CN100544899C - A kind of open robotic system - Google Patents

A kind of open robotic system Download PDF

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Publication number
CN100544899C
CN100544899C CNB2007101351560A CN200710135156A CN100544899C CN 100544899 C CN100544899 C CN 100544899C CN B2007101351560 A CNB2007101351560 A CN B2007101351560A CN 200710135156 A CN200710135156 A CN 200710135156A CN 100544899 C CN100544899 C CN 100544899C
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China
Prior art keywords
control module
bus
control
motion
servocontrol
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CNB2007101351560A
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Chinese (zh)
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CN101200064A (en
Inventor
朱伟
任辉
赵娇娇
马贺
刘少辉
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昆山华恒工程技术中心有限公司
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Priority to CNB2007101351560A priority Critical patent/CN100544899C/en
Publication of CN101200064A publication Critical patent/CN101200064A/en
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Abstract

The present invention relates to a kind of open robotic system, it comprises the articulated robot body, be used to control the controller of articulated robot body, described controller comprises main control module, the motion-control module that communicates by first bus and described main control module, communicate and control the body control module of described articulated robot body with described motion-control module, this controller can be easy to expand other functional modules as being used for remote-operated network control module and integrated various external sensor, design at different application scenario controllers can be made amendment by the user, perhaps change corresponding module, this open robotic system is because the extensibility of system, configurability, portable good, so strong to the adaptive capacity of different task.

