CN104972467A - Truss type robot controller based on single-chip microcomputer - Google Patents
Truss type robot controller based on single-chip microcomputer Download PDFInfo
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- CN104972467A CN104972467A CN201410141469.7A CN201410141469A CN104972467A CN 104972467 A CN104972467 A CN 104972467A CN 201410141469 A CN201410141469 A CN 201410141469A CN 104972467 A CN104972467 A CN 104972467A
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Abstract
The invention discloses a truss type robot controller based on a single-chip microcomputer. The controller comprises a power supply providing power, a master control unit, a limiting switch, a hand wheel operation station, a cylinder electromagnetic valve, a keyboard and a liquid crystal display. The output end of the limiting switch and the output end of the hand wheel operation station are connected with the input end of the master control unit. The output end of the master control unit is connected with the cylinder electromagnetic valve through an output driver. The output end of the keyboard is electrically connected with the master control unit. According to the controller, circuits are simple in structure and easy to obtain, and a multi-path switch selects 16-gear feed speed. The controller is complete in function, and the feed motions such as handle positioning, handle continuity, handle inching, hand wheel inching and the like can be achieved. Reliability is high. Display in Chinese is achieved in the liquid crystal display, an interface is friendly, operation is convenient, and parameters are input through a menu table filling mode.
Description
Technical field
The present invention relates to the control device of a kind of gantry robot, especially relate to a kind of SCM Based gantry robot's controller.
Background technology
Current gantry robot be a kind of based on XYZ space rectangular coordinate system, multivariant, can the multipurpose automation equipment of overprogram.Be mainly used in the field of industrial productions such as a glue, spraying, piling, sorting, carrying, packaging, loading and unloading, manually alternative, can effectively enhance productivity and stabilized product quality.And common truss robot controller mainly contains: operating terminal adds Programmable Logic Controller, digital control system, special purpose robot's control system etc.Need many processes (multichannel) digital control system of more than selection four axle to complete the control of robot arm motion under normal circumstances, this will improve system cost greatly.There is the defects such as display is not directly perceived, slewing range is narrow, function is few.
Summary of the invention
The object of the invention is the problem solving above-mentioned proposition, there is provided and can control two pulse controlled AC servo motors and drag the slide unit being loaded with manipulator and complete feeding in plane and location, and the mechanism that control cylinder drives completes that default mechanical arm stretches, manipulator clamping and the dynamic SCM Based gantry robot's controller of one such as to unclamp.
The object of the invention is to realize as follows: a kind of SCM Based gantry robot's controller, comprises the power supply providing power; Main control unit, completes default feed motion for controlling AC servo motor dragging knife rest; Limit switch, for controlling the restriction position of each axle; Operated by handwheel station, for the indicator of manipulation robot's arm motion; Cylinder solenoid valve, for switch on and off; Keyboard, for receiving the operating means of instruction; Liquid crystal display, for the platform of man-machine interface; Described limit switch is connected with main control unit input respectively with the output at operated by handwheel station, described main control unit output is connected with cylinder solenoid valve by output driver, described keyboard output end and main control unit Electricity Federation, the output of described main control unit is connected with liquid crystal display.
The SCM Based gantry robot's controller of above-mentioned one, the output of main control unit drives servo step motor driver by photoisolator.
The SCM Based gantry robot's controller of above-mentioned one, described main control unit is model is C8051F340(U1) single-chip microcomputer.
The SCM Based gantry robot's controller of above-mentioned one, the model of the output interface of described liquid crystal display and keyboard scan line is 74HC374 data latches.
The SCM Based gantry robot's controller of above-mentioned one, the input of the input interface of described keyboard, operated by handwheel station interface and limit switch interface is connected with the three state buffer that model is 74HC244.
The SCM Based gantry robot's controller of above-mentioned one, the FLASH memory storing control parameter that described single-chip microcomputer is built-in.
The SCM Based gantry robot's controller of above-mentioned one, described keyboard interface circuit is 74HC244(U6) and 74HC374(U2).
