CN102837312A - Three-axis medium-low speed full-automatic dispensing robot servo controller - Google Patents
Three-axis medium-low speed full-automatic dispensing robot servo controller Download PDFInfo
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- CN102837312A CN102837312A CN2012103619404A CN201210361940A CN102837312A CN 102837312 A CN102837312 A CN 102837312A CN 2012103619404 A CN2012103619404 A CN 2012103619404A CN 201210361940 A CN201210361940 A CN 201210361940A CN 102837312 A CN102837312 A CN 102837312A
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Abstract
The invention discloses a three-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a first LM 629 chip, a second LM 629 chip, a third LM 629 chip, a first motor driver, a second motor driver, a third motor driver, a first high-speed direct current motor, a second high-speed direct current motor and a third high-speed direct current motor, wherein the singlechip is in communication connection with the first LM 629 chip, the second LM 629 chip and the third LM 629 chip respectively; the LM 629 chips transmit control signals to the motor drivers; the motor drivers drive the high-speed direct current motors; and the singlechip comprises an image acquisition and processing module. According to the invention, a dual-core processor is formed on the basis of the singlechip and the LM 629 chips, so as to release the singlechip out of heavy workload, thereby enhancing capacity of resisting disturbance greatly.
Description
Technical field
The present invention relates to from the movable bed field, be specifically related to low speed full-automatic glue-dropping machine device people servo controller in a kind of three.
Background technology
In today of high-tech fast development, traditional mode of production falls behind day by day, 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 automation, and the long term growth strategy of future enterprise is played an important role.Because robot is the main tool of novel automation; The exploitation of industrial robot and application project thereof; Robot is become immediate productivity, and it is changing traditional production model, boosts productivity and the adaptive capacity aspect in market is demonstrated great superiority.Simultaneously it replace the people to come out from the working environment of abominable danger, carries out production strictly in line with rules and regulations, and this is to promoting economic development and social progress all is significant.Along with manufacturing industry such as electronics industry, toy industry, medical equipment such as mobile phone, computer casing, CD-ROM device, printer, ink folder, PC plate, LCD, LED, DVD, digital still camera, switch, connector, relay, radiator, semiconductor require increasingly high to the demand and the environmental protection of robot equipment and the working environment that improves labourer; Special convection cell is controlled, and with the fluid drop, be coated on product surface or the inner automatic machinery point gum machine device people of product produces immediately.Point gum machine device people is mainly used in the accurate point of glue, paint and other liquid in the product technology, annotate, be coated with, put and drip to each product exact position, can be used for realizing getting ready, setting-out, round or camber."Automated dispensing robot" research and development will be China's PCB board sealed plastic binding, IC sealed plastic, PDA sealant, LCD sealant, IC packaging, IC bonding and other industries have huge economic and social benefits.More higher point gum machine device people of ratio of precision need carry out on the straight line on the XY plane of a two dimension or gluing or point-to-point gluing is carried out in some positions according to certain rules on the circular arc; If adopt one two point gum machine device people can simply accomplish above-mentioned action; But when running into when needing that the glue amount is inconsistent to be required; Two point gum machine device people can't meet the demands, and just needs other moving up and down of glue dispensing valve of Z axle drive this time and accomplishes the requirement of different glue amounts.As long as be input to robot controller to motion path and some glue glue amount information, the above-mentioned action of completion that three point gum machine device people of above-mentioned design can be very fast.Three complete point gum machine device people roughly are divided into following components:
1) high speed direct current generator: carrying out the high speed direct current generator is point gum machine device people's power source, and it carries out the relevant action that point gum machine device people walks according to the instruction of microprocessor on straight line.
2) algorithm: algorithm is point gum machine device people's soul.Point gum machine device people must adopt certain intelligent algorithm to arrive more in addition from any quickly and accurately, forms point-to-point motion.
3) microprocessor: microprocessor is point gum machine device people's core, is point gum machine device people's brain.The information that point gum machine device people is all comprises glue point size, and positional information and high speed direct current generator status information etc. all need be passed through microprocessor processes and made corresponding judgment.
