CN106216813B - A kind of wireless drive control device of spot welding industrial robot - Google Patents
A kind of wireless drive control device of spot welding industrial robot Download PDFInfo
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- CN106216813B CN106216813B CN201610811916.4A CN201610811916A CN106216813B CN 106216813 B CN106216813 B CN 106216813B CN 201610811916 A CN201610811916 A CN 201610811916A CN 106216813 B CN106216813 B CN 106216813B
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- wireless communication
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- master controller
- communication module
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Classifications
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- 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
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
- B23K9/1087—Arc welding using remote 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
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
- B23K9/1006—Power supply
- B23K9/1043—Power supply characterised by the electric circuit
- B23K9/105—Power supply characterised by the electric circuit by using discharge tubes or mechanical contactors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The present invention relates to robotic technology field, especially a kind of wireless drive control device of spot welding industrial robot.It includes controlling the power mechanism of robot for carrying out the wireless communication module of information exchange, the control instruction for receiving according to wireless communication module by wireless network and host computer by drive module to carry out the master controller of corresponding actions and respectively wireless communication module, drive module and master controller provide the power module of operating voltage.The present invention, which passes through the wireless communication module added, can realize the working environment for being conducive to improve weld job efficiency and improvement employee to the remote control for being welded robot；Meanwhile being improved by the circuit structure to power module and drive module, the stability to reduce the cost of electric welding robot, enhancing the flexibility of its control and improve its operation provides strong basis；Its system structure is simple, has very strong practical value and market application prospect.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of wireless drive control device of spot welding industrial robot.
Background technique
With the progress of industry transfer, the manufacturing industry of developed regions needs to be promoted, ever-increasing existing based on cost of labor
Real, spot welding industrial robot becomes best alternative in spot welding automatic job field, especially because of welding production during
In the presence of the problems such as radiation is strong, flue dust is big, risk is high, spot welding industrial robot is to improvement welding surroundings and improves welding production effect
Rate plays the role of play staff's weight.
Currently, existing spot welding robot generallys use PLC device and RS485 fieldbus controls, there are costs
The problems such as height, poor control flexibility；Simultaneously as drive part design is not mature enough, the driving motor of robot is caused to run
Unstable and noise is larger, has seriously affected robot traveling comfort and reliability.
Summary of the invention
In view of the deficiency of the prior art, the purpose of the present invention is to provide a kind of nothings of spot welding industrial robot
Line drive control device.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of wireless drive control device of spot welding industrial robot, it includes for being carried out by wireless network and host computer
The wireless communication module of information exchange, the control instruction for being received according to wireless communication module are controlled by drive module
The master controller and respectively wireless communication module, drive module and main control that the power mechanism of robot carries out corresponding actions
The power module of device offer operating voltage；
The wireless communication module includes a SX1212 type or SIM900A type wireless communication chips, the master controller packet
Include a STM32 series microprocessor；
The power module includes that a LM2576 type level-one voltage-stablizer and an AS1117 type second level voltage stabilizer, the level-one are steady
The first pin connection 12V-50V external power supply of depressor simultaneously passes through the first capacitor being arranged in parallel and the second capacity earth, second
For pin by the first inductance of connection as voltage order one conversion output, the both ends of first inductance pass through connection respectively
The input terminal of first diode and third capacity earth, the second level voltage stabilizer connects voltage order one conversion output, output end
As secondary voltage conversion output, the input terminal of the second level voltage stabilizer passes through the 4th capacitor and the 5th capacitor in parallel simultaneously
Ground connection, output end pass through the 6th capacitor and the 7th capacity earth in parallel, the voltage input end connection of the master controller simultaneously
Secondary voltage conversion output, the wireless communication module and drive module are connected with voltage order one conversion output respectively；
The drive module includes a THB6064AH type two-phase stepper motor driving chip, a toggle switch, a HCPL-
2530 the first optical coupling isolators of type and three the second optical coupling isolators of PC817 type, the two-phase stepper motor driving chip it is thin
Score selection end feet and damped manner control end feet are connected with toggle switch respectively, chopping frequency control end feet passes through first resistor
Ground connection, semi-fluid locking control end feet are set by potentiometer with electric current defeated by the 8th capacity earth, power bridge after end feet is connected
Outlet is connected with the stepper motor of the power mechanism of robot, and the enabled end feet of the two-phase stepper motor driving chip powers on
It resets end feet and protection output end feet is connected separately with one second optical coupling isolator, the arteries and veins of the two-phase stepper motor driving chip
Punching input end feet and motor positive and inverse control end feet are connected with the first optical coupling isolator simultaneously.
Preferably, it further includes the MAX485 chip for being connected by MODBUS agreement with local control touch screen, institute
MAX485 chip is stated to be connected with master controller and power module respectively.
Preferably, it further includes one for assisting master controller to carry out the flash storage of data temporary storage, described
Flash storage is connected with master controller.