The SCM Based gantry robot's controller of above-mentioned one, 74HC244(U8) be operated by handwheel station condition line interface circuit, 74HC244(U5) be limit signal and operating grip signal input interface circuit.
The SCM Based gantry robot's controller of above-mentioned one, described limit switch is connected with single-chip microcomputer with interface circuit through the second high speed optoelectronic isolator by operated by handwheel station status signal by limit signal, operated by handwheel station.
Advantage of the present invention: circuit of the present invention not only structure is simple, is easy to realize.And under the condition of every pulse 0.001 millimeter, can realize being low to moderate low speed processing and the high speed feed up to 24 ms/min of 0.01 milli m/min.16 grades of feed speeds are selected by variable connector.Function is complete, can realize the feed motions such as handle is located, handle is continuous, handle crawl, handwheel crawl.Interface hardware adopts photoelectric isolation technology, and reliability is high.Liquid crystal display Chinese display, friendly interface, easy to operate, parameter adopt menu fill in a form formula input.
Accompanying drawing explanation
In order to make content of the present invention more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is structural representation of the present invention;
Fig. 2 is circuit theory diagrams of the present invention.
Detailed description of the invention:
Embodiment 1
See shown in Fig. 1 to Fig. 2, a kind of SCM Based gantry robot's controller, comprises the power supply 1 providing power; Main control unit 2, completes default feed motion for controlling AC servo motor dragging knife rest; Limit switch 3, for controlling the restriction position of each axle; Operated by handwheel station 4, for the indicator of manipulation robot's arm motion; Cylinder solenoid valve 5, for switch on and off; Keyboard 6, for receiving the operating means of instruction; Liquid crystal display 7, for the platform of man-machine interface; Described limit switch 3 is connected with main control unit 2 input respectively with the output at operated by handwheel station 4, described main control unit 2 output is connected with cylinder solenoid valve 5 by output driver 8, described keyboard 6 output and main control unit 2 Electricity Federation, the output of described main control unit 2 is connected with liquid crystal display 7.The output of described main control unit 2 drives servo step motor driver 11 by photoisolator 9.Described main control unit 2 is models is C8051F340(U1) single-chip microcomputer.The model of the output interface of described liquid crystal display 7 and keyboard 6 scan line is 74HC374 data latches.The input of the input interface of described keyboard 6, operated by handwheel station interface and limit switch interface is connected with the three state buffer that model is 74HC244.The FLASH memory storing control parameter that described single-chip microcomputer is built-in.Described keyboard 6 interface circuit is 74HC244(U6), 74HC374(U2).Wherein 74HC244(U8) be operated by handwheel station 4 condition line interface circuit, 74HC244(U5) be limit signal and operating grip signal input interface circuit.Described limit switch 3 is connected with single-chip microcomputer with interface circuit through the second high speed optoelectronic isolator 10 by operated by handwheel station status signal by limit signal, operated by handwheel station.
Its course of work is core of the present invention is C8051F340(U1) single-chip microcomputer, 74HC244(U6), 74HC374(U2) be keyboard 6 interface circuit, it is also district's route selection interface of liquid crystal display 7 interface circuit while of 74HC374(U2), 74HC244(U8) be operated by handwheel station 4 condition line interface circuit, 74HC244(U5) be limit signal and operating grip signal input interface circuit.Outside 24Vdc switch state signal (limit signal of each axle, operated by handwheel station status signal and driver alarm signal etc.) sends into single-chip microcomputer through photoisolator and interface circuit.Single-chip microcomputer receives instruction by the switch at button, keyboard 6, operated by handwheel station 4, processes as required, and result is outputted to liquid crystal display and output circuit.Adopt high-speed photoelectric coupler drive motor driver.
Operation below by embodiment further illustrates function of the present invention:
One, show
X+8000.000:X axle current location, unit is millimeter, and effective range is-8300 ~+8300 millimeters.
Z+8000.000:Z axle current location, unit is millimeter, and effective range is-8300 ~+8300 millimeters.
F=1000: the fast forward speed of setting, unit is milli m/min, and effective range is 0 ~ 6000 milli m/min.
