 2018-12-10 | 2019-03-01 | 佳奕筱安(上海)机器人科技有限公司 | Milling robot and its application method based on electric current loop power control |
| CN110271004A (en)* | 2019-07-04 | 2019-09-24 | 泉州轻工职业学院 | A kind of robot palletizer control system |
| CN110271004B (en)* | 2019-07-04 | 2023-11-28 | 泉州轻工职业学院 | Control system of palletizing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102139486B (en) | 2013-02-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102139486A (en) | Control system for robot palletizer with self-maintenance function | |
| CN113110328B (en) | Production process full-period intelligent workshop system based on digital twin technology and solution method | |
| CN107614212B (en) | Industrial robot and fault judgment method thereof | |
| CN105629944B (en) | A kind of control system and method for cylindrical bay section flexible docking device | |
| CN102591331A (en) | Fault visual diagnostic system of automatic equipment | |
| CN102616577A (en) | Control system for robot palletizer | |
| CN103412492B (en) | Multimachine electric system distributed intelligence sync control device and method | |
| WO2019041658A1 (en) | Robot external motion path control method | |
| CN107150358A (en) | A kind of robot fault investigation detecting system and method | |
| CN101628489B (en) | Control method and positioning control system for forming, positioning and processing of paper box | |
| CN205272071U (en) | Error correction device of equipment zero -bit of robot | |
| CN115057245B (en) | Destacking system based on bus controller and servo system | |
| US10678231B2 (en) | Production controller equipped with function of identifying cause upon operation stop of production facility including manufacturing facilities | |
| CN110515358B (en) | Control method of automatic production line parallel control system based on integrated controller | |
| CN112186077B (en) | An intelligent manufacturing control system for a solar cell plant | |
| CN105302031A (en) | Control device and control method for piling carrying robot | |
| CN107908165A (en) | A kind of coupling of petroleum casing pipe intelligence workshop system and its production process | |
| CN202494921U (en) | Fault visual diagnosis system for automation equipment | |
| Xu et al. | Design of palletizing algorithm based on palletizing robot workstation | |
| WO2023169144A1 (en) | Simple palletizing control system and method for robot | |
| CN205928661U (en) | Welding robot control system | |
| CN115453853A (en) | UAV flight tube system steering gear troubleshooting system | |
| CN114260901A (en) | A control system for an industrial robot | |
| CN202975716U (en) | Control device for automatically boxing elevator balance chain | |
| CN209015557U (en) | A kind of servo-controlled automatic storage instructional device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20130227 Termination date:20150414 | |
| EXPY | Termination of patent right or utility model |