CN102830644B - Five-axis high-speed dispensing robot servo control system - Google Patents
Five-axis high-speed dispensing robot servo control system Download PDFInfo
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- CN102830644B CN102830644B CN201210361980.9A CN201210361980A CN102830644B CN 102830644 B CN102830644 B CN 102830644B CN 201210361980 A CN201210361980 A CN 201210361980A CN 102830644 B CN102830644 B CN 102830644B
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Abstract
A field programmable gate array (FPGA) processor is introduced into a single-chip digital signal processor (DSP), and a dual-core processor based on DSP+FPGA is formed. According to the processor, a multi-controller system realized by the original singlechip is designed in a centralized mode, and the function of a battery in the system is fully considered, so that the function of synchronously controlling five axes by a single controller is realized, the five-axis servo system with the highest workload in the five-axis high-speed dispensing robot servo control system is controlled by the FPGA processor, the characteristic of high-speed data processing of the FPGA processor is fully exerted, and the functions of a man-machine interface module, a path reading module, an online output module, a data storage module, an input/output (I/O) control module are controlled by the DSP, so that the labor division of the DSP and the FPGA processor is realized, the DSP is released from the heavy workload, and the interference resistance is greatly improved.
Description
Technical field
The invention relates to the technical field of adhesive dispensing robot, and relate to especially five-shaft high-speed adhesive dispensing robot servo-control system.
background technology
In today of hi-tech fast development, traditional mode of production is increasingly backward, and novel automated production will become the new century and accept the important way of market challenges.The means of raising labour productivity are not only in robotization, and the Long-term Development Strategy of Enterprises Future is played an important role.Because robot is the main tool of novel robotization, the exploitation of industrial robot and application project thereof, robot is become to immediate productivity, and it,, changing traditional production model, is boosted productivity and the adaptive faculty aspect in market is demonstrated to great superiority.It replaces people out from the working environment of severe danger simultaneously, carries out production strictly in line with rules and regulations, and this is all significant with social progress to promoting economic development.Along with mobile phone, computer casing, CD-ROM device, printer,, demand and the environmental protection of the manufacturing industry such as electronics industry, Toy Industry, medical equipment such as ink folder, PC plate, LCD, LED, DVD, digital still camera, switch, connector, relay, heating radiator, semiconductor to robot equipment and the working environment that improves laborer require more and more higher, special convection cell is controlled, and fluid drop, the automatic machinery adhesive dispensing robot that is coated on product surface or interiors of products are produced immediately.
Glue, paint and other liquid Accurate Points, note, painting, point that adhesive dispensing robot is mainly used in Product Process drip to each product exact position, can be used for realizing get ready, setting-out, round or camber.The research and development of " adhesive dispensing robot " will produce huge economic benefit and social benefit to industries such as China pcb board binding sealing, IC sealing, PDA sealing, LCD sealing, IC encapsulation, IC are bonding.A relatively high adhesive dispensing robot of precision need to carry out on straight line in a three-dimensional XYZ space, on circular arc or point-to-point position, carry out gluing according to certain glue amount information, can simulate simply above-mentioned action if adopt the adhesive dispensing robot of three axles, but for some special some colloid systems, point glue position is vertical sometimes, just become sometimes Mirror Symmetry, have a certain degree sometimes, three general axle adhesive dispensing robots be can not be completed above-mentioned work, need to increase by an axle U this time makes the glue dispensing valve certain angle that can tilt meet the requirement of side welding, increasing in addition by an axle R makes glue dispensing valve can be rotated in the forward 180 degree or reverse rotation 180 is spent again, complete the motion of one 360 degree, easy five axle adhesive dispensing robots are so just formed.Five complete axle adhesive dispensing robots are roughly divided into following components:
1) motor: actuating motor is the power source of adhesive dispensing robot, it carries out adhesive dispensing robot and carries out in quintuple space the relevant action of processing component according to the instruction of microprocessor;
2) algorithm: algorithm is the soul of adhesive dispensing robot, adhesive dispensing robot must adopt certain intelligent algorithm to arrive more in addition from any quickly and accurately, form point-to-point, or curvilinear motion;
3) microprocessor: microprocessor is the core of adhesive dispensing robot, be the brain of adhesive dispensing robot, the information that adhesive dispensing robot is all, comprises glue point size, positional information, and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