Description

A kind of open robotic system
Technical field
The present invention relates to a kind of robot system, especially a kind of open robotic system.
Background technology
Present commercial robot system adopts the nonshared control unit of enclosed construction mostly: adopt special-purpose computer as the upper strata main control computer, use special purpose robot's language as programming tool, adopt nonshared control unit to carry out each joint servo control, and control algolithm is solidificated in the program storage, this closed system is difficult to even may not make amendment, if job task and manipulating object are all fixed, this enclosed robot system has simply, reliable and advantage efficiently, yet, the industrial production requirement industrial robot of modernization can adapt to the production of different application occasion and multi-varieties and small-batch, this moment, existing closed robot system was because the extensibility of system, configurability, portable poor, so poor to the adaptive capacity of different task.
Summary of the invention
The purpose of this invention is to provide a kind of robot system with open architecture controller.
For achieving the above object, the technical solution used in the present invention is: a kind of open robotic system, it comprises the articulated robot body, be used to control the controller of articulated robot body, described controller comprises main control module, the motion-control module that communicates by first bus and described main control module, communicate and control the body control module of described articulated robot body with described motion-control module, described main control module comprises industrial computer, the teach box that communicates by second bus and described industrial computer, described teach box is used to provide user's operating terminal and shows the information of transmitting from described industrial computer, described motion-control module comprises the motion control card that communicates by first bus and described industrial computer, the a plurality of Servocontrol devices that communicate with described motion control card, described body control module comprises that a plurality of and described Servocontrol device communicates and be used for the motor of actuation movement, communicate and be used for feeding back the code-disc of relevant motor output information with described motor to described motion-control module, described industrial computer communicates output trajectory by second bus and described teach box and reproduces data, and described motion-control module reproduces data by first bus from described industrial computer receiving locus and is used to finish Torque Control to described motor, speed control and Position Control.
The periphery of described articulated robot body is provided with the auxiliary equipment that communicates with described body control module, described auxiliary equipment comprises positioner, portal frame, and described body control module is controlled the interpolation that links of described positioner, described portal frame and described articulated robot body.
Described controller also comprises security protection module, and described security protection module and described motion-control module, described main control module communicate, and are used for the trouble free service of monitoring system.
Described security protection module comprises and described teach box; described motion control card communicates and is used to control the safe main control module of the power signal of telecommunication of Servocontrol device; the control panel that communicates with described safe main control module; described control panel is used to provide user's operating terminal and shows from the information of the relevant current working state of system of described safe main control module transmission; when system breaks down; described safe main control module produces emergent stop signal, perhaps imports emergent stop signal to cut off the power signal of telecommunication of described Servocontrol device from described teach box or described control panel.
Each described Servocontrol device is provided with the toggle switch of regulating hardware address, described toggle switch is controlled each Servocontrol device and is had different hardware address, having hardware address is to communicate by the 5th bus between 0 Servocontrol device and the Servocontrol device with other hardware address, described industrial computer by the 6th bus from having the start position information that hardware address is each motor of linking to each other with Servocontrol device of 0 Servocontrol device input.
Described the 5th bus is a RS485 type bus, and described the 6th bus is a RS232 type bus.
Described motion control card reproduces data by described first bus from described industrial computer receiving locus, be used for described motor completing place is controlled, described Servocontrol device receives the given speed data from described motion control card, is used for described motor is finished speed control and Torque Control.
Described motion control card reproduces data by described first bus from described industrial computer receiving locus, be used for control of described motor completing place and speed control, described Servocontrol device receives given moment data from described motion control card, is used for described motor is finished Torque Control.
Described industrial computer is connected with the both-end data storage by described first bus, and described both-end data storage communicates by the 3rd bus and described motion control card.
Described controller also comprises the network control module that communicates with described industrial computer, and described network control module is used for the described articulated robot body of operated from a distance.
Described second bus is a RS485 type bus.
Be connected with the safe grating with IEEE on described first bus, described safe grating is used to detect on-site signal with the co-ordination flow process.
Because the utilization of technique scheme, the present invention has following advantage:
Controller in the open robotic system adopts modular construction and standard interface technology, it mainly comprises main control module, the motion-control module that communicates by first bus and described main control module, the body control module that is arranged on the articulated robot body and communicates with described motion-control module, this controller can be easy to expand other functional modules as being used for remote-operated network control module and integrated various external sensor, design at different application scenario controllers can be made amendment by the user, perhaps change corresponding module, this open robotic system is because the extensibility of system, configurability, portable good, so strong to the adaptive capacity of different task.
Description of drawings
Accompanying drawing 1 is a structured flowchart of the present invention;
Accompanying drawing 2 extracts the structural representation of motor start position information for industrial computer among the present invention;
Accompanying drawing 3 is for being applicable to the software configuration schematic diagram of preferred implementation of the present invention;
Wherein:
1, main control module; 2, first bus; 3, motion-control module; 4, body control module; 5, teach box; 6, industrial computer; 7, second bus; 8, motion control card; 9, Servocontrol device; 10, motor; 11, code-disc; 12, articulated robot body; 13, network control module; 14, both-end data storage; 15, the 3rd bus; 17, the 5th bus; 18, security protection module; 19, safe main control module; 20, the 6th bus; 21, control panel.
The specific embodiment
Further set forth structure of the present invention and operation principle below in conjunction with accompanying drawing.
