CN102862161B - Field bus-based PAC (Programmable Automation Controller) industrial robot control system - Google Patents
Field bus-based PAC (Programmable Automation Controller) industrial robot control system Download PDFInfo
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Abstract
The invention discloses a field bus-based PAC (Programmable Automation Controller) industrial robot control system which comprises a robot axis servo control unit, a high-speed real-time Ethernet field bus, a man-machine interaction, a PAC, and a plurality of input-output modules, wherein the robot axis servo control unit is used for controlling and driving axle joints of manipulators of an industrial robot, the PAC is used for controlling the robot axis servo control unit and the man-machine interaction unit respectively and are respectively connected with the robot axis servo control unit and the man-machine interaction unit, and the plurality of input-output modules are extensibly arranged and are respectively connected with the robot axis servo control unit through the high-speed real-time Ethernet field bus. The system can be used for overcoming the defects of being unreasonable in structure, inconvenient to install and maintain, low in reliability, poor in precision, high in cost, poor in extensibility and the like in the prior art, so as to realize the disadvantages of being reasonable in structure, convenient to install and maintain, high in reliability, good in precision, low in cost and good in extensibility.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly, relate to a kind of Fieldbus Based automation controller able to programme (Programmable Automation Controller is called for short PAC) industrial robot control system.
Background technology
Usually, the arm of industrial robot is primarily of multiple mechanical arm and corresponding axle joint composition, axle joint can directly with driving servomotor be connected, also can by gear-box with drive servomotor be connected, by controlling the motion of respective drive servomotor, the movement locus of corresponding mechanical arm and the control in direction can be realized.Thus, realize, to the accurate control of respective drive servomotor, just can realizing the freely-movable of the corresponding mechanical arm of industrial robot.The control principle of the single driving servomotor in industrial robot axle joint, can see Fig. 1.
In FIG, the single driving servo control system in industrial robot axle joint, mainly comprise the first comparator 11 that signal successively connects, movement position control module 21, second comparator 12, rate control module 22, 3rd comparator 13, Torque Control module 23, power subsystem 3 and motor (M) 4, and a point level signal is connected between motor (M) 4 and the first comparator 11 and the second comparator 12, and for the speed that the speed of motor (M) 4 and position signalling fed back to respectively the first comparator 11 and the second comparator 12 and position feedback module 5, power subsystem 3 is connected with the 3rd comparator 13 signal, the current feedback signal of power subsystem 3 is fed back to the 3rd comparator 13, first comparator 11, also for machine entered people axle motion setting signal.
The control unit of single driving servomotor in Fig. 1, mainly comprises Torque Control module 23, rate control module 22 and movement position control module 21.For ensureing the accuracy controlled, the control of each control module (i.e. Torque Control module 23, rate control module 22 and movement position control module 21), all by current feedback, speed and position feedback module 4, realize feedback closed loop and control.
At present, the control system of industrial robot, the scheme that many employings motion control portion and servo-drive part are integrated, that is: the servo-drive part in multiple axle joints (as 6 axles) of industrial robot is assembled into one, motion control portion is communicated with each servo drive unit of servo-drive part by inner core bus, realizes motion control.Such as, the control principle of 6 axle robot control systems, can see Fig. 2; The structure of 6 axle robot control systems, can see Fig. 3.
In fig. 2,6 axle robot control systems, comprise the robotic programming development environment unit of signal connection successively, robot control unit and servomotor unit.Wherein, robotic programming development environment unit, comprise the robot application programming module of parallel setting, moving arranges module, machine religion functional module, computer-aided manufacturing (computer AidedManufacturing is called for short CAM) programming module and track CAM chart generating module.Robot control unit, comprises the motion control portion and servo-drive part that are connected by inner core bus; Motion control portion, comprises the external logic communication interface, robot application control module and the track shaft CAM chart module that are connected with inner core bus respectively; Servo-drive part, comprising parallel arrange and 6 that are connected with inner core bus respectively drive and controlling organization; Each servo and driving mechanism, comprise connect to inner core bus successively corresponding axle driver module (an axle driver module as in the 1 to 6 axle driver module), movement position control module, rate control module and Torque Control module.Servomotor unit, comprise respectively with the motor (M) of Torque Control model calling in corresponding driving and controlling organization.