Adhesive dispensing robot combines multi-subject knowledge, for the manipulative ability, team collaboration's ability and the innovation ability that promote students, promotes that the digestion of student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful.Adhesive dispensing robot technology carry out the talent that can cultivate large quantities of association areas, and then promote technical development and the industrialization process of association area.But because the unit of domestic this adhesive dispensing robot of research and development is less, R & D Level is relatively backward relatively, the structured flowchart of five axle adhesive dispensing robot servo-control systems of research and development, as Fig. 1, long-play is found to exist a lot of safety problems, that is:
(1) what use as the power acquisition of adhesive dispensing robot is the direct supply after general AC power rectification, can make whole glue move unsuccessfully in the time of unexpected power failure;
(2) what adopt as the topworks of adhesive dispensing robot is stepper motor, and the problem that often can run into pulse-losing occurs, causes the memory of position to occur mistake;
(3) owing to adopting stepper motor, make organism fever more serious, need sometimes to dispel the heat;
(4) owing to adopting stepper motor, the mechanical noise of system running is increased greatly, be unfavorable for environmental protection;
(5) owing to adopting stepper motor, its motor body is all generally heterogeneous structure, and control circuit need to adopt multiple power tubes, makes control circuit relatively complicated, and has increased controller price;
(6) owing to adopting stepper motor, system is generally not suitable at high-speed cruising;
(7) owing to adopting stepper motor, make the moment of system relatively little;
(8), owing to controlling reason improperly, cause stepper motor sometimes to produce resonance;
(9) because adhesive dispensing robot will be closed frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that adhesive dispensing robot starts fast and stops, and dynamic performance is bad;
(10) what relatively adopt is all the plug-in components that some volume ratios are larger, makes automatically dropping glue machine people control system take larger space, and weight is relatively all heavier;
(11) owing to disturbed by surrounding environment labile factor, singlechip controller often there will be extremely, causes that adhesive dispensing robot is out of control, and antijamming capability is poor;
(12) for the some glue process of five axle adhesive dispensing robots, it is synchronous that the pwm control signal of its five motors of General Requirements is wanted, owing to being subject to the restriction of single-chip microcomputer computing power, single-chip microcomputer servo-drive system is difficult to meet this condition, make adhesive dispensing robot point glue amount inconsistent, worse off cake during particularly for quick walking;
(13) owing to being subject to single-chip microcomputer capacity and algorithm affects, adhesive dispensing robot is not stored the information of glue point, and information all in the time running into power-down conditions will disappear, and this will restart whole some glue process;
(14) some colloid system Once you begin, will complete whole some glue motion, the middle point without any suspending or cushioning;
(15) owing to affected by single-chip microcomputer computing power, whole adhesive dispensing robot, in the time of slow running, there is no large problem, but in the time accelerating in order to improve a colloid system efficiency, the cementing fruit of whole point will occur serious problem.
In order to meet the needs of high speed, High-efficient Production, must redesign based on monolithic processor controlled five axle automatically dropping glue machine people control system existing, seek a kind of glue servo-drive system of putting at a high speed, efficiently.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of five-shaft high-speed adhesive dispensing robot servo-control system, solve in prior art five axle adhesive dispensing robot control system at a high speed and the defect of efficient poor performance.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of five-shaft high-speed adhesive dispensing robot servo-control system is provided, comprises battery, AC power, first signal processor, secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately the processor unit described in current drives by AC power or battery, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively the second described High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor, by the second control signal of the first described High-speed DC motor, by the first control signal of the second described High-speed DC motor, by the 3rd control signal of described third high speed direct current generator, after synthesizing through secondary signal processor by the 4th control signal of the 4th described High-speed DC motor with by the 5th control signal of the 5th described High-speed DC motor, control the motion of adhesive dispensing robot.
In a preferred embodiment of the present invention, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, path read module and online output module, described kinetic control system comprises servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, FPGA processor is used for controlling servocontrol module, and between dsp processor and FPGA processor, carry out in real time exchanges data and call.
In a preferred embodiment of the present invention, described processor unit is further connected with the output terminal of High-speed DC motor.
In a preferred embodiment of the present invention, described servocontrol module also comprises modular converter, and described modular converter is for converting simulating signal to digital signal.
Whether in a preferred embodiment of the present invention, described servocontrol module also comprises coder module, and described coder module, for detection of the actual speed of adhesive dispensing robot, judges whether to meet rate request, too fast or excessively slow, and sends control signal.