Shown in accompanying drawing 1; a kind of open robotic system; it comprises articulated robot body 12; be used to control the controller of articulated robot body 12; described controller comprises main control module 1; the motion-control module 3 that communicates by first bus 2 and described main control module 1; the body control module 4 that is arranged on the articulated robot body 12 and communicates with described motion-control module 3; communicate and be used for the network control module 13 of the described articulated robot body 12 of operated from a distance with described industrial computer 6; communicate and be used for the security protection module 18 of monitoring system trouble free service with described motion-control module 3 and described main control module 1; described main control module 1 comprises industrial computer 6; the teach box 5 that communicates by second bus 7 and described industrial computer 6; described teach box 5 is used to provide user's operating terminal and shows the information of transmitting from described industrial computer 6; described motion-control module 3 comprises the motion control card 8 that communicates by first bus 2 and described industrial computer 6; the a plurality of Servocontrol devices 9 that communicate with described motion control card 8; in the present embodiment; described second bus 7 is selected RS485 type bus for use; described motion control card 8 is the PMAC card; described Servocontrol device 9 is selected the Minas A4 of Panasonic series for use; be provided with level converter between described motion control card 8 and the described Servocontrol device 9; this device is selected the 24VI/O card for use; described industrial computer 6 is connected with both-end data storage 14 by described first bus 2; described both-end data storage 14 communicates with described motion control card 8 by the 3rd bus 15; described body control module 4 comprises that a plurality of and described Servocontrol device 9 communicates and be used for the motor 10 of actuation movement; communicate and be used for feeding back the code-disc 11 of relevant motor output information to described motion-control module 3 with described motor 10; described motion control card 8 receives the given position amount by described first bus 2 from described industrial computer 6; be used for described motor 10 completing places are controlled; described Servocontrol device 9 receives the given speed amount from described motion control card 8; be used for described motor 10 is finished speed control and Torque Control; described security protection module 18 comprises and described teach box 5; described motion control card 8 communicates and is used to control the safe main control module 19 of the power signal of telecommunication of Servocontrol device 9; the control panel 21 that communicates with described safe main control module 19; described control panel 21 is used to provide user's operating terminal and shows from the information of the relevant current working state of system of described safe main control module 19 transmission; when system breaks down; described safe main control module 19 produces emergent stop signal, perhaps imports emergent stop signals to cut off the power signal of telecommunication of described Servocontrol device 9 from described teach box 5 or described control panel 21.The periphery of described articulated robot body 12 is provided with the auxiliary equipment that communicates with described body control module 4, described auxiliary equipment comprises positioner, portal frame, the interpolation that links of the described positioner of described body control module 4 controls, described portal frame and described articulated robot body 12.
In accompanying drawing 2, each described Servocontrol device 9 is provided with the toggle switch of regulating hardware address, described toggle switch is controlled each Servocontrol device 9 and is had different hardware address, having hardware address and be 0 is the Servocontrol device 9 of ID=0 and to have hardware address be 1 to be to communicate by the 5th bus 17 between the Servocontrol device 9 of ID=1, having hardware address and be 1 is the Servocontrol device 9 of ID=1 and to have hardware address be 2 to be to communicate by the 5th bus 17 between the Servocontrol device 9 of ID=2, the connected mode of all the other Servocontrol devices and the like, described industrial computer 6 by the 6th bus 20 from having the start position information that hardware address is each motor of linking to each other with Servocontrol device 9 of 0 Servocontrol device, 9 inputs, in the present embodiment, described the 5th bus 17 is selected RS485 type bus for use, and described the 6th bus 20 is selected RS232 type bus for use.
This controller has opening, can carry out function expansion, as some STD bus equipment of expansion on first bus 2, as is used for the safe grating etc. of on-the-spot detection signal, and the user can work out corresponding program according to the own equipment that disposes.
In the hardware that adopts the modularized design controller, corresponding software system is also realized by modular structure, module adopts OO port design method, object internal state and method are hidden other modules, the port that has only object to other objects as seen, industrial computer 6 adopts Windows 2000 or Windows XP operating system and VC++ language in the native system, and software configuration as shown in Figure 3.
At first set up a function library, this function library provides one group of standards service to application program, can finish user's required function by the visit of this function library, and this function library is isolated application program and bottom software and hardware simultaneously.To classify based on each software module of function library in this structure, be respectively: motor performance class, algorithm operating class, motion control card class of operation, robot network's operate services class and bus apparatus class of operation.
Motor performance class software module is finished the software of robot motion's operation and is realized, industrial computer 6 and teach box 5 serial communications, industrial computer 6 receives from the instruction and data of teach box 5 and to teach box 5 and sends information such as current robot pose of living in, speed, teaching module in the industrial computer 6 obtains the motion task by reproducing teaching, the robot language input obtains the motion task with explanation module by robot language, and the motion task comprises information such as impact point, movement velocity, interpolation mode.Planning and interpolation module obtain the robot trajectory and reproduce data according to motion task finish the work planning, trajectory planning and track interpolation.The final module of reproducing starts the motion control card playback program and the track reproducing data is sent into the both-end data storage in proper order, reads and controls robot for motion control card 8 and finish corresponding sports.
Algorithm operating class software module comprises built-in algorithms adjustment module and user's algoritic module, in different occasions such as welding, cutting, carrying etc., the user can revise or write the respective algorithms program according to concrete application, this open robotic system can be finished required control function by some adjustment, gives the user with great convenience.
Motion control card class of operation software module comprises program download module, program upload module and motion control card terminal module, these modules are that industrial computer 6 and programmable motion control card 8 are communicated is relevant, finish separately motion with the auxiliary equipment of assisting motion control card 8 control robot bodies and periphery.
Robot network's operate services class software module and network control module 13 effect of matching provide the network robot operate services of standard.
Bus apparatus class of operation software module is mainly finished the collection of system's inner sensor signal, as electric current, voltage etc., and I/O measures in the system read-write and logic control, as warning, the permission that powers on, finish function corresponding as the safe grating that is used for on-the-spot detection signal to assist relevant hardware.
Motion control card 8 communicates with industrial computer 6, after accepting the track reproducing data, the auxiliary equipment of major control robot body and periphery is finished motion and to some logic controls of system, software module in the motion control card 8 comprises communication module, motor program module, logic control program module, and the logic control program module stops detecting and logic control as power on permission or urgency to the duty of system.
Controller in the open robotic system adopts modular construction and standard interface technology, this controller can be easy to expand other functional modules and integrated various external sensor, design at different application scenario controllers can be made amendment by the user, perhaps change corresponding module, this open robotic system is because of extensibility, the configurability, portable good of system, so strong to the adaptive capacity of different task.