The automatically dropping glue Robotics carry out the talent that can cultivate large quantities of association areas, and then promote the technical development and the industrialization process of association area.But because the unit of this robot of domestic research and development is less, it is relatively backward to research and develop level relatively, and automatically dropping glue robot architecture such as Fig. 1 of research and development, long-play find to exist a lot of safety problems, that is:
(1) at a glue initial stage, all be that the artificial sport glue dispensing valve arrives original position, only rely on human eye to carry out the correction of initial position then, make accuracy reduce greatly.
What (2) adopt as the power supply of automatically dropping glue robot is the dc source after the general AC power rectification, and whole some glue motion failed.
What (3) adopt as the executing agency of automatically dropping glue robot is stepping high speed direct current generator, and the problem that runs into pulse-losing through regular meeting occurs, and causes mistake is appearred in the memory of position.
(4) owing to adopt stepping high speed direct current generator, make organism fever more serious, need dispel the heat sometimes.
(5) owing to adopt stepping high speed direct current generator, make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection.
(6) owing to adopt stepping high speed direct current generator, its high speed direct current generator body generally all is a heterogeneous structure, and control circuit need adopt a plurality of power tubes, makes control circuit relatively complicated, and has increased the controller price.
(7) owing to adopt stepping high speed direct current generator, the system that makes generally is not suitable for being easy to generate vibration during high-speed motion in the higher occasion operation of speed, causes the failure of high speed direct current generator.
(8) owing to adopt stepping high speed direct current generator, make that the moment of system is less relatively.
(9), cause the direct current generator of stepping high speed sometimes to produce resonance owing to controlling reason improperly.
What (10) adopt relatively all is the bigger plug-in unit components and parts of some volume ratios, makes the automatically dropping glue robot control system take bigger space, and weight is relatively all heavier.
(11) owing to disturbed by the surrounding environment destabilizing factor, singlechip controller occurs unusual through regular meeting, cause that the automatically dropping glue robot is out of control, and antijamming capability is relatively poor.
(12) for the some glue process of automatically dropping glue robot; Generally require the pwm control signal of its three high speed direct current generators to want synchronously; Owing to receive the restriction of single-chip microcomputer computing capability; Single single-chip microcomputer servo-drive system is difficult to satisfy this condition, makes that automatically dropping glue robot point glue amount is inconsistent, during particularly for quick walking.
(13) owing to receive single-chip microcomputer capacity and algorithm affects, the automatically dropping glue robot is to the not storage of information of glue point, and information all when running into power-down conditions will disappear, and this makes whole some glue process to restart.
(14) the some colloid system Once you begin will be accomplished whole some glue motion, and the centre has no the point that suspends or cushion.
(15) because the automatically dropping glue robot wants frequent brake and startup, increased the weight of the workload of single-chip microcomputer, the requirement that single single-chip microcomputer can't satisfy the frequent startup of automatically dropping glue robot and stop.
(16) in all some glue processes, the result who a glue is not crossed observes automatically and compensates, and makes that sometimes the entire curve spread is inconsistent, adopts manual secondary to mend glue then.
Therefore, need design again based on monolithic processor controlled diaxon point gum machine device people controller, seek a kind of economic and practical middle low speed diaxon full-automatic glue-dropping machine device people servo-drive system existing.
Summary of the invention
The object of the present invention is to provide a kind of point gum machine device people servo controller, it is based on low speed full-automatic glue-dropping machine device people servo controller among three of single-chip microcomputer+LM629.
Technical scheme of the present invention is; Low speed full-automatic glue-dropping machine device people servo controller in a kind of three; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator; Described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip communication respectively; A described LM629 chip sends and controls signal to first motor driver, and described the 2nd LM629 chip sends and controls signal to second motor driver, and described the 3rd LM629 chip sends and controls signal to the 3rd motor driver; Described first motor driver drives the first high speed direct current generator; Described second motor driver drives the second high speed direct current generator, and described the 3rd motor driver drives the 3rd high speed direct current generator, and described single-chip microcomputer comprises IMAQ and processing module.
