CN102841563B - Four-axis high speed dispensing robot servo-control system - Google Patents
Four-axis high speed dispensing robot servo-control system Download PDFInfo
- Publication number
- CN102841563B CN102841563B CN201210361993.6A CN201210361993A CN102841563B CN 102841563 B CN102841563 B CN 102841563B CN 201210361993 A CN201210361993 A CN 201210361993A CN 102841563 B CN102841563 B CN 102841563B
- Authority
- CN
- China
- Prior art keywords
- module
- speed
- processor
- motor
- dispensing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000853 adhesive Substances 0.000 claims description 95
- 230000001070 adhesive effect Effects 0.000 claims description 95
- 230000033001 locomotion Effects 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000009977 dual effect Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 11
- 238000012545 processing Methods 0.000 abstract description 10
- 230000006870 function Effects 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000013500 data storage Methods 0.000 abstract 1
- 239000003292 glue Substances 0.000 description 34
- 238000000034 method Methods 0.000 description 34
- 230000008569 process Effects 0.000 description 32
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000000084 colloidal system Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000007493 shaping process Methods 0.000 description 4
- 230000011664 signaling Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009184 walking Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Control Of Direct Current Motors (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a four-axis high speed dispensing robot servo-control system. According to the invention, an FPGA (field programmable gata array) processor is introduced in a one-chip DSP (digital signal processor) to form a dual-core processor based on DSP and FPGA.For the dual-core processor, a multi-controller system realized by the original single-chip microcomputer is adopted through a centralized design, and the role of a battery in the multi-controller system is fully considered; synchronous control for four axes by one controller is realized; a four-axis servo system with maximum workload in the four-axis full-automatic high speed dispensing robot servo-control system is controlled by the FPGA processor to fully develop characteristic of faster data processing speed by the FPGA processor; functions such as a human-computer interface module, a path reading module, an online output module, a data storage module, and an I/O (input/output) module are controlled by the DSP; thus, division of work between the DSP and the FPGA processor is realized, and the DSP is liberated from heavy workload, so that the antijamming capability is greatly enhanced.
Description
Technical field
The invention relates to the technical field of adhesive dispensing robot, and relate to four-shaft high-speed adhesive dispensing robot servo-control system especially.
Background technology
In today of hi-tech fast development, traditional mode of production backwardness increasingly, novel automated production accepts the important way of market challenges by becoming the new century.The means of raising labour productivity are not only in robotization, play an important role to the Long-term Development Strategy in enterprise future.Due to the main tool that robot is novel robotization, the exploitation of industrial robot and application project thereof, robot is become immediate productivity, and it, changing traditional production model, boosts productivity and demonstrates great superiority to the adaptive faculty aspect in market.Simultaneously people replaces out by it from severe dangerous working environment, carries out production strictly in line with rules and regulations, and this is to promote economic development and social progress is all significant.Along with mobile phone, computer casing, CD-ROM device, printer, 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 are to the demand of robotic equipment and environmental protection and to improve the operating environment requirements of laborer more and more higher, special convection cell controls, and fluid drop, the automatic machinery adhesive dispensing robot that is coated on product surface or interiors of products is produced immediately.