As the above scheme is adopted, the present invention passes through the wireless communication module added and can realize to the remote of electric welding robot
Journey manipulation is conducive to improve weld job efficiency and improves the working environment of employee；Meanwhile by power module and driving
The circuit structure of module improves, to reduce the cost of electric welding robot, enhancing the flexibility of its control and improving its operation
Stability provides strong basis；Its system structure is simple, has very strong practical value and market application prospect.
Detailed description of the invention
Fig. 1 is the system control principle block diagram of the embodiment of the present invention；
Fig. 2 be the embodiment of the present invention wireless communication module and master controller communication interface with reference to figure；
Fig. 3 is the circuit structure diagram of the power module of the embodiment of the present invention；
Fig. 4 is the circuit structure diagram (one) of the drive module of the embodiment of the present invention；
Fig. 5 is the circuit structure diagram (two) of the drive module of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As shown in Figures 1 to 5, the wireless drive control device of a kind of spot welding industrial robot provided in this embodiment, it is wrapped
It includes the wireless communication module 1 for carrying out information exchange by wireless network and host computer a, be used for according to wireless communication module 1
The control instruction received controlled by drive module 2 robot power mechanism c carry out corresponding actions master controller 3 with
And respectively wireless communication module 1, drive module 2 and master controller 3 provide the power module 4 of operating voltage.Wherein:
Wireless communication module 1 include a SX1212 type or SIM900A type wireless communication chips U1 (wherein, SX1212 type without
Communication interface can refer to Fig. 2 and be configured between line communication chip and master controller 3), master controller 4 then includes a STM32 system
Column microprocessor U2；With this, host computer a can module 1 be too long to entire welding production by wireless communication is monitored and operates,
And the transmission of data command and the preservation of historical data are carried out using wireless communication module 1；Simultaneously by using SX1212 type
Or SIM900A type wireless communication chips U1 can keep the consistency of voltage with STM32 series microprocessor U2, be conducive to enhance whole
The stability of a wireless transmission function.
Power module 4 includes an a LM2576 type level-one voltage-stablizer U3 and AS1117 type second level voltage stabilizer U4, level-one pressure stabilizing
The first pin of device U3 connects 12V-50V external power supply and the first capacitor C1 by being arranged in parallel and the second capacitor C2 are grounded,
Second pin uses the both ends point of the first inductance L as voltage order one conversion output A1 by the first inductance L1 of connection
First diode D1 and third capacitor the C3 ground connection that Tong Guo do not connect, the input terminal connection voltage order one conversion of second level voltage stabilizer U4
Output terminals A 1, output end come as secondary voltage conversion output A2 using the input terminal of second level voltage stabilizer U4 passes through simultaneously simultaneously
The 4th capacitor C4 and the 5th capacitor the C5 ground connection of connection, output end pass through the 6th capacitor C6 and the 7th capacitor C7 in parallel simultaneously and connect
Ground；With this, due to the operating voltage that the operating voltage of STM32 series microprocessor U2 is 2.0-3.6V, wireless communication chips U1
For 3.1V-4.6V, the composition device of drive control device can be powered respectively by the processing of two-stage voltage-stablizer, it may be assumed that external
The voltage of power supply output is input to progress voltage conversion in level-one voltage-stablizer U3 after first capacitor C1 and the second capacitor C filtering
To supply wireless communication module 1 and drive module 2 is carried out using then exporting to level-one voltage-stablizer U3 by second level voltage stabilizer U4
Voltage converted after supply master controller 3 carry out using.
Drive module 2 then includes a THB6064AH type two-phase stepper motor driving chip U5, a toggle switch S, one
HCPL-2530 type the first optical coupling isolator G1 and three PC817 type the second optical coupling isolator G2, two-phase stepper motor driving chip
High-subdividing number selection end feet (M1-M3) of U5 and damped manner control end feet (DYC1 and DYC2) are connected with toggle switch S respectively, cut
Wave frequency rate control terminal 0SC2 is set by first resistor R1 ground connection, semi-fluid locking control end feet DOWN by potentiometer R2 and electric current
End feet Vref passes through the 8th capacitor C8 ground connection, power bridge output end (OUT1A-OUT2A and OUT1B-OUT2B) and machine after being connected
The stepper motor M of the power mechanism b of device people is connected, the enabled end feet ENABLE of two-phase stepper motor driving chip U5, on reply by cable
Position end feet RESET and protection output end feet ALERT are connected separately with one second optical coupling isolator G2, and two-phase stepper motor drives core
Pulse input end feet CLK and motor positive and inverse control the end feet CW/CCW of piece U5 is connected with the first optical coupling isolator G1 simultaneously；With
This, the electric current of the stepper motor M of the power mechanism b of two-phase stepper motor driving chip U5 supply equipment people can be by the mode of copped wave
It realizes, and passes through the setting to chopping frequency and evanescent mode, it is ensured that the stepper motor M energy of the power mechanism b of robot
Enough even runnings and with small vibration, low noise；And the decaying of two-phase stepper motor driving chip U5 can be then set using toggle switch S
Mode and subdivision multiple；In addition, for the anti-interference ability of enhancing interface, to enable signal, reset signal, alarm signal and direction
The non-high-speed signals such as signal are controlled to use low speed light-coupled isolation measure (realizing by the second optical coupling isolator G2), and for
The high speed signals such as pulse signal are then realized by the first optical coupling isolator G1.