In a preferred embodiment of the present invention, described servocontrol module also comprises current module, and described current module reaches for adjusting the output power of battery the scope that adhesive dispensing robot needs.
In a preferred embodiment of the present invention, described servocontrol module also comprises speed module, described speed module is connected with coder module communication, too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the result that speed module detects according to coder module regulates adhesive dispensing robot actual speed.
In a preferred embodiment of the present invention, described servocontrol module also comprises displacement module, and whether described displacement module arrives set displacement for detection of adhesive dispensing robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, send deceleration instruction to controller.
Five-shaft high-speed adhesive dispensing robot servo-control system of the present invention, in order to improve arithmetic speed, ensure stability and the reliability of five-shaft high-speed adhesive dispensing robot servo-control system, the present invention introduces FPGA processor in the dsp processor of monolithic, form the dual core processor based on DSP+FPGA, this processor is concentrated design the multi controller systems of original chip microcontroller, and take into full account the effect of battery in this system, realize the function of Single Controller synchro control five axles, give the control of FPGA processor five axle servo-drive systems of workload maximum in five-shaft high-speed adhesive dispensing robot servo-control system, give full play to FPGA processor data processing speed feature faster, and human-computer interface module, path read module, online output module, the functions such as data memory module and I/O control module are given dsp processor control, so just realize the division of labor of dsp processor and FPGA processor, dsp processor is freed from hard work amount, antijamming capability strengthens greatly.
Brief description of the drawings
Fig. 1 is the schematic diagram of five axle adhesive dispensing robot servo-control systems in prior art;
Fig. 2 is the schematic diagram of the five-shaft high-speed adhesive dispensing robot servo-control system of preferred embodiment of the present invention;
Fig. 3 is the block scheme of processor unit in Fig. 2;
Fig. 4 is the speed curve movement of adhesive dispensing robot.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that, protection scope of the present invention is made to more explicit defining.
Along with development and the maturation of microelectric technique and computing machine integrated chip manufacturing technology, digital signal processing chip (DSP) is due to its computing power fast, not only be widely used in communication and vision signal processing, be also applied in gradually in various senior control system.TMS320F2812 be American TI company release C2000 platform on fixed point 32 bit DSP processors, be suitable for Industry Control, Electric Machine Control etc., of many uses.Operation clock also can reach 150MHz soon, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and IO mouth is abundant, enough concerning the general application of user, two serial ports.There is the AD conversion of the 0 ~ 3.3v of 12 etc.There is the in-chip FLASH of 128k × 16 in sheet, the SRAM of 18K × 16, general application system can not wanted outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, and greatly peripheral circuits design, reduces system cost and system complexity, has also greatly improved the stores processor ability of data.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology is to have occurred a kind of brand-new design philosophy recent years.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but user can be according to the design needs of oneself, by specific placement-and-routing instrument, its inside is reconfigured to connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just make to there is good reusable and amendment property based on FPGA processor designed system, this brand-new design philosophy has been applied in gradually high performance interchange and has driven control upper, and fast-developing.
As shown in Figure 2, be the schematic diagram of the five-shaft high-speed adhesive dispensing robot servo-control system of preferred embodiment of the present invention.In the present embodiment, five-shaft high-speed adhesive dispensing robot servo-control system comprises battery, AC power, first signal processor, secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor and adhesive dispensing robot.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.
In the present invention, described first signal processor provides separately the processor unit described in current drives by AC power or battery, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively the second described High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor, by the second control signal of the first described High-speed DC motor, by the first control signal of the second described High-speed DC motor, by the 3rd control signal of described third high speed direct current generator, after synthesizing through secondary signal processor by the 4th control signal of the 4th described High-speed DC motor with by the 5th control signal of the 5th described High-speed DC motor, control the motion of adhesive dispensing robot.
The present invention overcomes single-chip microcomputer in prior art can not meet the stability of five axle adhesive dispensing robot walkings and the requirement of rapidity, give up the mode of operation of the single-chip microcomputer that domestic adhesive dispensing robot adopts, the brand-new control model of DSP+FPGA processor is provided, control panel is taking FPGA processor as processing core, realize the real-time processing of digital signal, dsp processor is freed in the middle of complicated work, the signal processing algorithm and the response that realize part are interrupted, and realize data communication and storage live signal.
Refer to Fig. 3, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two communication is mutually carried out in real time exchanges data and calls.Described processor unit also comprises master system and the kinetic control system of being located at dsp processor and FPGA processor, described master system comprises human-computer interface module, path read module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, dsp processor is used for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, and FPGA processor is used for controlling servocontrol module.