Adhesive dispensing robot is mainly used in glue, paint and other liquid Accurate Points in Product Process, note, painting, point drip to each product exact position, can be used for that realization is got ready, setting-out, round or camber.The research and development of " adhesive dispensing robot " produce huge economic benefit and social benefit by industries such as China's pcb board binding sealing, IC sealing, PDA sealing, LCD sealing, IC encapsulation, IC are bonding.The adhesive dispensing robot that precision is relatively high needs to carry out on straight line in a three-dimensional XYZ plane, gluing is carried out according to certain glue amount information in circular arc or point-to-point position, if adopt the adhesive dispensing robot of three axles can simulate above-mentioned action simply, motion due to general its Z axis of adhesive dispensing robot is all vertical movement, when needing a side welding, this problem just cannot complete, just need this time the vertical angle of glue dispensing valve can be regulated can to tilt certain angle by an other axle, material is thus formed easy four axle adhesive dispensing robots.Complete four axle adhesive dispensing robots are roughly divided into following components:
1) motor: actuating motor is the power source of adhesive dispensing robot, it performs according to the instruction of microprocessor the relevant action that adhesive dispensing robot walks in the plane of the processing component four-dimension;
2) algorithm: algorithm is the soul of adhesive dispensing robot, adhesive dispensing robot must adopt certain intelligent algorithm to arrive in addition a bit from any quickly and accurately, is formed 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 promoting the manipulative ability of students, team collaboration's ability and innovation ability, promotes that the scope of one's knowledge of the digestion of student classroom knowledge and expansion student is all very helpful.Adhesive dispensing robot technology carry out the talent that can cultivate large quantities of association area, and then promote the technical development of association area and industrialization process.But because the unit of domestic this adhesive dispensing robot of research and development is less, relative R & D Level is relatively backward, the structured flowchart of four axle adhesive dispensing robot servo-control systems of research and development, as Fig. 1, long-play finds to there is a lot of safety problem, that is:
(1) as adhesive dispensing robot power acquisition be direct supply after general AC power rectification, whole glue can be made to move unsuccessfully when having a power failure suddenly;
(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 occurring mistake to the memory of position;
(3) owing to adopting stepper motor, make organism fever relatively more serious, need sometimes to dispel the heat;
(4) owing to adopting stepper motor, the mechanical noise that system is operated increases greatly, is unfavorable for environmental protection;
(5) owing to adopting stepper motor, its motor body is all generally heterogeneous structure, and control circuit needs to adopt multiple power tube, makes control circuit relatively complicated, and adds 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, stepper motor is sometimes caused 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, and make automatically dropping glue machine people control system take larger space, weight is relatively all heavier;
(11) owing to disturbing by surrounding environment labile factor, singlechip controller often there will be exception, and cause adhesive dispensing robot out of control, antijamming capability is poor;
(12) for the some glue process of four axle adhesive dispensing robots, the pwm control signal of its four motors of General Requirements wants synchronous, due to the restriction by 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, particularly for worse off cake when walking fast;
(13) owing to affecting by single-chip microcomputer capacity and algorithm, the information of adhesive dispensing robot to glue point does not store, and the information all when running into power-down conditions will disappear, and this makes whole some glue process to restart;
(14) put colloid system once, the motion of whole glue will be completed, middle without any suspending or the point of buffering;
(15) owing to affecting by single-chip microcomputer computing power, whole adhesive dispensing robot, when slow running, there is no large problem, but when in order to improve a colloid system efficiency accelerate time, will serious problem be there is in the cementing fruit of whole point.
In order to the needs of satisfied high speed, High-efficient Production, must redesign based on monolithic processor controlled four-spindle automatic adhesive dispensing robot control system existing, seek a kind of high speed, efficiently some glue servo-drive system.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of four-shaft high-speed adhesive dispensing robot servo-control system, solve the defect of four axle adhesive dispensing robot control system high speeds and efficient poor performance in prior art.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of four-shaft high-speed adhesive dispensing robot servo-control system, comprise battery, AC power, first signal processor, secondary signal processor, processor unit, first High-speed DC motor, second High-speed DC motor, third high speed direct current generator, 4th High-speed DC motor and adhesive dispensing robot, the first described signal processor provides separately the processor unit described in electric current driving by AC power or battery, and described processor unit sends the first control signal respectively, second control signal, 3rd control signal and the 4th control signal, the first described control signal, second control signal, 3rd control signal and the 4th control signal control the second described High-speed DC motor respectively, first High-speed DC motor, third high speed direct current generator and the 4th 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, the 3rd control signal by described third high speed direct current generator and the 4th control signal by the 4th described High-speed DC motor, after the synthesis of secondary signal processor, 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 master system and the kinetic control system of dsp processor and FPGA processor, described master system comprises human-computer interface module, path read module and online output module, described kinetic control system comprises servo control module, data memory module and I/O control module, wherein, dsp processor is for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, FPGA processor is for controlling servo control module, and carry out exchanges data in real time and call between dsp processor and FPGA processor.