It is the application range for extending entire drive control device to the maximum extent as a preferred embodiment, further includes using
In by MODBUS agreement and the local MAX485 chip 5 for controlling touch screen c and being connected, MAX485 chip 5 respectively with master controller 3
It is connected with power module 4；With this, provide the foundation condition to realize to the execute-in-place of robot and control.
In addition, to guarantee that entire drive control device further includes one for assisting master controller 3 to the processing capacity of data
The flash storage 6 of data temporary storage is carried out, flash storage 6 is connected with master controller 3.
Based on the setting of above system structure, can meet the needs of to spot welding robot's remote control, be conducive to improvement person
The working environment of work；Meanwhile to reduce the cost of electric welding robot, enhancing the flexibility of its control and improving the steady of its operation
It is qualitative to provide strong basis.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (3)
1. a kind of wireless drive control device of spot welding industrial robot, it is characterised in that: it include for by wireless network with
Host computer carries out the wireless communication module of information exchange, the control instruction for being received according to wireless communication module passes through driving
Module come control robot power mechanism carry out corresponding actions master controller and respectively wireless communication module, driving mould
Block and master controller provide the power module of operating voltage；
The wireless communication module includes a SX1212 type or SIM900A type wireless communication chips, and the master controller includes one
STM32 series microprocessor；
The power module includes a LM2576 type level-one voltage-stablizer and an AS1117 type second level voltage stabilizer, the level-one voltage-stablizer
The first pin connection 12V-50V external power supply and pass through the first capacitor that is arranged in parallel and the second capacity earth, second pin
By the first inductance of connection as voltage order one conversion output, the both ends of first inductance pass through the first of connection respectively
The input terminal of diode and third capacity earth, the second level voltage stabilizer connects voltage order one conversion output, output end conduct
Secondary voltage conversion output, the input terminal of the second level voltage stabilizer pass through the 4th capacitor and the 5th capacitor in parallel simultaneously and connect
Ground, output end pass through the 6th capacitor and the 7th capacity earth in parallel, the voltage input end connection two of the master controller simultaneously
Step voltage conversion output, the wireless communication module and drive module are connected with voltage order one conversion output respectively；
The drive module includes a THB6064AH type two-phase stepper motor driving chip, a toggle switch, a HCPL-2530
The first optical coupling isolator of type and three the second optical coupling isolators of PC817 type, the high-subdividing number of the two-phase stepper motor driving chip
Selection end feet and damped manner control end feet are connected with toggle switch respectively, chopping frequency control end feet is connect by first resistor
Ground, semi-fluid locking control end feet are set with electric current by potentiometer and are exported after end feet is connected by the 8th capacity earth, power bridge
End be connected with the stepper motor of the power mechanism of robot, the enabled end feet of the two-phase stepper motor driving chip, on reply by cable
Position end feet and protection output end feet are connected separately with one second optical coupling isolator, the pulse of the two-phase stepper motor driving chip
Input end feet and motor positive and inverse control end feet are connected with the first optical coupling isolator simultaneously.
2. a kind of wireless drive control device of spot welding industrial robot as described in claim 1, it is characterised in that: it further includes
For by MODBUS agreement and the local MAX485 chip for controlling touch screen and being connected, the MAX485 chip respectively with main control
Device is connected with power module.
3. a kind of wireless drive control device of spot welding industrial robot as described in claim 1, it is characterised in that: it further includes
One for assisting master controller to carry out the flash storage of data temporary storage, the flash storage and master controller phase
Even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811916.4A CN106216813B (en) | 2016-09-08 | 2016-09-08 | A kind of wireless drive control device of spot welding industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610811916.4A CN106216813B (en) | 2016-09-08 | 2016-09-08 | A kind of wireless drive control device of spot welding industrial robot |
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| Publication Number | Publication Date |
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| CN106216813A CN106216813A (en) | 2016-12-14 |
| CN106216813B true CN106216813B (en) | 2019-02-26 |
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| CN201610811916.4A Active CN106216813B (en) | 2016-09-08 | 2016-09-08 | A kind of wireless drive control device of spot welding industrial robot |
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| CN110328431B (en) * | 2019-07-26 | 2021-05-14 | 南京理工大学 | Automatic parameter issuing system suitable for manual electric arc welding machine |
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| CN201876725U (en) * | 2010-12-06 | 2011-06-22 | 青岛三利中德美水设备有限公司 | Wireless control device for industrial robot |
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| CN106216813A (en) | 2016-12-14 |
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Effective date of registration: 20220106 Address after: 545005 No. 46, Baifan Road, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee after: Liuzhou Mingshi Machinery Co.,Ltd. Address before: 526000 5A218 room, fifth story building, Guangdong Zhaoqing hi tech Zone Chuang Chuang Service Center Patentee before: ZHAOQING XIAOFANREN TECHNOLOGY Co.,Ltd. |