CN105500372A - Modularized welding robot control system based on CAN looped network and control method thereof - Google Patents
Modularized welding robot control system based on CAN looped network and control method thereof Download PDFInfo
- Publication number
- CN105500372A CN105500372A CN201610024933.3A CN201610024933A CN105500372A CN 105500372 A CN105500372 A CN 105500372A CN 201610024933 A CN201610024933 A CN 201610024933A CN 105500372 A CN105500372 A CN 105500372A
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- Prior art keywords
- servo
- looped network
- welding robot
- driver
- motor control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modularized welding robot control system based on a CAN looped network. The system comprises a demonstrator, a main control panel, servo motor control panels, servo drivers and servo motors, and the demonstrator, the main control panel, the servo motor control panels, the servo drivers and the servo motors communicate with one another through the CAN looped network; the demonstrator generates a motion command, the main control panel calculates the motion position, speed and torque of the motors corresponding to all shafts of a welding robot through a core chip arranged in the main control panel according to the motion command, the servo motor control panels send the motion position, speed and torque of the motors corresponding to all the shafts of the welding robot to the servo drivers, and the servo drivers control the servo motors to complete corresponding actions. The invention further discloses a control method of the control system. Accordingly, the reliability and timeliness are good, the cost is low, and installation and maintenance are convenient.
Description
Technical field
The present invention relates to robot automation's control field, particularly relate to a kind of modularization welding robot control system based on CAN looped network and control method thereof.
Background technology
What require along with industrial production welding quality and welding efficiency improves constantly, and meets the demand improved the working environment of workers, reduce labor strength, and welding robot is widely used in various industrial welding occasion.Fountain type welding robot has the advantages such as compact mechanical structure, flexibility are good, the little and real-time of taking up room is good.
Along with the development of industrial local network technology and large scale industry net control, Automation of Welding system is also just towards the future development of modularization, networking.For adapting to this development trend, up-to-date servo-drive system is all configured with the EBI such as CAN, 485 buses.The setting of these interfaces, enhances the interconnection capability between servo unit and other control appliance significantly, thus the communication achieved between welding robot servo-control system and control centre and other network nodes is interconnected.Modular design not only facilitates installation and maintenance, also reduces development cost.
CAN communication is widely applied in the transmission of robot controlling data because of its many advantage, adopts the Control system architecture based on CAN looped network, can increase and decrease the quantity of control module as required easily, have good expanded function; In running, each control module does not interfere with each other, and has the features such as reconfigurability, substitutability and high stability; Each control module couples together and forms the ring control network network closed by CAN looped network, this design only needs a backbone, is greatly reducing number of cables, while reducing wiring difficulty, ensure that net control reliability, improve the stability of whole system.
But reliability and the real-time of welding robot control system of the prior art are poor, and cost is higher, and installation and maintenance difficulty is larger.
Summary of the invention
Goal of the invention: the object of this invention is to provide a kind of reliability and real-time is good, cost is low, installation and maintenance is easily based on modularization welding robot control system and the control method thereof of CAN looped network.
Technical scheme: for reaching this object, the present invention by the following technical solutions:
Modularization welding robot control method based on CAN looped network of the present invention, comprises the following steps:
S1: teaching machine sends movement instruction;
S2: master board calculates the position of motor movement corresponding to welding robot each axle, speed and moment according to movement instruction, and transfers to Serve Motor Control plate by CAN looped network;
S3: the position of motor movement corresponding for each axle of the welding robot obtained from master board, speed and moment are transferred to servo-driver by CAN looped network by Serve Motor Control plate;
S4: control information is transferred to servomotor by CAN looped network by servo-driver;
S5: servomotor completes corresponding action according to control information.
Further, described Serve Motor Control plate is provided with multiple CAN intelligence interface, wherein, a CAN intelligence interface connects two servo-drivers, and employing embedded software realizes the communication between two servo-drivers in the CAN communication cycle.
Further, teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor all adopt the communication mode of overall situation broadcast, the address of resolution data bag when receiving the data of CAN looped network transmission, judge whether to issue oneself, if it is do further process, otherwise just directly abandon.
Further, the network model that described CAN looped network employing monocycle is two-way.