In preferred embodiment of the present invention, also be connected with first encoder between a described LM629 chip and the first high speed direct current generator; Also be connected with second encoder between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd encoder between described the 3rd LM629 chip and the 3rd high speed direct current generator.
In preferred embodiment of the present invention; Described single-chip microcomputer is connected through the data/address bus communication with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip respectively; A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal include interface, and described interface is used to connect data/address bus.
In preferred embodiment of the present invention; A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal all also comprise motion ladder diagram generator; Described motion ladder diagram generator is used to generate the speeds ladder diagram of high speed direct current generator, and its area that comprises is exactly the distance that the point gum machine device people first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator will move respectively.
In preferred embodiment of the present invention, a described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise the motor position decoder, and described motor position decoder is used to understand point gum machine device people's position data.
In preferred embodiment of the present invention, a described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise closed loop PID adjuster, and described closed loop PID adjuster is used for the driving power of point of adjustment glue robot.
In preferred embodiment of the present invention, on the described first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator optical code disk is housed all, described optical code disk is used to export the position signalling of high speed direct current generator.
According to the invention is low speed full-automatic glue-dropping machine device people servo controller in a kind of three, has added figure collection and processing unit, can help automatic kinetic control system location and find the trouble point, and automaticity improves greatly.In the motion process, shift the glue dispensing valve door onto initial position by automatics in the early stage, image capturing system is opened then, helps Glue dripping head to aim at initial position, makes initial position fix extremely accurate.In motion process, taken into full account the effect of battery in this system, constantly all the running status of automatically dropping glue robot is being monitored and computing based on single-chip microcomputer+LM629 controller; When running into the AC power outage; Lithium ion battery can provide the energy immediately, has avoided the failure of automatically dropping glue system servo-drive system motion, and provides in the process of power supply at battery; The moment is observed the electric current of battery and protects; Avoided the generation of big electric current, so fundamentally solved of the impact of big electric current, the generation of the lithium ion battery overaging phenomenon of having avoided causing owing to heavy-current discharge to lithium ion battery.Handle the independent SERVO CONTROL of three motors of automatically dropping glue robot by LM629, make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of scm software operation, it is short to have shortened the construction cycle, and the program transportability ability is strong.The present invention realizes full paster components and parts material basically, has realized veneer control, has not only saved control panel and has taken up room, and helped alleviating of automatically dropping glue robot volume and weight.In order to improve arithmetic speed and precision, this automatically dropping glue robot has adopted the high speed direct current generator to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient also is improved to some extent.Because this controller adopts LM629 lots of data and algorithm, from the hard work amount, frees single-chip microcomputer, has prevented " race flies " of program effectively, antijamming capability strengthens greatly.By LM629 output PWM modulation signal and direction signal; Through the direct drive motors of drive circuit; Not only alleviate the burden of single-chip microcomputer, simplified interface circuit, and saved single-chip microcomputer internal composition position, speed controlling program; And the trouble of various pid algorithms, make that the debugging of system is simple.In automatically dropping glue robot running, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, has reduced the influence that the motor torque shake is explored the automatically dropping glue robot fast.In control, single-chip microcomputer can be adjusted the inner pid parameter of LM629 according to the peripheral ruuning situation of robot in good time, realizes segmentation P, PD, PID control and nonlinear PID controller, make system satisfy in the switching of speed during low cruise.Owing to have a memory function, this makes can transfer the good routing information of gluing after the power down of automatically dropping glue robot easily, even also secondary point glue easily after breaking down.Double-damping structure is adopted in the PID of LM629 control and the instruction of motion control class, and data at first write master register, the data of the master register work register of could further packing into after writing related command only, be easy to like this to realize the diaxon servo motion synchronously.In whole some glue process, if image capturing system finds to have any position or any glue point appearance point glue problem, controller can carry out second compensation to above-mentioned position or some glue point.Because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, makes that programmer can well secondary development.