D=8000.000: the step distance of setting, unit is millimeter, and effective range is 0 ~ 8300 millimeter.
Ks=1000: handwheel multiplying power, shows when " handwheel " mode.
Condition prompting:
X+X axle is to just spacing;
X-X axle is to negative spacing;
Z+Z axle is to just spacing;
Z-Z axle is to negative spacing;
XA X-axis driver malfunction;
ZA Z axis driver malfunction;
ES scram button is pressed.
It is enable that H shows operated by handwheel station, the kinematic axis of current selection when X, Z display operated by handwheel station is enable.
Program display:
The program line number that N is pending;
Feeding displacement pending in X/Z display routine;
F shows the speed (0 ~ 1000 correspondence 0 ~ 100.0kHz) during feeding;
After M display routine executes feeding displacement operation, action to be done;
After the execution of D display routine, the time suspended before carrying out next operation.
Feeding displacement is the relative amount of feeding, when namely often running the trip sequence, is all the distance that starting point feeding is specified with current location.
Program is pointed out in running:
In FEED feeding;
IxH waits for that Ix (x=0 ~ 7) is effective;
IxL waits for that Ix (x=0 ~ 7) lost efficacy;
DLT waits for that delay time arrives.
Two, keyboard
Value key (0 ~ 9 ,-.): for inputting numerical value.
Editing key (←, ↑, →, ↓, cancel, input): under mode of operation, for selecting pending data item; Under programming mode, for selecting row and the item of editor, determine or cancel the data of input.
Three, operate
1. stepping
Setpoint distance D=non-zero;
Kinematic axis is selected with " ↑ " or " ↓ " key.
Press advance key: kinematic axis is with the distance set in F speed advance D.
By back spacer: kinematic axis retreats the distance set in D with F speed.
2. crawl
Setpoint distance D=0;
Kinematic axis is selected with " ↑ " or " ↓ " key.
Press advance key: kinematic axis advances, until unclamp this key with F speed.
By back spacer: kinematic axis retreats, until unclamp this key with F speed.
4. seek zero
Kinematic axis is selected with " ↑ " or " ↓ " key.
By reset key: kinematic axis retreats to zero position switch with Fz0 speed, advance with Fz1 speed and leave zero position switch, then with F0 speed advance Dz distance, coordinate automatic clear.
5. coordinate resets
With " ↑ " or " ↓ " key chosen axis, by value key " 0 ".
6. handwheel
Operated by handwheel station is selected kinematic axis (X, Z) and multiplying power (0,1,10,100,1000), presses enable button.Rotate clockwise handwheel, selected kinematic axis advances; Rotate counterclockwise handwheel, selected kinematic axis retreats.
7. programme
Press programming key: enter edit routine interface.
8. performing a programme
Program performs this row according to the order of feeding, action, time-out.
During operation, can first use " ← " or " → " key select start perform program line, but program cycle or terminate after, still get back to the first row.
By initiate key: start performing a programme.
By stop key: stopping current operation, after resetting, is then that starting point performs the amount of feeding of specifying again with current location.
Four, edit routine
Program format is: NxxX+xxxx.xxxFxxxxMxxDxx
Row to be edited is selected with " ↑ " or " ↓ ".
Item to be modified is selected with " ← " or " → ".
With value key (0 ~ 9 ,-.) input numerical value, the cursor of flicker indicates the position of numerical value to be entered, with " input " key confirmation input content (when input content complete and correct time, cursor moves on to the next item down, otherwise cursor position is motionless), or recover original content with " cancellation " key.
Often select one, its implication or data area all have prompting.In input numerical process, if the content of input is not cancelled or confirms, then other keys are inoperative.
In " M " option, after this program segment feeding can being selected with " 0 " ~ " 99 " numerical key, the operation that complete:
0 (feeding): after this section of feeding and time delay complete, points to next program segment, proceeds.If present segment is last column program (N=60), then stops execution procedures, get back to the first row, enter armed state.。
1 (time-out): after this section of feeding and time delay complete, stop execution procedures, points to next line program segment, enters armed state.