Master system comprises human-computer interface module, path read module and online output module.Human-computer interface module comprises and starts/restart button and function selecting key; Path read module is for reading the speed having preset, acceleration, the parameter settings such as position; Online output module is for pointing out the duty of adhesive dispensing robot, such as being in the adhesive dispensing robot course of work or the condition prompting that arrives at a station.
Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, data memory module module is a storer; I/O control module comprises RS-232 serial line interface, ICE port etc.; Servocontrol module further comprises modular converter, coder module, current module, speed module and displacement module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module, for detection of the actual speed of adhesive dispensing robot, judges whether to meet rate request, too fast or excessively slow, and sends control signal.
Described current module is connected with battery and controller, modular converter.Modular converter, according to the electric current of battery and controller, judges operating power, and power condition is fed back to battery, and current module reaches for adjusting the output power of battery the scope that adhesive dispensing robot needs.
Described speed module is connected with coder module communication, and too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the result that speed module detects according to coder module regulates the actual speed of adhesive dispensing robot.
Described displacement module detects adhesive dispensing robot and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, send deceleration instruction to controller.
Be a dual core processor for processor unit, under power supply opening state, adhesive dispensing robot is introduced into self-locking state, then the glue dispensing valve of adhesive dispensing robot is placed on to scrap rubber retracting device place, open glue dispensing valve door then colloid automatically flow out, after evenly, start to move to starting point, adhesive dispensing robot is the Actual path parameter storing and put glue communication to the dsp processor in controller, dsp processor is converted into adhesive dispensing robot first High-speed DC motor under designated movement track these kinematic parameters, the second High-speed DC motor, third high speed direct current generator, the distance that the 4th High-speed DC motor and the 5th High-speed DC motor will move, then with the communication of FPGA processor, FPGA processor turns the servocontrol in conjunction with the electric current of motor feedback and five individual motor of the signal of optical code disk processing again according to these parameters, and deal with data communication to dsp processor, continue to process follow-up running status by dsp processor.
Describe in conjunction with above, master system comprises the functions such as human-computer interface module, path read module, online output module; Kinetic control system comprises the functions such as servocontrol module, data memory module, I/O control module.Wherein the servocontrol module of workload maximum is given the control of FPGA processor, remaining comprises that master system gives dsp processor control, so just realize the division of labor of dsp processor and FPGA processor, between the two, also can carry out communication simultaneously, carried out in real time exchanges data and call.
In the present invention, the concrete function of five-shaft high-speed adhesive dispensing robot servo-control system is achieved as follows:
1) operating personnel are arranged on processing component on fixture;
2) opening power, can judge supply voltage source at opening power moment dsp processor, when determining while being powered battery, if cell voltage low pressure, the PWM ripple output of FPGA processor will be blocked, now the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor all can not be worked, voltage sensor is by work simultaneously, double-core controller can send low pressure alarming signal, and battery is changed in man-machine interface prompting;
3) start adhesive dispensing robot automatic control program, load task by the USB interface incoming task of controller or from hard disk;
4) topworks's (comprising glue brush and glue-spreading head) is moved to starting point top, adjust initialized location;
5) plastic emitting signal is effective, time delay a period of time;
6) in order to drive five axle adhesive dispensing robots to move, this control system is introduced FPGA processor, generate the PWM ripple of five spindle motor motions by it, but enter real-time communication by I/O mouth and dsp processor, by output and the blockade of its PWM waveform of dsp processor control;
7) in adhesive dispensing robot motion process, dsp processor can the moment store the distance of process or the some glue point of process, and determine distance or the track that on two dimensional surface, will move next working point adhesive dispensing robot diaxon the first High-speed DC motor and the second High-speed DC motor according to these range informations, dsp processor then with the communication of FPGA processor, transmit these parameters to FPGA processor, then FPGA processor according to these parameters again in conjunction with the electric current of motor collection and optical code disk signal and automatically transfer corresponding PID according to peripheral transducing signal and regulate pattern, generate the PWM ripple of controlling the first High-speed DC motor and the second High-speed DC motor movement, then after driving circuit, control the servo motion of the first High-speed DC motor and the second High-speed DC motor,