Description of drawings
Fig. 1 is the schematic diagram of existing monolithic processor controlled diaxon point gum machine device people servo controller;
Fig. 2 is the schematic diagram of the present invention's one preferred embodiment;
Fig. 3 is the block diagram of processor unit among Fig. 2;
Fig. 4 is the block diagram of the present invention's one preferred embodiment;
Fig. 5 is a speed curve diagram of the present invention;
Fig. 6 is a fundamental diagram of the present invention.
The specific embodiment
Set forth in detail in the face of preferred embodiment of the present invention down, thereby protection scope of the present invention is made more explicit defining so that advantage of the present invention and characteristic can be easier to it will be appreciated by those skilled in the art that.
Single-chip microcomputer was born so far from late 1970s, had experienced one chip microcomputer SCM, microcontroller MCU and three megastages of SOC(system on a chip) SOC, and preceding two stages are representative with MCS-51 and 80C51 respectively.Along with performance and the functional requirement to single-chip microcomputer in built-in field is increasingly high; Single-chip microcomputer in the past is that many-sides such as the speed of service or level of integrated system all can not satisfy new design demand; At this moment Silicon Labs company has released the C8051F series monolithic, becomes typical case's representative of SOC.C8051F has the advantages that to go up quick-moving (complete compatible 8051 instruction set), research and development fast (developing instrument is easy-to-use, can shorten the R&D cycle) and instant effect (debugging method is flexible), its performance advantage imbody in the following areas:
1) the CIP-51 kernel (100MIPS or 50MIPS) of 8051 of pipeline organization compatibilities at a high speed;
2) non-intrusion type at system debug interface (in the sheet) at full speed;
3) ADC of real 12 or 10,100 ksps, band PGA and 8 tunnels analogy variable connectors;
4) ADC of real 8 500ksps, band PGA and 8 tunnels analogy variable connectors;
5) two 12 DAC have programmable data update mode (only C8051F12x);
6) the 16x16 multiplication and the accumulate engine in 2 cycles;
7) but the FLASH memory of 128KK or 64KB in-system programming;
8) ram in slice of 8448 (8K+256) byte;
9) the external data memory interface of addressable 64KB address space;
10) hard-wired SPI, SMBus/I2C and two UART serial line interfaces;
11) 5 16 general bit timing devices;
12) has the programmable counter/timer array of 6 seizure/comparison modules;
13) WatchDog Timer, VDD monitor and temperature sensor in the sheet.
LM629 is a special chip that is used for precise motion control that National semiconductor produces; 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged; The integrated repertoire of digital motion control in a chip; Make one of design fast and accurately the task of kinetic control system become easily, easy, it has following characteristic:
1) operating frequency is 6MHz and 8MHz, and operating temperature range is-40 ℃～+ 85 ℃, uses the 5V power supply.
2) 32 bit positions, speed and acceleration storage;
3) the PWM pulsewidth modulation of 8 bit resolutions output;
4) 16 programmable digital PID controllers;
5) the trapezoidal rate generator of inside;
6) but this chip real time modifying speed, target location and pid control parameter;
7) real-time programmable Interrupt; The differential term sampling interval able to programme;
8) the increment code wheel signal is carried out quadruple;
9) can be arranged at two kinds of duties of speed or position servo.
These characteristics makes LM629 be particularly suitable in the servo motion control.
Referring to Fig. 2; Comprise AC power, lithium ion battery, a plurality of signal processor, processor unit, a plurality of high speed direct current generator and point gum machine device people; Described AC power and lithium ion battery are synthetic through signal processor; Drive described processor unit, described processor unit sends a plurality of control signals and drives said a plurality of high speed direct current generator respectively, and high speed control of DC signal is synthetic through signal processor; Thereby the motion of drive point glue robot; Described signal processor comprises first signal processor and secondary signal processor, and described control signal comprises first control signal, second control signal and the 3rd control signal, and described high speed direct current generator comprises the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator; Described processor unit is a dual core processor, comprises single-chip microcomputer and LM629 chip.