In a preferred embodiment of the present invention, described processor unit is connected with the output terminal of High-speed DC motor further.
In a preferred embodiment of the present invention, described servo control module also comprises modular converter, and described modular converter is used for digital signal to convert simulating signal to.
Whether in a preferred embodiment of the present invention, described servo control module also comprises coder module, and described coder module, for detecting 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 servo control module also comprises current module, and described current module reaches the scope of adhesive dispensing robot needs for the output power adjusting battery.
In a preferred embodiment of the present invention, described servo control module also comprises acceleration module, described acceleration module is connected with coder module communication, when coder module detection adhesive dispensing robot actual speed is too fast or excessively slow, acceleration module regulates adhesive dispensing robot actual speed according to the result that coder module detects.
In a preferred embodiment of the present invention, described servo control module also comprises displacement module, and whether described displacement module arrives set displacement for detecting adhesive dispensing robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Four-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 four-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 concentrates 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 four axle, give FPGA processor four maximum for workload in four-shaft high-speed adhesive dispensing robot servo-control system axle servo-drive systems to control, 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 and are controlled, so just achieve the division of labor of dsp processor and FPGA processor, dsp processor is freed from hard work amount, antijamming capability strengthens greatly.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of four axle adhesive dispensing robot servo-control systems in prior art;
Fig. 2 is the schematic diagram of the four-shaft high-speed adhesive dispensing robot servo-control system of present pre-ferred embodiments;
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, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Along with development and the maturation of microelectric technique and Automated library system chip fabrication techniques, digital signal processing chip (DSP) is due to its computing power fast, not only be widely used in communication and video frequency signal processing, be also applied in gradually in various senior control system.TMS320F2812 is the fixed point 32 bit DSP processor on the C2000 platform of American TI company release, is suitable for Industry Control, Electric Machine Control etc., of many uses.Run clock and also can reach 150MHz soon, handling property can reach 150MIPS, every bar instruction cycle 6.67ns, and I/O port enriches, enough the application general concerning user, two serial ports.There is the AD conversion etc. of the 0 ~ 3.3v of 12.Have the in-chip FLASH of 128k × 16 in sheet, the SRAM of 18K × 16, general application system can not want outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, greatly can design by peripheral circuits, reduce system cost and system complexity, also substantially increase the stores processor ability of data.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology has occurred a kind of brand-new design philosophy recent years.Although FPGA itself is the cell array of standard, there is no the function that general integrated circuit has, but user can according to the design needs of oneself, by specific placement-and-routing instrument, connection is reconfigured to its inside, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because FPGA processor adopts the design philosophy of software implementation to realize the design of hardware circuit, so just the system based on FPGA CPU design is made to have good reusable and amendment property, this brand-new design philosophy has been applied on high performance interchange drived control gradually, and fast-developing.
As shown in Figure 2, be the schematic diagram of the four-shaft high-speed adhesive dispensing robot servo-control system of present pre-ferred embodiments.In the present embodiment, four-shaft high-speed adhesive dispensing robot servo-control system comprises battery, AC power, the 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 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, the first described signal processor provides separately the processor unit described in electric current driving by AC power or battery, described processor unit sends the first control signal respectively, second control signal, 3rd control signal and the 4th control signal, the first described control signal, second control signal, 3rd control signal and the 4th control signal control the second described High-speed DC motor respectively, first High-speed DC motor, third high speed direct current generator and the 4th 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, the 3rd control signal by described third high speed direct current generator and the 4th control signal by the 4th described High-speed DC motor are after the synthesis of secondary signal processor, control the motion of adhesive dispensing robot.