In figure 3,6 axle robot control systems, comprise robot control unit, and the man-machine interaction unit (for providing man-machine interface), automation equipment logic control element and the servomotor unit that are connected with robot control unit's signal respectively.Robot control unit, comprises the movement position control module be connected with man-machine interaction unit and automation equipment logic control element respectively, and is connected with movement position control module and servomotor unit respectively and parallel 6 servo-drivers arranged.Automation equipment logic control element, comprise programmable logic controller (PLC) (the ProgrammableLogic Controller be connected with the movement position control module in robot control unit by serial communication interface (or network interface), be called for short PLC), the 3rd input/output module 53 be connected with PLC, and successively by the second input/output module 52 and the first input/output module 51 that Process FieldbusROFIBUS (Profibus) or DeviceNet bus (being a kind of communication bus of low cost) connect.Servomotor unit, comprises 6 servo-actuating devices connected to the corresponding servo-driver in robot control unit respectively; Each servo-actuating device, comprise the servomotor 7 and encoder 6 that are connected with corresponding servo-driver respectively, servomotor 7 is connected with encoder 6.
Realizing in process of the present invention, inventor finds, above-mentioned each industrial robot control system, at least exists following defect:
(1) unreasonable structure: driver is that integral type is arranged (namely corresponding servo-driver and movement position control module are that integral type is arranged), makes respective actuator can not be placed into the position nearer apart from each servomotor; Further, arrange because each driver is integral type, when wherein any one driver breaks down, other drivers also can be affected, and cisco unity malfunction;
(2) installation and maintenance is inconvenient: during actual installation, needs the power cable that uses more, and installation personnel is often for selecting suitable power cable and mounting means and worried; In addition, arrange because each driver is integral type, when wherein any one driver breaks down, all can have influence on other drivers, make troubles to care and maintenance work;
(3) reliability is low: encoder cable is longer, the reliability of the feedback signal that underspeeds sometimes; In addition, arrange because each driver is integral type, when wherein any one driver breaks down, all can affect the reliability of other drivers;
(4) poor accuracy: encoder is longer, the accuracy of the feedback signal that underspeeds sometimes;
(5) cost is high: usually under state, robot control unit is a part for an automation equipment and manufacturing system, only has limited input/output module; And automation equipment and manufacturing system automation equipment need logic control element, more input/output module; In practical application, also need another PLC, the Automated condtrol of equipment could be realized, which adds equipment cost; And robot control unit adds the scheme of PLC, also increase the complexity of application and development cycle and system simultaneously, reduce reliability.
(6) autgmentability is poor: because carry out communication by inner core bus between motion control portion and servo-drive part, makes multiaxis drive expansion to be restricted, can only expand at most 6 axles or more some.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of Fieldbus Based PAC industrial robot control system, to realize, rational in infrastructure, installation and maintenance is convenient, reliability is high, accuracy good, cost is low and the advantage of favorable expandability.
For achieving the above object, the technical solution used in the present invention is: a kind of Fieldbus Based PAC industrial robot control system, comprise the manipulator shaft servo control unit that the axle joint for each mechanical arm to industrial robot controls and drives, high speed real-time ethernet fieldbus, man-machine interaction unit, for controlling described manipulator shaft servo control unit and man-machine interaction unit respectively, and the PAC controller be connected with manipulator shaft servo control unit and man-machine interaction unit respectively, and expandable type is arranged, and multiple input/output modules of manipulator shaft servo control unit are connected to successively respectively by high speed real-time ethernet fieldbus.