As shown in Figure 3; Described processor unit also comprises master system and the kinetic control system of being located at single-chip microcomputer and LM629 chip; Described master system comprises human-computer interface module, path read module, trajectory parameters presetting module and online output module; Described kinetic control system comprises three SERVO CONTROL modules, data memory module, I/O control module and IMAQ and processing module; Wherein, Single-chip Controlling human-computer interface module, path read module, trajectory parameters presetting module, online output module, data memory module, I/O control module and IMAQ and processing module, three SERVO CONTROL modules of LM629 chip controls, and carry out exchanges data between single-chip microcomputer and the LM629 chip in real time and call.
As shown in Figure 4; Low speed full-automatic glue-dropping machine device people servo controller in a kind of three; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator; Described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip communication respectively; A described LM629 chip sends and controls signal to first motor driver, and described the 2nd LM629 chip sends and controls signal to second motor driver, and described the 3rd LM629 chip sends and controls signal to the 3rd motor driver; Described first motor driver drives the first high speed direct current generator; Described second motor driver drives the second high speed direct current generator, and described the 3rd motor driver drives the 3rd high speed direct current generator, and described single-chip microcomputer comprises IMAQ and processing module.Also be connected with first encoder between a described LM629 chip and the first high speed direct current generator; Also be connected with second encoder between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd encoder between described the 3rd LM629 chip and the 3rd high speed direct current generator.Described single-chip microcomputer is connected through the data/address bus communication with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip respectively.A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal include interface, and described interface is used to connect data/address bus.A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal all also comprise motion ladder diagram generator; It is as shown in Figure 5 that described motion ladder diagram generator is used to generate the speeds ladder diagram of high speed direct current generator, and its area that comprises is exactly the distance that the point gum machine device people first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator will move respectively.A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise the motor position decoder, and described motor position decoder is used to understand point gum machine device people's position data.A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise closed loop PID adjuster, and described closed loop PID adjuster is used for the driving power of point of adjustment glue robot.On the described first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator optical code disk is housed all, described optical code disk is used to export the position signalling of high speed direct current generator.
Single-chip microcomputer+LM629 chip controller for the present invention's design; As shown in Figure 6; X axle, Y, axle and Z axle be the corresponding first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator respectively, and under the power supply opening state, the automatically dropping glue robot is introduced into self-locking state; The first high speed direct current generator and the second high speed direct current generator are worked simultaneously executing agency's (comprising glue brush and glue-spreading head) are automatically moved to scrap rubber recovery place; The 3rd high speed direct current generator adjustment glue dispensing valve is opened glue dispensing valve door colloid then automatically and is flowed out automatically to predeterminated position, waits even back setting in motion to starting point; This moment, image capturing system was opened, and proofreaied and correct the aligned position of Glue dripping head and starting point automatically.The automatically dropping glue robot is transferred to the single-chip microcomputer in the controller to the Actual path transmission parameter and the glue dot information that store; Single-chip microcomputer is converted into these ambient parameters distance, speed and the acceleration of the automatically dropping glue robot first high speed direct current generator, the second high speed direct current generator and confidential operation of the 3rd high speed direct current under the designated movement track; Single-chip microcomputer is connected with the communication of LM629 chip then; Handle the SERVO CONTROL of three independent high speed direct current generators then according to these parameters by the LM629 chip; And connect the deal with data communication to single-chip microcomputer, continue to handle follow-up running status by single-chip microcomputer.
The concrete function of the present invention realizes as follows:
1) opening power, automatic conveyor is sent to the working region to the processing component that is installed on the anchor clamps automatically.