The present invention overcomes single-chip microcomputer in prior art can not meet the stability of four 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, provide the brand-new control model of DSP+FPGA processor, control panel with FPGA processor for process core, realize the real-time process of digital signal, dsp processor is freed in the middle of the work of complexity, the signal processing algorithm and the response that realize part are interrupted, and realize data communication and store 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 can communication mutually, carries out exchanges data in real time and calls.Described processor unit also comprises the master system and 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 servo control module, data memory module and I/O control module.Wherein, dsp processor is for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, and FPGA processor is for controlling servo control 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 preset, acceleration, the optimum configurations such as position; Online output module, for pointing out the duty of adhesive dispensing robot, is such as in the adhesive dispensing robot course of work or the condition prompting that arrives at a station.
Kinetic control system comprises servo control 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.; Servo control module comprises modular converter, coder module, current module, acceleration module and displacement module further.
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 detecting 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 the output power adjusting battery the scope that adhesive dispensing robot needs.
Described acceleration module is connected with coder module communication, and when coder module detection adhesive dispensing robot actual speed is too fast or excessively slow, acceleration module regulates the actual speed of adhesive dispensing robot according to the result that coder module detects.
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, then send deceleration instruction to controller.
Be a dual core processor for processor unit, under power-on state, adhesive dispensing robot is introduced into self-locking state, then the glue dispensing valve of adhesive dispensing robot is placed on 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 stored and put glue information transmission 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, second High-speed DC motor, the distance that third high speed direct current generator and the 4th High-speed DC motor will run, then with the communication of FPGA processor, FPGA processor turns the servocontrol again in conjunction with the electric current of motor feedback and signal transacting four individual motor of optical code disk according to these parameters, and process data communication to dsp processor, the follow-up running status of process is continued 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 servo control module, data memory module, I/O control module.The servo control module that wherein workload is maximum is given FPGA processor and is controlled, remaining comprises master system and gives dsp processor control, so just achieve the division of labor of dsp processor and FPGA processor, also can carry out communication therebetween simultaneously, carry out exchanges data in real time and call.
The functional realiey that in the present invention, four-shaft high-speed adhesive dispensing robot servo-control system is concrete is 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 to be powered battery, if cell voltage low pressure, exported by the PWM ripple blocking FPGA processor, now the first High-speed DC motor and the second High-speed DC motor can not work, and voltage sensor is by work simultaneously, dual-core controller can send low pressure alarming signal, and battery is changed in man-machine interface prompting;
3) adhesive dispensing robot automatic control program is started, by the USB interface incoming task of controller or from hard disk loading task;
4) topworks's (comprising glue brush and glue-spreading head) is moved to above starting point, adjust initialized location;
5) plastic emitting signal is effective, time delay a period of time;
6) in order to four axle adhesive dispensing robots can be driven to move, this control system introduces FPGA processor, generated the PWM ripple of four spindle motors motions by it, but enter real-time communication by I/O mouth and dsp processor, controlled output and the blockade of its PWM waveform by dsp processor;
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 that next working point adhesive dispensing robot diaxon first High-speed DC motor and the second High-speed DC motor will be run on two dimensional surface or track according to these range informations, dsp processor then with the communication of FPGA processor, transmit these parameters to FPGA processor, then FPGA processor transfers corresponding PID shaping modes in conjunction with the electric current of motor collection and optical code disk signal and peripheral sensor signal more automatically according to these parameters, automatic generation controls the PWM ripple of 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, the angle that dsp processor will be able to tilt according to Distance geometry the 4th High-speed DC motor of the confidential operation of glue dot information determination third high speed direct current, dsp processor then with the communication of FPGA processor, transmit these parameters to FPGA processor, then then FPGA processor transfers corresponding PID shaping modes in conjunction with third high speed direct current generator and the electric current of the 4th High-speed DC motor and optical code disk information and peripheral sensor signal automatically according to these parameters, generate the PWM ripple controlling third high speed direct current generator and the 4th High-speed DC motor movement, then after driving circuit, control the servo motion of third high speed direct current generator and the 4th High-speed DC motor, in this control system, third high speed direct current generator and the 4th High-speed DC motor complete simultaneously,