Modularization welding robot control system based on CAN looped network of the present invention, comprise teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor, teaching machine, master board, Serve Motor Control plate, between servo-driver and servomotor, carry out communication by CAN looped network; Teaching machine generates movement instruction, master board is according to movement instruction, the position of motor movement corresponding to each axle of welding robot, speed and moment is calculated by the acp chip of its inside, the position of motor movement corresponding for each axle of welding robot, speed and moment are sent to servo-driver by Serve Motor Control plate, and servo-driver controls servomotor and completes corresponding action.
Further, described Serve Motor Control plate is provided with multiple CAN intelligence interface, wherein, a CAN intelligence interface connects two servo-drivers, and employing embedded software realizes the communication between two servo-drivers in the CAN communication cycle.
Further, teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor all adopt the communication mode of overall situation broadcast, the address of resolution data bag when receiving the data of CAN looped network transmission, judge whether to issue oneself, if it is do further process, otherwise just directly abandon.
Further, the network model that described CAN looped network employing monocycle is two-way.
Beneficial effect: the present invention adopts based on the Modular control system of CAN looped network and control method, can according to system needs, and the quantity of increase and decrease Serve Motor Control plate, is convenient to extended function; Teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor work alone separately, operationally do not interfere with each other, even if one of them equipment breaks down, due to the design of CAN looped network, still can ensure the normal work of system, improve stability and the reliability of system; Adopt the control system's development cycle of modularized design short, failure rate is low; CAN looped network only needs a backbone, greatly reduces number of cables, improves the real-time of system, reduces wiring difficulty, has saved development cost; In addition, the installation and maintenance of system is convenient, and difficulty is little.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is the structural representation of CAN looped network;
Fig. 3 is the structural representation of the CAN intelligence interface of Serve Motor Control plate;
Fig. 4 is signal flow graph.
Detailed description of the invention
Below in conjunction with detailed description of the invention, technical scheme of the present invention is further introduced.
The invention discloses a kind of modularization welding robot control system based on CAN looped network, comprise teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor, teaching machine, master board, Serve Motor Control plate, between servo-driver and servomotor, carry out communication by CAN looped network.Teaching machine generates movement instruction, master board is according to movement instruction, the position of motor movement corresponding to each axle of welding robot, speed and moment is calculated by the acp chip of its inside, the position of motor movement corresponding for each axle of welding robot, speed and moment are sent to servo-driver by Serve Motor Control plate, and servo-driver controls servomotor and completes corresponding action.Serve Motor Control plate is provided with multiple CAN intelligence interface, as shown in Figure 3, wherein, a CAN intelligence interface connects two servo-drivers, and employing embedded software realizes the communication between two servo-drivers in the CAN communication cycle.
CAN looped network in native system is the two-way network model of monocycle, as shown in Figure 2, configures applicable control strategy simultaneously, and when any node in looped network or somewhere cable disconnect, whole network still can proper communication.The data message of the servomotor of each axle of robot is sent in CAN looped network by CAN intelligence interface, and by both direction transmission.The each node of system adopts the communication mode of overall situation broadcast, support that multiple spot carries out data transmission simultaneously, the each node of system is a resolution data packet address when receiving the data of CAN, issue being for further processing of oneself, not issue directly abandoning of oneself, and the complete data of a certain node-node transmission of wait need not be intercepted, after this node-node transmission terminates, just allow other nodes carry out data transmission and communicate, improve real-time and the bus utilization of system.In mode, because individual node is sent on CAN looped network to both direction by data simultaneously, when the link in the CAN looped network direction that this node is connected with monitoring treatment facility disconnects, data to be sent can arrive monitor node by another direction, avoid the danger of systemic breakdown when single line disconnects, thus improve the reliability of system.
Nodes on CAN looped network determines according to the servomotor quantity of each axle of welding robot, and the present invention adopts the project organization of module, can expand CAN node according to actual conditions, to realize expanding system function.Servomotor is controlled by servo-driver, and servo-driver sends data to Serve Motor Control plate by CAN intelligence interface.CAN intelligence interface is arranged on circuit for controlling motor plate, one block of Serve Motor Control plate is installed several CAN intelligence interfaces.In order to both economize on resources, ensure again real-time and the stability of system, and adopt a CAN interface to connect two servo-drivers, and utilized an embedded software to realize completing the communication of two servo-drivers within a CAN communication cycle.The quantity of one piece of Serve Motor Control plate installation CAN intelligence interface is conditional, when reaching the upper limit, then needs expansion Serve Motor Control plate to realize SERVO CONTROL and communication.The real-time of each node data of CAN looped network transmission is ensured by the FPGA on Serve Motor Control plate.