2) can judge the supply voltage source at opening power moment single-chip microcomputer, when confirming to be storage battery power supply, if cell voltage low pressure; To forbid the LM629 chip operation; The high speed direct current generator can not be worked, and voltage sensor will be worked simultaneously, and controller can send the low pressure alarming signal.
3) the people's automatic control program that starts the machine loads task through controller 232 serial ports incoming tasks or from hard disk.
4) the first high speed direct current generator and the second high speed direct current generator are worked simultaneously and executing agency's (comprise glue brush and glue-spreading head) is moved to scrap rubber are reclaimed out; Open the Z axle then and adjust glue dispensing valve arrival desired location automatically, the beginning Open valve, the adjustment colloid is to uniform state; Move executing agency then to the starting point top; This moment, image capturing system was opened, and proofreaied and correct Glue dripping head and initial position automatically through the IMAQ result then, and system begins to prepare some glue.
5) under plastic emitting signal condition for validity, controller is prepared to open the LM629 chip, and point gum machine device people is started working.
6) move automatically in order to drive three automatically dropping glue robots, this control system has introduced three LM629 chips, is connected but get into real-time communication through I/O mouth and single-chip microcomputer, and it turns on and off by Single-chip Controlling.
7) for the system based on the LM629 chip, " hurrying " status detection is the primary part of whole Servo System Design, processor to LM629 chip write order or read and write numeral after; The mode bit that " hurries " can at this moment, can be ignored all order data transmission by set at once; Be reset until " hurrying " state,, judge whether to be " hurrying " so before each motion, detect this mode bit earlier; If " hurrying " will be carried out the software reset, make system can carry out data communication and connect.
8) for system based on the LM629 chip; Resetting also is important in a LM629 chip servos manipulate link, after resetting, checks the status word of LM629 chip; If be not equal to 84H or C4H; The hardware reset failure is described, must reset again, otherwise the LM629 chip cannot operate as normal.
9) in automatically dropping glue robot motion process; Single-chip microcomputer can constantly store distance or the some glue point of process of process; And confirm distance, speed and the acceleration that the next relatively some glue point automatically dropping glue robot first high speed direct current generator and the second high speed direct current generator will move respectively by single-chip microcomputer according to these range informations; Single-chip microcomputer is connected with the communication of LM629 chip then; Transmit these parameters and give the LM629 chip, then by LM629 chip formation speed motion ladder diagram, this trapezoidal area that comprises is exactly the distance of point gum machine device people first high speed direct current generator and the confidential operation of the second high speed direct current.
10) at the automatically dropping glue robot first high speed direct current generator and the second high speed direct current generator on two dimensional surface in the motion process; Single-chip microcomputer can be according to storing the glue dot information; Be transferred to distance, speed, the acceleration signal of the motion of the Z spindle motor of commit point glue point glue amount the LM629 chip of its motion of control; Generate Z spindle motor speeds ladder diagram by the LM629 chip then, this trapezoidal area that comprises is exactly the distance that automatically dropping glue robot the 3rd high speed direct current arbor will move.
11) if no matter the automatically dropping glue robot controller finds that X axle, Y axle still are that Z axle glue point distance is found the solution and endless loop occurred and will send interrupt requests to single-chip microcomputer in motion process; Single-chip microcomputer can be done very first time response to interrupting, if the interrupt response of single-chip microcomputer does not have enough time to handle, the X motor of automatically dropping glue robot, Y motor and Z spindle motor are with the original place self-locking; And storage current information; After the pending fault eliminating, transfer a glue information during secondary opening again, continue to carry out uncompleted task.
12) optical code disk that is contained on the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator can be exported its position signalling A and position signalling B; The position signalling A pulse of optical code disk and the every variation of B pulse logic state once, the location register in the LM629 chip can add 1 or subtract 1 according to the traffic direction of the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator.
When 13) position signalling A pulse, B pulse and the Z pulse of optical code disk are low level simultaneously; Just produce an INDEX signal and give the LM629 chip register; The absolute position of record motor is converted into the particular location of automatically dropping glue robot in the XYZ three-dimensional planar then.
