CN106125676A - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN106125676A CN106125676A CN201610770160.3A CN201610770160A CN106125676A CN 106125676 A CN106125676 A CN 106125676A CN 201610770160 A CN201610770160 A CN 201610770160A CN 106125676 A CN106125676 A CN 106125676A
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- servo
- industrial computer
- control system
- robot control
- demonstrator
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000004886 process control Methods 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 3
- 238000003032 molecular docking Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31137—Sercos serial real time communications system between servo and cpu
Abstract
The invention belongs to control system technical field, particularly relate to a kind of robot control system, including controller, some servo-drivers and some servo alternating current generators, described controller includes interconnective demonstrator and industrial computer, wireless module all it is provided with on described demonstrator and described industrial computer, described industrial computer is connected with some described servo-drivers respectively, described servo alternating current generator is connected with servo-driver, and quantity is corresponding, described industrial computer is also associated with IO communication module, power supply and siren, described industrial computer controls the operation of siren according to the operation of servo-driver.This system has stronger response characteristic；There is the ability controlling axle, it is possible to and servo drive system docking, thus it is accurately controlled servomotor；There is communication interface flexibly, it is possible to process control at different levels and feedback information；Possess excellent reliability, stability, extensibility.
Description
Technical field
The invention belongs to control system technical field, particularly relate to a kind of robot control system.
Background technology
Industrial robot is include the multidisciplinary synthesis such as computer, automatization, electromechanical integration, communication, material one
Platform.In modern industry, it is more and more prominent that automatization shows, and also promotes industrial robot field to occur to overturn the heavens
Cover the change on ground.
In existing six-DOF robot control system, operational efficiency is the highest, is susceptible to fault, it is impossible to preferably full
Foot effector is to by the demand for control of man-controlled mobile robot.
Summary of the invention
The technical problem to be solved is for providing a kind of robot control system, thus realizes flexibly controlled
The variation control of robot.
For solving above-mentioned technical problem, the present invention is achieved in that a kind of robot control system, including controller,
Some servo-drivers and some servo alternating current generators, described controller use CODESYS platform as real-time kernel, described control
Device processed includes all being provided with wireless module on interconnective demonstrator and industrial computer, described demonstrator and described industrial computer, described
Industrial computer is connected with some described servo-drivers respectively, and described servo alternating current generator is connected with servo-driver and quantity phase
Correspondence, described industrial computer is also associated with IO communication module, power supply and siren, and described industrial computer is according to the operation of servo-driver
Control the operation of siren.
Further, described demonstrator is connected by TCP/IP communication with described industrial computer.
Further, described industrial computer is connected by EtherCAT with described servo-driver.
Further, described industrial computer is provided with 3 RS-232 interface, 4 USB2.0 interfaces.
Further, described demonstrator includes key-press module and touch screen displays module.
Further, described touch screen displays module is additionally provided with fingerprint identification module.
The present invention compared with prior art, has the beneficial effects that: this system has stronger response characteristic；There is control axle
Ability, it is possible to and servo drive system docks, thus is accurately controlled servomotor；There is communication interface flexibly, it is possible to
Process control at different levels and feedback information；Possess excellent reliability, stability, extensibility.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: the 1-controller 2-servo-driver 3-servo alternating current generator 4-demonstrator 5-wireless mould of industrial computer 6-
Block 7-IO communication module 8-power supply 9-siren 10-key-press module 11-touch display module 12-fingerprint identification module
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment to the present invention
It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
As it is shown in figure 1, a kind of robot control system, hand over including controller 1, some servo-drivers 2 and some servos
Stream motor 3, controller 1 uses CODESYS platform as real-time kernel, and controller 1 includes interconnective demonstrator 4 and industry control
All being provided with wireless module 6 on machine 5, demonstrator 4 and industrial computer 5, industrial computer 5 is connected with some servo-drivers 2 respectively, and servo is handed over
Stream motor 3 connects with servo-driver 2 and quantity is corresponding, and industrial computer 5 is also associated with IO communication module 7, power supply 8 and alarm
Device 9, industrial computer 5 controls the operation of siren 9 according to the operation of servo-driver 2.