9) if automatically dropping glue machine people controller finds no matter the first High-speed DC motor in motion process, second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor glue point distance solve and occur that endless loop will send interrupt request to dsp processor, dsp processor can do very first time response to interruption, the process if the interrupt response of dsp processor is not able to do in time, the first High-speed DC motor of automatically dropping glue machine people, second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor are by original place self-locking, and store current information, after waiting for failture evacuation, again a glue information is transferred during secondary opening, continue to perform not completing of task,
10) optical code disk be contained on the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of optical code disk often change once, and the location register in FPGA processor can add 1 or subtract 1 according to the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the traffic direction of the 4th High-speed DC motor;
11), when the position signalling A pulse of optical code disk and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to FPGA processor, the absolute position of record motor, is then converted into the particular location of automatically dropping glue machine people in four-dimentional space;
12) in motion process, controller can according to adhesive dispensing robot in the particular location of a glue component and the position that should arrive, send the process of FPGA processor, FPGA processor transfers corresponding PID shaping modes automatically according to peripheral sensor signal, the first High-speed DC motor of automatically dropping glue machine people is calculated by FPGA processor, second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor need the pwm control signal upgraded, determine the first High-speed DC motor, second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor need the speed upgraded, the speed of motor is accelerated and slows down to meet figure 4,
13) if when adhesive dispensing robot runs into unexpected power-off in operational process, accumulator automatically can be opened and power to adhesive dispensing robot immediately, first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th any one motor of High-speed DC motor are when in motion process, electric current exceedes setting value, controller can quit work by control FPGA processor immediately, thus efficiently avoid 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 control the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor and stop with maximum acceleration, make process occur automatic pause and store current information, until controller is read and again pressed START button information FPGA processor just can be made to 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, decreases motor torque to an impact for glue process;
16) adhesive dispensing robot can detect cell voltage at operational process in the moment, and when low pressure appears in system, sensor can be opened and send alarm by notification controller, effectively protects battery;
17) when after the some glue motion completing 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 four-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, the requirement of some colloid system rapidity at a high speed can be met very well.
2: in motion process, take into full account battery effect in this system, all the running status of adhesive dispensing robot is being monitored and computing based on the DSP+FPGA dual-core controller moment, when 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 in the process of cell powers, the electric current of moment to battery is observed and protects, avoid the generation of big current, so fundamentally solve the impact of big current to battery, avoid the generation of the battery overaging phenomenon caused due to heavy-current discharge,
3: by the independent servocontrol of four motors of FPGA processor process adhesive dispensing robot, make control fairly simple, substantially increase arithmetic speed, solve scm software in prior art and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong;
4: substantially realize full SMD components material, achieve veneer and control, not only save control panel and take 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 have employed High-speed DC motor and instead of stepper motor conventional in legacy system, and operational precision is improved greatly, and efficiency is also improved to some extent;
6: the data adopting the process of FPGA processor a large amount of due to this controller and algorithm, dsp processor is freed from hard work amount, effectively prevent adhesive dispensing robot out of control, antijamming capability strengthens greatly.