14) controller is according to the particular location of automatically dropping glue robot in the XYZ three-dimensional planar and the contrast of desired location; Send relevant acceleration, speed and position data etc. to be worth for the ladder diagram generator of LM629 chip as a reference, this calculates actual acceleration, speed and position signalling that the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator that the automatically dropping glue robot need upgrade need upgrade by ladder diagram.
15) in a glue process; If image capturing system finds have the some glue of any position to go wrong; The memory record is current location information down, and controller send relevant acceleration, speed and position data etc. to be worth for the ladder diagram generator of LM629 chip as a reference according to the particular location of automatically dropping glue robot at a glue component then; This calculates the automatically dropping glue robot and arrives actual acceleration, speed and the position signalling that the renewal point needs by ladder diagram; After controlling the first high speed direct current generator, second high speed direct current generator arrival intended target then, open image capturing system, carry out the compensation of secondary point glue by the 3rd high speed direct current generator; Point glue returns the position of memory under depositing originally after finishing, and continues original work again.
16) if when the automatically dropping glue robot runs into unexpected outage in running; Battery can be opened automatically and immediately point gum machine device people supplied power; When the flow currents of motor surpasses setting value; The interruptive command LPES of LM629 chip will send interrupt requests to controller; This moment controller can control immediately that the LM629 chip quits work and access under current some glue information, in the generation of having avoided high-rate battery discharge effectively, also preserved some glue data, also can after controller is fixed a breakdown, receive its remaining work of order continued operation of restarting.
17) put the glue work system for ease and added automatic pause point by man-machine interface control; If in a glue process, read the automatic pause point; Single-chip microcomputer can be controlled the LM629 chip and stop with the acceleration of maximum and make process automatic pause occur and store current information; Read up to controller and to press START button information once more the LM629 chip is reworked, and transfer stored information point gum machine device people can be worked on from the automatic pause point.
18) the automatically dropping glue robot can detect cell voltage constantly at running, and when low pressure appearred in system, sensor meeting notification controller was opened and sent alarm, has protected lithium ion battery effectively.
19) after the some glue motion of accomplishing the whole machining process parts, glue dispensing valve can stop plastic emitting, and glue robot in control point walks out movement locus then.
20) point gum machine device people is according to new workpiece particular location, resets position zero point, waits for the work that following one-period is new.
In sum; The present invention overcomes the requirement that single single-chip microcomputer can not satisfy the stability and the rapidity of automatically dropping glue robot ambulation; Given up the single single-chip microcomputer mode of operation that homemade automatically dropping glue robot is adopted; Under the prerequisite that absorbs external advanced control thought, independently invented brand-new control model based on single-chip microcomputer+LM629 chip.Control panel is an its processing core with the LM629 chip; Realize the real-time processing of data signal, in the middle of the work of complicacy, free single-chip microcomputer the control logic of the signal processing algorithm of implementation part and LM629 chip; And realization data communication and storage of real time signal are interrupted in response.