Further, described manipulator shaft servo control unit, comprises and matching to the corresponding axle joint of each mechanical arm of industrial robot, controlling and multiple servo-actuating devices of parallel discrete setting for realizing speeds control and torque current; Described multiple servo-actuating device, successively by the high speed real-time ethernet fieldbus arranged separately and/or the same high speed real-time ethernet fieldbus shared with multiple input/output module and PAC controller, be connected between PAC controller and input/output module.
Further, when same high speed real-time ethernet fieldbus shared by described multiple servo-actuating device, multiple input module and PAC controller, PAC controller is the main website of this high speed real-time ethernet fieldbus, and described multiple servo-actuating device and input/output module are the slave station of this high speed real-time ethernet fieldbus.
Further, the structure of described multiple servo-actuating device is identical or different; According to the actual quantity of the mechanical arm of industrial robot, can simply can increase and reduce the quantity of servo-actuating device, such as, can reduce to 3 servo-actuating devices, also rise to 10 servo-actuating devices.
When the structure of described multiple servo-actuating device is identical, each servo-actuating device, comprise the servo-driver be connected with PAC controller and input/output module by high speed real-time ethernet fieldbus, and the servomotor be connected with described servo-driver and encoder.
Further, in described multiple servo-actuating device, each servo-actuating device, comprises the servo-driver be connected with described PAC controller and input/output module respectively, and the servomotor be connected with described servo-driver respectively and encoder; Described servomotor and encoder are connected.
Further, described man-machine interaction unit, at least comprise CPU processor, for providing the IDE programming module of IDE (IntegratedDevelopment Environment) programmed environment, and for providing operation push-button and/or the display module of man-machine interface; Described IDE programming module, operation push-button and/or display module, be connected with CPU processor respectively, shares same CPU processor.
Further, described IDE programming module, comprising parallel arrange and the programming in logic submodule be connected with described PAC controller respectively, move submodule is set, machine teaches programme submodule and track CAM chart of function sub-modules, CAM to generate submodule.
Further, described PAC controller, comprise low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and be connected Logic control module and the second logical communication protocol module; Described Logic control module and movement position control module, be connected with low-power consumption master cpu respectively, shares same low-power consumption master cpu; Described movement position control module, controls, namely for realizing position control for realizing movement position;
Described first communication protocol module, comprises IEC61800-7 communication protocol module (electronic power adjustable-speed drive system framework and interface); And/or, described second logical communication protocol module, comprising CANOpen[is the high-rise communications protocol of a kind of framework on control area net（CAN） road (Control Area Network, CAN)] communication protocol module.
Further, described man-machine interaction unit, comprise industrial computer, notebook, palm PC and other have in the mobile terminal (as removable special computer etc.) of Industrial PC Computer function any one.
Further, described operation push-button, comprises keyboard; And/or described display module, comprises LCDs and/or touch-screen.
Further, this system can applicable industry robot and/or comprise the automation control appliance of industrial robot.
The Fieldbus Based PAC industrial robot control system of various embodiments of the present invention, due to the manipulator shaft servo control unit that the axle joint comprised for each mechanical arm to industrial robot controls and drives, high speed real-time ethernet fieldbus, man-machine interaction unit, for controlling manipulator shaft servo control unit and man-machine interaction unit respectively, and the PAC controller be connected with manipulator shaft servo control unit and man-machine interaction unit respectively, and expandable type is arranged, and multiple input/output modules of manipulator shaft servo control unit are connected to successively respectively by high speed real-time ethernet fieldbus, fieldbus and PAC controller can be adopted, realize the motion control to each axle joint of industrial robot, thus to realizing the control of robot function and position motion, thus unreasonable structure in prior art can be overcome, installation and maintenance is inconvenient, reliability is low, poor accuracy, cost are high and the defect of autgmentability difference, with realize rational in infrastructure, installation and maintenance convenient, reliability is high, accuracy good, cost is low and the advantage of favorable expandability.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from description, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for description, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the operation principle schematic diagram of the single driving servo control system in industrial robot axle joint;
Fig. 2 is the operation principle schematic diagram of 6 axle robot control systems;
Fig. 3 is the structured flowchart of 6 axle robot control systems;
Fig. 4 is the operation principle schematic diagram of the PAC industrial robot control system that the present invention is based on fieldbus;
Fig. 5 is the structured flowchart of the PAC industrial robot control system that the present invention is based on fieldbus.