Claims (12)

1, a kind of open robotic system, it comprises articulated robot body (12), be used to control the controller of articulated robot body (12), it is characterized in that: described controller comprises main control module (1), the motion-control module (3) that communicates by first bus (2) and described main control module (1), communicate and control the body control module (4) of described articulated robot body (12) with described motion-control module (3), described main control module (1) comprises industrial computer (6), the teach box (5) that communicates by second bus (7) and described industrial computer (6), described teach box (5) is used to provide user's operating terminal and shows the information of transmitting from described industrial computer (6), described motion-control module (3) comprises the motion control card (8) that communicates by first bus (2) and described industrial computer (6), the a plurality of Servocontrol devices (9) that communicate with described motion control card (8), described body control module (4) comprises that a plurality of and described Servocontrol device (9) communicates and be used for the motor (10) of actuation movement, communicate and be used for feeding back the code-disc (11) of relevant motor output information to described motion-control module (3) with described motor (10), described industrial computer (6) communicates output trajectory by second bus (7) and described teach box (5) and reproduces data, and described motion-control module (3) is used to finish Torque Control to described motor (10) by first bus (2) from described industrial computer (6) receiving locus reproduction data, speed control and Position Control.
2, a kind of open robotic system according to claim 1, it is characterized in that: the periphery of described articulated robot body (12) is provided with the auxiliary equipment that communicates with described body control module (4), described auxiliary equipment comprises positioner, portal frame, and described body control module (4) is controlled the interpolation that links of described positioner, described portal frame and described articulated robot body (12).
3, a kind of open robotic system according to claim 1; it is characterized in that: described controller also comprises security protection module (18); described security protection module (18) communicates with described motion-control module (3), described main control module (1), is used for the trouble free service of monitoring system.
4; a kind of open robotic system according to claim 3; it is characterized in that: described security protection module (18) comprises and described teach box (5); described motion control card (8) communicates and is used to control the safe main control module (19) of the power signal of telecommunication of Servocontrol device (9); the control panel (21) that communicates with described safe main control module (19); described control panel (21) is used to provide user's operating terminal and shows from the information of the relevant current working state of system of described safe main control module (19) transmission; when system breaks down; described safe main control module (19) produces emergent stop signal, perhaps imports emergent stop signal to cut off the power signal of telecommunication of described Servocontrol device (9) from described teach box (5) or described control panel (21).
5, a kind of open robotic system according to claim 1, it is characterized in that: each described Servocontrol device (9) is provided with the toggle switch of regulating hardware address, described toggle switch is controlled each Servocontrol device (9) and is had different hardware address, having hardware address is to communicate by the 5th bus (17) between 0 Servocontrol device (9) and the Servocontrol device (9) with other hardware address, described industrial computer (6) by the 6th bus (20) from having the start position information that hardware address is each motor of linking to each other with Servocontrol device (9) of 0 Servocontrol device (9) input.
6, a kind of open robotic system according to claim 5 is characterized in that: described the 5th bus (17) is a RS485 type bus, and described the 6th bus (20) is a RS232 type bus.
7, a kind of open robotic system according to claim 1, it is characterized in that: described motion control card (8) reproduces data by described first bus (2) from described industrial computer (6) receiving locus, be used for described motor (10) completing place is controlled, described Servocontrol device (9) receives the given speed data from described motion control card (8), is used for described motor (10) is finished speed control and Torque Control.
8, a kind of open robotic system according to claim 1, it is characterized in that: described motion control card (8) reproduces data by described first bus (2) from described industrial computer (6) receiving locus, be used for control of described motor (10) completing place and speed control, described Servocontrol device (9) receives given moment data from described motion control card (8), is used for described motor (10) is finished Torque Control.
9, a kind of open robotic system according to claim 1, it is characterized in that: described industrial computer (6) is connected with both-end data storage (14) by described first bus (2), and described both-end data storage (14) communicates by the 3rd bus (15) and described motion control card (8).
10, a kind of open robotic system according to claim 1, it is characterized in that: described controller also comprises the network control module (13) that communicates with described industrial computer (6), and described network control module (13) is used for the described articulated robot body of operated from a distance (12).
11, a kind of open robotic system according to claim 1 is characterized in that: described second bus (7) is a RS485 type bus.
12, a kind of open robotic system according to claim 1 is characterized in that: be connected with the safe grating with IEEE on described first bus (2), described safe grating is used to detect on-site signal with the co-ordination flow process.
CNB2007101351560A 2007-10-26 2007-10-26 A kind of open robotic system CN100544899C (en)

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CN102581850A (en) * 2012-02-10 2012-07-18 广州数控设备有限公司 GSK-Link bus based modular robot control device and control method

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CN102324206B (en) * 2011-05-20 2014-05-28 广州数控设备有限公司 Robot teaching box with bus communication function and control method thereof
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CN102554939A (en) * 2010-12-30 2012-07-11 沈阳新松机器人自动化股份有限公司 Method and device for collision protection of industrial robot
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Assignee: Xuzhou Huaheng Robot System Co., Ltd.

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Denomination of invention: Open robotic system

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