According to the invention is low speed full-automatic glue-dropping machine device people servo controller in a kind of three, has added figure collection and processing unit, can help automatic kinetic control system location and find the trouble point, and automaticity improves greatly.In the motion process, shift the glue dispensing valve door onto initial position by automatics in the early stage, image capturing system is opened then, helps Glue dripping head to aim at initial position, makes initial position fix extremely accurate.In motion process, taken into full account the effect of battery in this system, constantly all the running status of automatically dropping glue robot is being monitored and computing based on single-chip microcomputer+LM629 controller; When running into the AC power outage; Lithium ion battery can provide the energy immediately, has avoided the failure of automatically dropping glue system servo-drive system motion, and provides in the process of power supply at battery; The moment is observed the electric current of battery and protects; Avoided the generation of big electric current, so fundamentally solved of the impact of big electric current, the generation of the lithium ion battery overaging phenomenon of having avoided causing owing to heavy-current discharge to lithium ion battery.Handle the independent SERVO CONTROL of three motors of automatically dropping glue robot by LM629, make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of scm software operation, it is short to have shortened the construction cycle, and the program transportability ability is strong.The present invention realizes full paster components and parts material basically, has realized veneer control, has not only saved control panel and has taken up room, and helped alleviating of automatically dropping glue robot volume and weight.In order to improve arithmetic speed and precision, this automatically dropping glue robot has adopted the high speed direct current generator to substitute the stepper motor of using always in the legacy system, makes operational precision improve greatly, and efficient also is improved to some extent.Because this controller adopts LM629 lots of data and algorithm, from the hard work amount, frees single-chip microcomputer, has prevented " race flies " of program effectively, antijamming capability strengthens greatly.By LM629 output PWM modulation signal and direction signal; Through the direct drive motors of drive circuit; Not only alleviate the burden of single-chip microcomputer, simplified interface circuit, and saved single-chip microcomputer internal composition position, speed controlling program; And the trouble of various pid algorithms, make that the debugging of system is simple.In automatically dropping glue robot running, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, has reduced the influence that the motor torque shake is explored the automatically dropping glue robot fast.In control, single-chip microcomputer can be adjusted the inner pid parameter of LM629 according to the peripheral ruuning situation of robot in good time, realizes segmentation P, PD, PID control and nonlinear PID controller, make system satisfy in the switching of speed during low cruise.Owing to have a memory function, this makes can transfer the good routing information of gluing after the power down of automatically dropping glue robot easily, even also secondary point glue easily after breaking down.Double-damping structure is adopted in the PID of LM629 control and the instruction of motion control class, and data at first write master register, the data of the master register work register of could further packing into after writing related command only, be easy to like this to realize the diaxon servo motion synchronously.In whole some glue process, if image capturing system finds to have any position or any glue point appearance point glue problem, controller can carry out second compensation to above-mentioned position or some glue point.Because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, makes that programmer can well secondary development.
The above is merely the specific embodiment of the present invention; But protection scope of the present invention is not limited thereto; Any those of ordinary skill in the art are in the technical scope that the present invention disclosed; Variation or the replacement that can expect without creative work all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claims were limited.
Claims (7)
1. low speed full-automatic glue-dropping machine device people servo controller in a kind three; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator; It is characterized in that: described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip communication respectively; A described LM629 chip sends and controls signal to first motor driver; Described the 2nd LM629 chip sends and controls signal to second motor driver; Described the 3rd LM629 chip sends and controls signal to the 3rd motor driver, and described first motor driver drives the first high speed direct current generator, and described second motor driver drives the second high speed direct current generator; Described the 3rd motor driver drives the 3rd high speed direct current generator, and described single-chip microcomputer comprises IMAQ and processing module.
2. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1 is characterized in that: also be connected with first encoder between a described LM629 chip and the first high speed direct current generator; Also be connected with second encoder between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd encoder between described the 3rd LM629 chip and the 3rd high speed direct current generator.
3. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1; It is characterized in that: described single-chip microcomputer is connected through the data/address bus communication with a LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip respectively; A described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal include interface, and described interface is used to connect data/address bus.
4. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal all also comprise motion ladder diagram generator; Described motion ladder diagram generator is used to generate the speeds ladder diagram of high speed direct current generator, and its area that comprises is exactly the distance that the point gum machine device people first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator will move respectively.
5. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise the motor position decoder, and described motor position decoder is used to understand point gum machine device people's position data.
6. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip and the 3rd LM629 chip internal also comprise closed loop PID adjuster, and described closed loop PID adjuster is used for the driving power of point of adjustment glue robot.
7. low speed full-automatic glue-dropping machine device people servo controller in three according to claim 1; It is characterized in that: on the described first high speed direct current generator, the second high speed direct current generator and the 3rd high speed direct current generator optical code disk is housed all, described optical code disk is used to export the position signalling of high speed direct current generator.
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