Specifically, controller 1 main body uses industry embedded computer, in core uses Germany's CODESYS motor control
Core, by the way of Soft-PLC, replaces the control mode of original motion control card, uses the IEC61131-3 language of standard, all
Motion control arithmetic be all to be realized by software algorithm, be substantially reduced the technology requirement of robot programmer, and can
Realizing the transplanting in different platform, code reusability is high, safeguards simple, makes independent research robot controller be possibly realized.
And CODESYS software environment is integrated, motor control, visualization, and basic logic control, can be on this controller 1, directly
Tap into row motion control arithmetic to add, and demonstrator interface is write.
Demonstrator 4 is connected by TCP/IP communication with industrial computer 5.Industrial computer 5 is with servo-driver 2 by EtherCAT even
Connect.EtherCAT has topological structure flexibly, almost supports all of topological classification, such as line style, tree-shaped, star-like etc..
EtherCAT can use 100BASE-TX twisted-pair feeder, 100BASE-FX optical fiber or LVDS in physical layer, it is also possible to by handing over
Change planes or media converter is to realize different Ethernet wiring combination.Quickly allow between two equipment with outer net physical layer
The extreme length of cable is 100m, and whole network at most can connect 65535 equipment.
EtherCAT makes network performance reach a frontier.By main in the integrated of slave station hardware and network controller
Standing the characteristic of direct memory access, the processing procedure of whole agreement can realize in system 1000 I/O more within hardware
The new time only needs 30 s, the most also includes the I/O cycle.The single process data that at most can carry out 1486 bytes with outer net frame
Exchanging, this is equivalent to 12000 numeral inputs and output, and transmits these data and be time-consumingly only 300 s.
EtherCAT equipment can contain other Ethernet protocol, possesses all characteristics of standard ethernet equipment.Main website
Effect as the 2nd layer switch role, according to Addressing information ethernet frame can be re-introduced into and set accordingly
Standby.Therefore, all of technique of internet such as integrated Web server, Email and FTP transmission can be at EtherCAT
Environmental applications [35].
EtherCAT technology is completely compatible Ethernet and really opens.It with other ethernet devices with agreement depositing
In unibus, the ethernet device of standard can be connected to an EtherCAT system by hub terminal, and this terminal is not
Circulation time can be affected.
EtherCAT has number of mechanisms, it is achieved that security function, uses technical feasibility and economical and practical method, make with
Too network technology can extend downward I/O level.Technique of internet can be embedded in simple device by EtherCAT, maximizes land productivity
The huge broadband provided with Ethernet, is a kind of real-time performance Open Network technology superior and with low cost.
In summary, EtherCAT has the features such as high speed, high synchronization accuracy and high effective data rate, it is possible to competent many
Strict demand to real-time, reliability and anti-interference in axle kinetic control system, and the configuration of its system is simple, it is achieved cost
Relatively low.
Industrial computer 5 onboard Intel@AtomTMD425 processor, process frequency up to 1.8GHZ, built-in ICH9M chipset；
Industrial computer 5 is provided with 3 RS-232 interface, 4 USB2.0 interfaces.Demonstrator 4 includes key-press module 9 and touch screen displays module
10, input mode is more various, backs up mutually, it is ensured that normal operation.Fingerprint recognition mould it is additionally provided with in touch screen displays module 11
Block 12, is identified user, it is ensured that operation safety.
This system has stronger response characteristic；There is the ability controlling axle, it is possible to and servo drive system docking, thus
It is accurately controlled servomotor；There is communication interface flexibly, it is possible to process control at different levels and feedback information；Possess excellent can
By property, stability, extensibility.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (6)
1. a robot control system, including controller, some servo-drivers and some servo alternating current generators, its feature exists
In: described controller uses CODESYS platform as real-time kernel, and described controller includes interconnective demonstrator and industry control
All be provided with wireless module on machine, described demonstrator and described industrial computer, described industrial computer respectively with some described servo-drivers
Connecting, described servo alternating current generator connects with servo-driver and quantity is corresponding, and described industrial computer is also associated with IO communication mould
Block, power supply and siren, described industrial computer controls the operation of siren according to the operation of servo-driver.