By reference to the accompanying drawings, in the embodiment of the present invention, Reference numeral is as follows:
11-first comparator; 12-second comparator; 13-the 3rd comparator; 21-movement position control module; 22-rate control module; 23-Torque Control module; 3-motor (M); 4-speed and position feedback module; 51-first input/output module; 52-second input/output module; 53-the 3rd input/output module; 6-encoder; 7-servomotor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
According to the embodiment of the present invention, provide a kind of Fieldbus Based PAC industrial robot control system, this system can applicable industry robot and/or comprise the automation control appliance of industrial robot.
As shown in Figure 4 and Figure 5, the present embodiment comprises the manipulator shaft servo control unit that the axle joint for each mechanical arm to industrial robot controls and drives, high speed real-time ethernet fieldbus, man-machine interaction unit, for controlling manipulator shaft servo control unit and man-machine interaction unit respectively, and the PAC controller be connected with manipulator shaft servo control unit and man-machine interaction unit respectively, and expandable type is arranged, and be connected to multiple input/output modules of manipulator shaft servo control unit successively (as the first input/output module 51 respectively by high speed real-time ethernet fieldbus, second input/output module 52 and the 3rd input/output module 53).
Wherein, above-mentioned manipulator shaft servo control unit, comprises and matching to the corresponding axle joint of each mechanical arm of industrial robot, controlling and multiple servo-actuating devices of parallel discrete setting for realizing speeds control and torque current; Multiple servo-actuating device, successively by the high speed real-time ethernet fieldbus arranged separately and/or the same high speed real-time ethernet fieldbus shared with multiple input/output module and PAC controller, be connected between PAC controller and input/output module.The structure of the plurality of servo-actuating device is identical, in the plurality of servo-actuating device, each servo-actuating device, comprise the servo-driver be connected with PAC controller and input/output module respectively, and the servomotor be connected with servo-driver respectively (as servomotor 7) and encoder (as encoder 6); Servomotor and encoder are connected.Each servo-driver, comprises and is connected to corresponding axle driver module (an axle driver module as in the 1st to the 6th axle driver module), rate control module and Torque Control module between PAC controller and corresponding servomotor in turn by fieldbus.
Preferably, when high speed real-time ethernet fieldbus shared by multiple servo-actuating device, multiple input/output module and PAC controller, PAC controller is the master station of this high speed real-time ethernet fieldbus; Corresponding servo-driver in multiple input/output module and multiple servo-actuating device, is the slave station of this high speed real-time ethernet fieldbus.
The structure of above-mentioned multiple servo-actuating device is identical or different; When the structure of multiple servo-actuating device is identical, each servo-actuating device, comprise the servo-driver be connected with PAC controller and input/output module by high speed real-time ethernet fieldbus, and the servomotor be connected with servo-driver and encoder.
Above-mentioned man-machine interaction unit, at least comprises CPU processor, for providing the IDE programming module of IDE programmed environment, and for providing operation push-button and/or the display module of man-machine interface; IDE programming module, operation push-button and/or display module, be connected with CPU processor respectively, shares same CPU processor.This IDE programming module, comprising parallel arrange and the programming in logic submodule be connected with PAC controller respectively, move submodule is set, machine teaches programme submodule and track CAM chart of function sub-modules, CAM to generate submodule.This PAC controller, comprise low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and be connected Logic control module and the second logical communication protocol module; Logic control module and movement position control module, be connected with low-power consumption master cpu respectively, shares same low-power consumption master cpu; Movement position control module, controls, namely for realizing position control for realizing movement position; Logic control module can adopt PLC, realizes logic control.