Composition graphs 4 is known, master control borad robot location, speed and the moment parameter being responsible for calculating issue Serve Motor Control plate by CAN, the information needed for servo-driver is issued servo-driver by CAN by BusBridge by the MicroBlazeIP core in Serve Motor Control plate.Wherein, the MicroBlazeIP core in Serve Motor Control plate the information needed for each servo-driver is sent by CAN communication packing in the unified moment, has higher real-time than traditional sending one by one.
The invention also discloses a kind of modularization welding robot control method based on CAN looped network, as shown in Figure 1, comprise the following steps:
S1: teaching machine sends movement instruction;
S2: master board calculates the position of motor movement corresponding to welding robot each axle, speed and moment according to movement instruction, and transfers to Serve Motor Control plate by CAN looped network;
S3: the position of motor movement corresponding for each axle of the welding robot obtained from master board, speed and moment are transferred to servo-driver by CAN looped network by Serve Motor Control plate;
S4: control information is transferred to servomotor by CAN looped network by servo-driver;
S5: servomotor completes corresponding action according to control information.
Claims (8)
1., based on a modularization welding robot control method for CAN looped network, it is characterized in that: comprise the following steps:
S1: teaching machine sends movement instruction;
S2: master board calculates the position of motor movement corresponding to welding robot each axle, speed and moment according to movement instruction, and transfers to Serve Motor Control plate by CAN looped network;
S3: the position of motor movement corresponding for each axle of the welding robot obtained from master board, speed and moment are transferred to servo-driver by CAN looped network by Serve Motor Control plate;
S4: control information is transferred to servomotor by CAN looped network by servo-driver;
S5: servomotor completes corresponding action according to control information.
2. the modularization welding robot control method based on CAN looped network according to claim 1, it is characterized in that: described Serve Motor Control plate is provided with multiple CAN intelligence interface, wherein, a CAN intelligence interface connects two servo-drivers, and employing embedded software realizes the communication between two servo-drivers in the CAN communication cycle.
3. the modularization welding robot control method based on CAN looped network according to claim 1, it is characterized in that: teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor all adopt the communication mode of overall situation broadcast, the address of resolution data bag when receiving the data of CAN looped network transmission, judge whether to issue oneself, if it is do further process, otherwise just directly abandon.
4. the modularization welding robot control method based on CAN looped network according to claim 1, is characterized in that: the network model that described CAN looped network adopts monocycle two-way.
5. the modularization welding robot control system based on CAN looped network, it is characterized in that: comprise teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor, teaching machine, master board, Serve Motor Control plate, between servo-driver and servomotor, carry out communication by CAN looped network; Teaching machine generates movement instruction, master board is according to movement instruction, the position of motor movement corresponding to each axle of welding robot, speed and moment is calculated by the acp chip of its inside, the position of motor movement corresponding for each axle of welding robot, speed and moment are sent to servo-driver by Serve Motor Control plate, and servo-driver controls servomotor and completes corresponding action.
6. the modularization welding robot control system based on CAN looped network according to claim 5, it is characterized in that: described Serve Motor Control plate is provided with multiple CAN intelligence interface, wherein, a CAN intelligence interface connects two servo-drivers, and employing embedded software realizes the communication between two servo-drivers in the CAN communication cycle.
7. the modularization welding robot control system based on CAN looped network according to claim 5, it is characterized in that: teaching machine, master board, Serve Motor Control plate, servo-driver and servomotor all adopt the communication mode of overall situation broadcast, the address of resolution data bag when receiving the data of CAN looped network transmission, judge whether to issue oneself, if it is do further process, otherwise just directly abandon.
8. the modularization welding robot control system based on CAN looped network according to claim 5, is characterized in that: the network model that described CAN looped network adopts monocycle two-way.
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| CN108227527A (en) * | 2017-12-14 | 2018-06-29 | 北京卫星制造厂 | A kind of multiaxis cooperative control system and method based on CANopen bus communications |
| CN108762128A (en) * | 2018-04-13 | 2018-11-06 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN108890634A (en) * | 2018-05-25 | 2018-11-27 | 北京工商大学 | A kind of control system and method for module machine person joint |
| TWI739264B (en) * | 2020-01-06 | 2021-09-11 | 新代科技股份有限公司 | Welding robot controlling system and the controlling method thereof |
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Application publication date: 20160420 |