2. a kind of robot control system as claimed in claim 1, it is characterised in that: described demonstrator leads to described industrial computer
Cross TCP/IP communication to connect.
3. a kind of robot control system as claimed in claim 1, it is characterised in that: described industrial computer and described servo-drive
Device is connected by EtherCAT.
4. a kind of robot control system as claimed in claim 1, it is characterised in that: described industrial computer is provided with 3 RS-232
Interface, 4 USB2.0 interfaces.
5. robot control system as claimed in claim 1 a kind of, it is characterised in that: described demonstrator include key-press module and
Touch screen displays module.
6. a kind of robot control system as claimed in claim 5, it is characterised in that: also set in described touch screen displays module
There is fingerprint identification module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610770160.3A CN106125676A (en) | 2016-08-31 | 2016-08-31 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610770160.3A CN106125676A (en) | 2016-08-31 | 2016-08-31 | A kind of robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106125676A true CN106125676A (en) | 2016-11-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610770160.3A Pending CN106125676A (en) | 2016-08-31 | 2016-08-31 | A kind of robot control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106125676A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444536A (en) * | 2016-11-17 | 2017-02-22 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN108942932A (en) * | 2018-07-19 | 2018-12-07 | 深圳市智能机器人研究院 | Industrial robot control system and method based on EtherCAT bus |
| CN112187871A (en) * | 2020-09-07 | 2021-01-05 | 珠海格力电器股份有限公司 | Robot control method, device, electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201244813Y (en) * | 2008-08-08 | 2009-05-27 | 安徽工程科技学院 | Robot control system for precision forging |
| CN202438792U (en) * | 2011-12-20 | 2012-09-19 | 徐州工程学院 | Control system for welding robot |
| CN103522290A (en) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | Distributed robot control system based on field buses |
| CN204347604U (en) * | 2015-01-28 | 2015-05-20 | 北京欣奕华科技有限公司 | A kind of industrial robot controller |
| CN104786221A (en) * | 2015-04-13 | 2015-07-22 | 浙江工业大学 | Opening type mechanical arm control method based on Ethernet |
| CN105345817A (en) * | 2015-12-10 | 2016-02-24 | 南京熊猫电子股份有限公司 | Processing method for internal warning signal of robot |
| CN205983171U (en) * | 2016-08-31 | 2017-02-22 | 滕晓波 | Robot control system |
-
2016
- 2016-08-31 CN CN201610770160.3A patent/CN106125676A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201244813Y (en) * | 2008-08-08 | 2009-05-27 | 安徽工程科技学院 | Robot control system for precision forging |
| CN202438792U (en) * | 2011-12-20 | 2012-09-19 | 徐州工程学院 | Control system for welding robot |
| CN103522290A (en) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | Distributed robot control system based on field buses |
| CN204347604U (en) * | 2015-01-28 | 2015-05-20 | 北京欣奕华科技有限公司 | A kind of industrial robot controller |
| CN104786221A (en) * | 2015-04-13 | 2015-07-22 | 浙江工业大学 | Opening type mechanical arm control method based on Ethernet |
| CN105345817A (en) * | 2015-12-10 | 2016-02-24 | 南京熊猫电子股份有限公司 | Processing method for internal warning signal of robot |
| CN205983171U (en) * | 2016-08-31 | 2017-02-22 | 滕晓波 | Robot control system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444536A (en) * | 2016-11-17 | 2017-02-22 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN106444536B (en) * | 2016-11-17 | 2023-08-11 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN108942932A (en) * | 2018-07-19 | 2018-12-07 | 深圳市智能机器人研究院 | Industrial robot control system and method based on EtherCAT bus |
| CN108942932B (en) * | 2018-07-19 | 2021-10-08 | 深圳市智能机器人研究院 | Industrial robot control system and method based on EtherCAT bus |
| CN112187871A (en) * | 2020-09-07 | 2021-01-05 | 珠海格力电器股份有限公司 | Robot control method, device, electronic device and storage medium |
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Application publication date: 20161116 |