This first communication protocol module, comprises IEC61800-7 communication protocol module; And/or the second logical communication protocol module, comprises CANOpen communication protocol module.This man-machine interaction unit, comprise industrial computer, notebook, palm PC and other have in the mobile terminal of Industrial PC Computer function any one.This operation push-button, comprises keyboard; And/or display module, comprises LCDs and/or touch-screen.
The Fieldbus Based PAC industrial robot control system of above-described embodiment, make use of technology and novel automatic controller (the i.e. PAC controller) control technology of the bus latest development of real time high-speed Ethernet fieldbus, the control field of industrial robot can be applied to.Such as, there are the motion of 6 joint shafts (being called for short 6 axles) of the industrial robot of 6 Serve Motor Control in figures 4 and 5.The industrial robot of 6 axles can realize the application in many fields, has very strong compliant motion track.6 independently servo-driver is corresponding with 6 servomotors respectively connects, and to be connected and the encoder of velocity feedback function connects respectively with for realizing electric power.PAC controller is coupled together by 3 input/output modules of real-time ethernet supporting bus by 6 servo-drivers and 3 slave stations.Servo-driver and input/output module can share same fieldbus, thus realize the control of industrial robot and automation equipment integration.
During concrete enforcement, above-mentioned servo-driver can adopt German Metronix servo-driver, and PAC controller can adopt Kai Mute PAC controller, and input/output module can adopt Kai Mute input/output module.Such as, the ARS2000 series of servo driver that German Metronix can be adopted up-to-date, this series of servo drives supports real-time ethernet fieldbus (EtherCat); PAC controller can adopt the PAC controller of the up-to-date PAC-510 of Kai Mute, and this PAC is loaded with Intel low-power consumption Atom CPU, supports motion control, logic control and IntegratedHMI software operation interface; Input/output module can select Kai Mute fieldbus module.
The Fieldbus Based PAC industrial robot control system of above-described embodiment, utilizes the automated control technology such as field bus communication and automation controller (PAC), realizes the control in multiple axle joints of industrial robot; Industrial field bus have employed industrial Ethernet technology and real-time communication agreement; Servo-driver and servomotor, be connected with the encoder (as speed encoder) of speed acquisition respectively with for carrying out electric power, servo-driver only carries out velocity close-loop control to servomotor; The rate signal of encoder, by the Real-time Fieldbus of servo-driver, is sent to the controller of industrial robot; The controller of industrial robot have employed PAC controller, and PAC controller is mounted with to have motion control function and generate industrial robot each axle articulated position track and relates to chart (Profile) function; According to industrial robot each axle articulated position movement locus chart, PAC controller carries out real-time control to the motion of industrial robot.This Fieldbus Based PAC industrial robot control system, due to the field bus technique of employing and the control technology of PAC controller, each servo-driver can be arranged near corresponding servomotor as much as possible, and PAC controller can be placed on any suitable place away from Industry Control scene, thus reduce cable material and installation cost, short-range encoder cable simultaneously, the reliability of the feedback signal that can greatly gather way and accuracy.
The Fieldbus Based PAC industrial robot control system of above-described embodiment, at least has following characteristics:
(1) utilize the motion control of real-time ethernet high-speed field bus realization to each axle joint of industrial robot;
(2), on basis (1), real-time ethernet high-speed field bus is connected with input/output module, other sensors (as encoder or other speed and position sensor), executive component (as servomotor) and drive unit (as servo-driver) simultaneously;
(3) PAC controller is the main website (Master) of real-time ethernet high-speed field bus, and other are connected to other devices of servo-driver on fieldbus, input/output module etc. and are slave station;
(4) PAC controller is the master controller of this industrial robot, realizes the control of robot function and position motion; And servo-driver implements speed and the Current Control of motor;
(5) can be connected with host computer (i.e. man-machine interaction unit) by ethernet lan interface, host computer for realizing programming in logic to this Fieldbus Based PAC industrial robot control system, the track machine of industrial robot teaches and the Stateful Inspection of this Fieldbus Based PAC industrial robot control system; Host computer can be desktop industrial computer, hand-held special purpose device and notebook computer etc.