8) adhesive dispensing robot is in X and Y two dimensional surface motion process, dsp processor can be determined according to glue dot information the distance of the confidential operation of third high speed direct current, the angle that the angle that the 4th High-speed DC motor will tilt and the 5th High-speed DC motor will rotate, dsp processor then with the communication of FPGA processor, transmit these parameters to FPGA processor, then FPGA processor according to these parameters then in conjunction with third high speed direct current generator, the electric current of the 4th High-speed DC motor and the 5th High-speed DC motor and optical code disk information and automatically transfer corresponding PID according to peripheral transducing signal and regulate pattern, generate and control third high speed direct current generator, the PWM ripple of the 4th High-speed DC motor and the 5th High-speed DC motor movement, then after driving circuit, control third high speed direct current generator, the servo motion of the 4th High-speed DC motor and the 5th High-speed DC motor, in this control system, the servocontrol of five spindle motors completes simultaneously,
9) if no matter automatically dropping glue machine people controller finds X-axis in motion process, Y-axis, Z axis, U axle or R axle glue point distance solves and occurs that endless loop will send interrupt request to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to process, the first High-speed DC motor of adhesive dispensing robot, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor are by original place self-locking, and store current information, after pending fault eliminating, when secondary opening, again transfer a glue information, continue to carry out uncompleted task,
10) optical code disk being contained on the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor can be exported its position signalling A and position signalling B, once, the location register in FPGA processor can add 1 or subtract 1 according to the traffic direction of the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor for the position signalling A pulse of optical code disk and the every variation of B pulse logic state;
11) when the position signalling A pulse of optical code disk and B pulse and Z pulse are low level, just produce an INDEX signal to FPGA processor simultaneously, record the absolute position of motor, be then converted into the particular location of adhesive dispensing robot in XYZUR quintuple space;
12) in motion process, controller can be according to automatically dropping glue machine people in the particular location of a glue component and the position that should arrive, send the processing of FPGA processor, automatically transfer corresponding PID by FPGA processor in conjunction with the electric current of motor separately and optical code disk signal and peripheral transducing signal and regulate pattern, calculate the first High-speed DC motor of automatically dropping glue machine people, the second High-speed DC motor, third high speed direct current generator, the pwm control signal that the 4th High-speed DC motor and the 5th High-speed DC motor need to upgrade, determine the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, speed and acceleration that the 4th High-speed DC motor and the 5th High-speed DC motor need to upgrade, the speed of motor is accelerated and slows down to meet figure 4 characteristics, ensure motor smooth starting and stop,
13) if when adhesive dispensing robot runs into unexpected power-off in operational process, battery can automatically be opened and immediately adhesive dispensing robot be powered, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th any one motor of High-speed DC motor are when in motion process, electric current exceedes setting value, controller can be controlled immediately FPGA processor and quit work, thereby has effectively avoided the generation of high-rate battery discharge;
14) if read the automatic pause point in man-machine interface in a glue process, FPGA processor can be controlled the first High-speed DC motor, the second High-speed DC motor and third high speed direct current generator and stop with maximum acceleration, make process occur automatic pause and store current information, until controller reads and again press START button information and just can make FPGA processor rework, and transfer storage information adhesive dispensing robot can be worked on from automatic pause point;
15), in motion process, if detect that pulsation appears in the torque of motor, controller meeting auto-compensation, has reduced motor torque to an impact for glue process;
16) adhesive dispensing robot can detect cell voltage at operational process in the moment, and in the time that low pressure appears in system, alarm be opened and be sent to sensor can by notification controller, effectively protected battery;
17) when completing after the some glue motion of whole processing component, glue dispensing valve can stop plastic emitting, and movement locus is walked out in time delay;
18) adhesive dispensing robot resets position zero point, waits for next cycle.