7: the control signal due to No. four motors is exported by FPGA processor, PWM modulation signal and direction signal can be exported like this by FPGA processor simultaneously, can direct-driving motor by driving circuit, not only alleviate the burden of dsp processor, simplify interface circuit, and eliminate dsp processor internal composition position, speeds control program, and the trouble of various pid algorithm, make the debugging of system simple, and achieve the real servo-controlled synchronism of four axles;
8: in adhesive dispensing robot operational process, controller can carry out on-line identification to the torque of motor and utilize the relation of motor torque and electric current to compensate, and decreases the impact of motor torque shake on adhesive dispensing robot dynamic property when walking fast;
9: in the controlling, FPGA processor inside is integrated with multiple PID shaping modes, automatically can adjust the pid parameter of its inside according to the peripheral ruuning situation of robot, easily realize segmentation P, PD, PID and control and nonlinear PID controller, make system have certain self-adaptation;
10: owing to having memory function, the routing information that gluing is good can be transferred easily after this makes adhesive dispensing robot power down, even if also can secondary point glue easily after breaking down;
11: in whole some glue process, add breakpoint setting, be conducive to like this estimating in automatic motion process and put the good position of glue, find some glue problem in advance.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; 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 (4)
1. a four-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, first High-speed DC motor, second High-speed DC motor, third high speed direct current generator, 4th High-speed DC motor and adhesive dispensing robot, the first described signal processor provides separately the processor unit described in electric current driving by AC power or battery, and described processor unit sends the first control signal respectively, second control signal, 3rd control signal and the 4th control signal, the first described control signal, second control signal, 3rd control signal and the 4th control signal control the second described High-speed DC motor respectively, first High-speed DC motor, third high speed direct current generator and the 4th 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, the 3rd control signal by described third high speed direct current generator and the 4th control signal by the 4th described High-speed DC motor, after the synthesis of secondary signal processor, control the motion of adhesive dispensing robot,
Wherein, described processor unit is a dual core processor, comprise dsp processor and FPGA processor, described dsp processor and FPGA processor are also 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 servo control module, data memory module and I/O control module, wherein, dsp processor is for controlling human-computer interface module, path read module, online output module, data memory module and I/O control module, FPGA processor is for controlling servo control module, and carry out exchanges data in real time and call between dsp processor and FPGA processor.
2. four-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, it is characterized in that, described servo control module also comprises modular converter, and described modular converter is used for digital signal to convert simulating signal to.
3. four-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, it is characterized in that, described servo control module also comprises current module, and described current module reaches the scope of adhesive dispensing robot needs for the output power adjusting battery.
4. four-shaft high-speed adhesive dispensing robot servo-control system according to claim 1, it is characterized in that, described servo control module also comprises coder module and acceleration module, described acceleration module is connected with coder module communication, when coder module detection adhesive dispensing robot actual speed is too fast or excessively slow, acceleration module regulates adhesive dispensing robot actual speed according to the result that coder module detects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361993.6A CN102841563B (en) | 2012-09-26 | 2012-09-26 | Four-axis high speed dispensing robot servo-control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210361993.6A CN102841563B (en) | 2012-09-26 | 2012-09-26 | Four-axis high speed dispensing robot servo-control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102841563A CN102841563A (en) | 2012-12-26 |
| CN102841563B true CN102841563B (en) | 2015-05-13 |
Family