The Fieldbus Based PAC industrial robot control system of above-described embodiment, at least can reach following beneficial effect:
(1) embody modularization and the modularization of systemic-function, can expand flexibly according to demand in practical application;
(2), during practical application, installation cost and cable material cost can be saved;
(3) servo-driver and input/output module can share same fieldbus, make industrial robot control integrated with automation equipment, and structure is simple and rationally, reliability strengthens;
(4) same development platform is shared in the application controls of industrial robot, motion control and automation equipment application controls, and user can greatly reduce the application and development cycle;
(5) install, operation and maintenance is all simpler.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a Fieldbus Based PAC industrial robot control system, it is characterized in that, comprise the manipulator shaft servo control unit that the axle joint for each mechanical arm to industrial robot controls and drives, high speed real-time ethernet fieldbus, man-machine interaction unit, for controlling described manipulator shaft servo control unit and man-machine interaction unit respectively, and the PAC controller be connected with manipulator shaft servo control unit and man-machine interaction unit respectively, and expandable type is arranged, and multiple input/output modules of manipulator shaft servo control unit are connected to successively respectively by high speed real-time ethernet fieldbus,
Described manipulator shaft servo control unit, comprises and matching to the corresponding axle joint of each mechanical arm of industrial robot, controlling and multiple servo-actuating devices of parallel discrete setting for realizing speeds control and torque current; Described multiple servo-actuating device, successively by the high speed real-time ethernet fieldbus arranged separately and/or the same high speed real-time ethernet fieldbus shared with multiple input/output module and PAC controller, be connected between PAC controller and input/output module;
Described man-machine interaction unit, at least comprises the IDE programming module for providing programmed environment, and for providing operation push-button and/or the display module of man-machine interface; Described IDE programming module, operation push-button and/or display module, share same CPU processor.
2. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, when same high speed real-time ethernet fieldbus shared by described multiple servo-actuating device, multiple input module and PAC controller, PAC controller is the main website of this high speed real-time ethernet fieldbus, and described multiple servo-actuating device and input/output module are the slave station of this high speed real-time ethernet fieldbus.
3. Fieldbus Based PAC industrial robot control system according to claim 2, is characterized in that, the structure of described multiple servo-actuating device is identical or different;
When the structure of described multiple servo-actuating device is identical, each servo-actuating device, comprise the servo-driver be connected with PAC controller and input/output module by high speed real-time ethernet fieldbus, and the servomotor be connected with described servo-driver and encoder.
4. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described IDE programming module, comprising parallel arrange and the programming in logic submodule be connected with described PAC controller respectively, move submodule is set, machine teaches programme submodule and track CAM chart of function sub-modules, CAM to generate submodule.
5. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described PAC controller, comprise low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and be connected Logic control module and the second logical communication protocol module; Described Logic control module and movement position control module, share same low-power consumption master cpu; Described movement position control module, controls, namely for realizing position control for realizing movement position;
Described first communication protocol module, comprises IEC61800-7 communication protocol module; And/or described second logical communication protocol module, comprises CANOpen communication protocol module.
6. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described man-machine interaction unit, comprise industrial computer, notebook, palm PC and other have in the mobile terminal of Industrial PC Computer function any one.
7. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described operation push-button, comprises keyboard; And/or described display module, comprises LCDs and/or touch-screen.
8. Fieldbus Based PAC industrial robot control system according to claim 1, is characterized in that, this system can applicable industry robot and/or comprise the automation control appliance of industrial robot.
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