2 (end): after this section of feeding and time delay complete, stop execution procedures, get back to the first row, enter armed state.
3 (circulations): after this section of feeding and time delay complete, get back to the first row, proceed.
9 (seeking zero): after this section of feeding and time delay complete, seeking zero point (with resetting), after zero point, proceeding.
10: wait for that I0 input proceeds after closed.
……
17: after waiting for that I7 input is closed, point to next program segment, proceed.
20: after waiting for that I0 input disconnects, point to next program segment, proceed.
……
27: after waiting for that I7 input disconnects, point to next program segment, proceed.
30: connect O0 and export, point to next program segment, proceed.
……
37: connect O7 and export, point to next program segment, proceed.
40: disconnect O0 and export, point to next program segment, proceed.
……
47: disconnect O7 and export, point to next program segment, proceed.
Five, IO state is shown:
When showing key frame, not inputting numerical value and directly pressing " input " key, the display frame of IO state can be entered.
Under this picture, the output that cursor indicates is set to on-state by available " 1 " key; With " 0 " key, the output that cursor indicates is set to off-state.
Select last output with " ← " key, after selecting with " → ", one exports.
Press " cancellation " key and can return key frame.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. SCM Based gantry robot's controller, is characterized in that: comprise the power supply providing power; Main control unit, completes default feed motion for controlling AC servo motor dragging knife rest; Limit switch, for controlling the restriction position of each axle; Operated by handwheel station, for the indicator of manipulation robot's arm motion; Cylinder solenoid valve, for switch on and off; Keyboard, for receiving the operating means of instruction; Liquid crystal display, for the platform of man-machine interface; Described limit switch is connected with main control unit input respectively with the output at operated by handwheel station, described main control unit output is connected with cylinder solenoid valve by output driver, described keyboard output end and main control unit Electricity Federation, the output of described main control unit is connected with liquid crystal display.
2. the SCM Based gantry robot's controller of one according to claim 1, is characterized in that: the output of main control unit drives servo step motor driver by photoisolator.
3. the SCM Based gantry robot's controller of one according to claim 2, is characterized in that: described main control unit is model is C8051F340(U1) single-chip microcomputer.
4. the SCM Based gantry robot's controller of one according to claim 3, is characterized in that: the model of the output interface of described liquid crystal display and keyboard scan line is 74HC374 data latches.
5. the SCM Based gantry robot's controller of one according to claim 4, is characterized in that: the input of the input interface of described keyboard, operated by handwheel station interface and limit switch interface is connected with the three state buffer that model is 74HC244.
6. the SCM Based gantry robot's controller of one according to claim 5, is characterized in that: the FLASH memory storing control parameter that described single-chip microcomputer is built-in.
7. the SCM Based gantry robot's controller of one according to claim 6, is characterized in that: described keyboard interface circuit is 74HC244(U6), 74HC374(U2).
8. the SCM Based gantry robot's controller of one according to claim 7, is characterized in that: 74HC244(U8) be operated by handwheel station condition line interface circuit, 74HC244(U5) be limit signal and operating grip signal input interface circuit.
9. the SCM Based gantry robot's controller of one according to claim 8, is characterized in that: described limit switch is connected with single-chip microcomputer with interface circuit through the second high speed optoelectronic isolator by operated by handwheel station status signal by limit signal, operated by handwheel station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410141469.7A CN104972467A (en) | 2014-04-09 | 2014-04-09 | Truss type robot controller based on single-chip microcomputer |
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| CN201410141469.7A CN104972467A (en) | 2014-04-09 | 2014-04-09 | Truss type robot controller based on single-chip microcomputer |
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Cited By (3)
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| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN107378951A (en) * | 2017-07-28 | 2017-11-24 | 北京隆庆智能激光装备有限公司 | The visual programming method and operating system of a kind of truss manipulator |
| CN112692825A (en) * | 2020-11-27 | 2021-04-23 | 江苏汇能激光智能科技有限公司 | Parameterized programming operation system of ABB welding manipulator and operation method thereof |
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