ID=47369032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210361993.6A Active CN102841563B (en) | 2012-09-26 | 2012-09-26 | Four-axis high speed dispensing robot servo-control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102841563B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107480057B (en) * | 2017-07-31 | 2020-11-24 | 芯海科技（深圳）股份有限公司 | Method for realizing Call Stack function in ICE |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007057390A2 (en) * | 2005-11-16 | 2007-05-24 | Abb Ab | Method and device for controlling motion of an industrial robot with a position switch |
| EP1793292A1 (en) * | 2005-11-29 | 2007-06-06 | Seiko Epson Corporation | Robot controller system |
| CN201603665U (en) * | 2010-03-01 | 2010-10-13 | 王燕 | Four-axis glue dispensing machine |
| JP2011000685A (en) * | 2009-06-19 | 2011-01-06 | Denso Wave Inc | Bin picking system |
| CN202837924U (en) * | 2012-09-26 | 2013-03-27 | 苏州工业园区职业技术学院 | Four-axis high speed adhesive dispensing robot servo control system |
-
2012
- 2012-09-26 CN CN201210361993.6A patent/CN102841563B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007057390A2 (en) * | 2005-11-16 | 2007-05-24 | Abb Ab | Method and device for controlling motion of an industrial robot with a position switch |
| EP1793292A1 (en) * | 2005-11-29 | 2007-06-06 | Seiko Epson Corporation | Robot controller system |
| JP2011000685A (en) * | 2009-06-19 | 2011-01-06 | Denso Wave Inc | Bin picking system |
| CN201603665U (en) * | 2010-03-01 | 2010-10-13 | 王燕 | Four-axis glue dispensing machine |
| CN202837924U (en) * | 2012-09-26 | 2013-03-27 | 苏州工业园区职业技术学院 | Four-axis high speed adhesive dispensing robot servo control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102841563A (en) | 2012-12-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102830641B (en) | Three-axis full-automatic high-speed dispensing robot servo control system | |
| CN102830644B (en) | Five-axis high-speed dispensing robot servo control system | |
| CN102841561B (en) | Diaxon high speed adhesive dispensing robot servo-control system | |
| CN201689302U (en) | Integrated intelligent servo driver | |
| CN102837311B (en) | Low speed Full-automatic spot gluing machine people servo controller in a kind of five axles | |
| CN102830645B (en) | Uniaxial full-automatic high-speed dispensing robot servo control system | |
| CN202837916U (en) | Single-axis medium-low speed adhesive dispensing robot servo control system | |
| CN102841558B (en) | Five-axis full-automatic high speed dispensing robot servo-control system | |
| CN202837919U (en) | Five-axis high speed adhesive dispensing robot servo control system | |
| CN202837911U (en) | Three-axis high speed adhesive dispensing robot servo control system | |
| CN202837918U (en) | Three-axis full-automatic high speed adhesive dispensing robot servo control system | |
| CN202837924U (en) | Four-axis high speed adhesive dispensing robot servo control system | |
| CN102830642B (en) | Low speed adhesive dispensing robot servo-control system in five axles | |
| CN102841563B (en) | Four-axis high speed dispensing robot servo-control system | |
| CN202929400U (en) | Servo control system of five-shaft fully-automatic high-speed dispensing robot | |
| CN102841555B (en) | Servo control system for three-shaft high-speed dispensing robot | |
| CN102830643A (en) | Uniaxial medium/low-speed dispensing robot servo control system | |
| CN202837915U (en) | Double-axis high speed adhesive dispensing robot servo control system | |
| CN102854828A (en) | Servo control system of single-shaft high-speed dispensing robot | |
| CN103231377B (en) | Double-core Three Degree Of Freedom high speed soldering robot servo control device and method | |
| CN202837922U (en) | Single-axis high speed adhesive dispensing robot servo control system | |
| CN202837906U (en) | Four-axis full-automatic high speed adhesive dispensing robot servo control system | |
| CN202837907U (en) | Five-axis medium-low speed adhesive dispensing robot servo control system | |
| CN202837909U (en) | Double-axis full-automatic high speed adhesive dispensing robot servo control system | |
| CN203221504U (en) | Double-core three-degree-of-freedom intermediate-speed full-automatic tin soldering robot servo controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Haoming Inventor before: Zhang Haoming Inventor before: Wang Yinghai Inventor before: Yuan Lijuan |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160308 Address after: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee after: Zhang Haoming Address before: 215000 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160630 Address after: 211106, Jiangsu, Nanjing, Jiangning economic and Technological Development Zone, No. 19 Su source Avenue, Kowloon lake international enterprise headquarters park, block C4, first floor Patentee after: Jiangsu Robobor Bobot Technology Co., Ltd. Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Zhang Haoming |