The beneficial effect that five-shaft high-speed adhesive dispensing robot servo-control system of the present invention has is:
1: owing to adopting high performance dsp processor and FPGA processor, the system processing speed of making increases greatly, can finely meet the requirement of high speed adhesive dispensing robot rapidity;
2: in motion process, take into full account the effect of battery in this system, all the running status of adhesive dispensing robot is being monitored and computing based on the DSP+FPGA double-core controller moment, in the time running into AC power power-off, battery can provide the energy immediately, avoid the failure of automatically dropping glue system servo-drive system motion, and provide in the process of power supply at battery, moment is observed and protects the electric current of battery, avoid the generation of large electric current, so fundamentally solved the impact of large electric current to battery, avoid the generation of the battery overaging phenomenon causing due to heavy-current discharge,
3: the independent servocontrol of being processed five motors of adhesive dispensing robot by FPGA processor, make to control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation in prior art, shortened the construction cycle short, and program transportability ability is strong;
4: substantially realize full SMD components material, realized veneer control, not only saved control panel and taken up room, and be conducive to alleviating of adhesive dispensing robot volume and weight;
5: in order to improve arithmetic speed and precision, this adhesive dispensing robot has adopted High-speed DC motor to substitute stepper motor conventional in legacy system, and operational precision is improved greatly, and efficiency is also improved to some extent;
6: process a large amount of data and algorithm because this controller adopts FPGA processor, dsp processor is freed from hard work amount, effectively prevented that adhesive dispensing robot is out of control, antijamming capability strengthens greatly;
7: because the control signal of No. five motors is to export by FPGA processor, can export PWM modulation signal and direction signal by FPGA processor so simultaneously, can direct-driving motor by driving circuit, not only alleviate the burden of dsp processor, simplify interface circuit, and saved dsp processor internal composition position, speed control program, and the trouble of various pid algorithms, make the debugging of system simple, and realized the real servo-controlled synchronism of five axles;
8: in adhesive dispensing robot operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, and while having reduced quick walking, motor torque is shaken the impact on automatically dropping glue machine people dynamic property;
9: in control, multiple PID adjusting pattern that FPGA processor is inner integrated, can automatically adjust its inner pid parameter according to the peripheral ruuning situation of robot, easily realize segmentation P, PD, PID control and nonlinear PID controller, make system there is certain self-adaptation;
10: owing to having memory function, this makes can transfer easily the good routing information of gluing after adhesive dispensing robot power down, even also secondary point glue easily after breaking down;
11: in whole some glue process, added breakpoint setting, be conducive to like this range estimation in automatic motion process and put the position that glue is good, found in advance a some glue problem.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. a five-shaft high-speed adhesive dispensing robot servo-control system, is characterized in that, comprises battery, AC power, first signal processor, secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately the processor unit described in current drives by AC power or battery, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively the second described High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor, by the second control signal of the first described High-speed DC motor, by the first control signal of the second described High-speed DC motor, by the 3rd control signal of described third high speed direct current generator, after synthesizing through secondary signal processor by the 4th control signal of the 4th described High-speed DC motor with by the 5th control signal of the 5th described High-speed DC motor, control the motion of adhesive dispensing robot,
Wherein, described processor unit is a dual core processor, comprise dsp processor and FPGA processor, on described dsp processor and FPGA processor, be provided with master system and kinetic control system, described master system comprises human-computer interface module, path read module and online output module, described kinetic control system comprises servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, FPGA processor is used for controlling servocontrol module, and between dsp processor and FPGA processor, carry out in real time exchanges data and call.
2. five-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, is characterized in that, described servocontrol module also comprises modular converter, and described modular converter is for converting simulating signal to digital signal.
3. five-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, it is characterized in that, described servocontrol module also comprises coder module and speed module, described speed module is connected with coder module communication, too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the result that speed module detects according to coder module regulates adhesive dispensing robot actual speed.
4. five-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, is characterized in that, described servocontrol module also comprises current module, and described current module reaches for adjusting the output power of battery the scope that adhesive dispensing robot needs.
5. five-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, is characterized in that, described servocontrol module also comprises displacement module, and whether described displacement module arrives set displacement for detection of adhesive dispensing robot.
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| CN103192391A (en) * | 2013-04-08 | 2013-07-10 | 苏州工业园区职业技术学院 | Five-axis full-automatic tin soldering robot servo control system |
| CN103223670A (en) * | 2013-04-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system for five-degree-of-freedom medium-speed tin soldering robot |
| CN103203750B (en) * | 2013-04-15 | 2016-03-02 | 苏州工业园区职业技术学院 | Based on the double-core single shaft high speed soldering robot serve control system of IMAQ |
| CN103592892A (en) * | 2013-10-12 | 2014-02-19 | 欣旺达电子股份有限公司 | Method and system for controlling multi-axis motion |
| US9381643B2 (en) * | 2014-07-03 | 2016-07-05 | GM Global Technology Operations LLC | Dynamical system-based robot velocity control |
| US9403275B2 (en) * | 2014-10-17 | 2016-08-02 | GM Global Technology Operations LLC | Dynamic obstacle avoidance in a robotic system |
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