CN102841572A - Four-shaft intermediate and low speed full-automatic dispensing robot servo controller - Google Patents
Four-shaft intermediate and low speed full-automatic dispensing robot servo controller Download PDFInfo
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Abstract
The invention discloses a four-shaft intermediate and low speed full-automatic dispensing robot servo controller, which comprises a single chip microcomputer, a first LM629 chip, a second LM629 chip, a third LM629 chip, a fourth LM629 chip, a first motor driver, a second motor driver, a third motor driver, a fourth motor driver, a first high-speed direct-current motor, a second high-speed direct-current motor, a third high-speed direct-current motor and a fourth high-speed direct-current motor, wherein the single chip microcomputer is respectively in communication connection with a plurality of LM629 chips; the LM629 chips send a control signal to the motor driver; the motor driver drives the high-speed direct-current motors; and the single chip microcomputer comprises an image acquisition and treatment module. According to the four-shaft intermediate and low speed full-automatic dispensing robot servo controller disclosed by the invention, when a double-core processor based on the single chip microcomputer+LM629, the single chip microcomputer is liberated from heavy workload, and the anti-jamming capability is greatly enhanced.
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 four.
Background technology
In today of hi-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 robotization, and the long term growth strategy of future enterprise is played an important role.Because robot is the main tool of novel robotization; The exploitation of industrial robot and application project thereof; Robot is become immediate productivity, and it is changing traditional production model, boosts productivity and the adaptive faculty 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 mobile phone, computer casing, CD-ROM device, printer; 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 require increasingly high to the demand and the environmental protection of robot equipment and the working environment that improves laborer; 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? Sealant, PDA? Sealant,? LCD? Sealant, IC? Packaging, IC? Bonding and other industries have huge economic and social benefits.The higher relatively point gum machine device people of precision need carry out on the straight line on the XYZ plane of a three-dimensional, carry out gluing according to certain glue amount information on circular arc or the point-to-point position; If adopt one three point gum machine device people can simulate above-mentioned action simply; But the motion of general its Z axle of point gum machine device people all is vertical movement; When needing the welding of side; This problem just can't be accomplished, and just need be made its certain angle that can tilt by the vertical angle that an other U can regulate glue dispensing valve this time, so just formed easy four point gum machine device people.
Four complete point gum machine device people roughly are divided into following components:
1) motor: actuating motor is point gum machine device people's a power source, and it carries out point gum machine device people carries out processing component in four-dimentional space relevant action according to the instruction of microprocessor.
2) algorithm: algorithm is point gum machine device people's soul.Point gum machine device people must adopt certain intelligent algorithm could be quickly and accurately to arrive more in addition from a bit, form point-to-point, or the motion of curvilinear path.
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 motor status information etc. all need be passed through microprocessor processes and made corresponding judgment.
The automatically dropping glue robot has combined multi-subject knowledge, for being lifted at school students'ability for practice, team collaboration's ability and innovation ability, promotes that the digestion of student classroom knowledge and expansion students'knowledge face are all very helpful.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 reference position, only rely on human eye to carry out the correction of initial position then, make degree of accuracy reduce greatly.
What (2) adopt as the power supply of automatically dropping glue robot is the direct supply after the general AC power rectification, and whole some glue motion failed.
What (3) adopt as the topworks of automatically dropping glue robot is stepper motor, 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 stepper motor, make organism fever more serious, need dispel the heat sometimes.
(5) owing to adopt stepper motor, its motor 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.
(6) owing to adopt stepper motor, the system that makes generally is not suitable at high-speed cruising.
(7) owing to adopt stepper motor, make that the moment of system is less relatively.
(8) owing to controlling reason improperly, causing sometimes, stepper motor produces resonance.
(9) owing to adopt stepper motor, make the mechanical noise of system's running increase greatly, be unfavorable for environmental protection.
(10) owing to disturbed by the surrounding environment labile 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.
(11) for the some glue process of automatically dropping glue robot; Generally require the pwm control signal of its three motors to want synchronously; Owing to receive the restriction of single-chip microcomputer computing power; 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.
(12) 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.
(13) 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.
(14) because the automatically dropping glue robot wants frequent brake and startup, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that the automatically dropping glue robot starts fast and stops.
(15) 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.
What (16) 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.
Therefore, need design again based on monolithic processor controlled four-spindle automatic point gum machine device people controller, seek a kind of economic and practical four point gum machine devices of middle low speed 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 four 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 four; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the 4th motor driver, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator; Described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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 the 4th LM629 chip sends and controls signal to the 4th motor driver, and described first motor driver drives the first high speed direct current generator; 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 the 4th motor driver drives the 4th 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 scrambler between a described LM629 chip and the first high speed direct current generator; Also be connected with second scrambler between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the 3rd high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th high speed direct current generator.
In preferred embodiment of the present invention; Described single-chip microcomputer is connected through the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively; A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used to connect data bus.
In preferred embodiment of the present invention; A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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, the 3rd high speed direct current generator and the 4th high speed direct current generator will move respectively.
In preferred embodiment of the present invention; A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise the motor position demoder, and described motor position demoder 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, the 3rd LM629 chip and the 4th LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator 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, the 3rd high speed direct current generator and the 4th 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 four, has added figure collection and processing unit, can help automatic kinetic control system location and find the trouble spot, and automaticity improves greatly.In the motion process, shift the glue dispensing valve door onto initial position by aut.eq. in the early stage, image capturing system is opened then, helps glue dispensing valve 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 chip 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 servocontrol of four motors of automatically dropping glue robot by the LM629 chip; 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 chip 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 chip output PWM modulation signal and direction signal; Through the direct drive motor of driving circuit; Not only alleviate the burden of single-chip microcomputer, simplified interface circuit, and saved single-chip microcomputer internal composition position, speed control program; And the trouble of various pid algorithms, make that the debugging of system is simple.In automatically dropping glue robot operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, 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 pid parameter of LM629 chip internal 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 slow running.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 control and the instruction of motion control class of LM629 chip; 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 scheme 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.
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 travelling speed 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 10,100ksps, band PGA and 8 tunnels analogy multi-way switchs;
4) ADC of real 8 500 ksps, band PGA and 8 tunnels analogy multi-way switchs;
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 storer 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) frequency of operation 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 width 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 SI 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.
As shown in Figure 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, the 3rd control signal and the 4th control signal, and described high speed direct current generator comprises the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th 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; Processor unit 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 four servocontrol 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, four servocontrol 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; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the 4th motor driver, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator; Described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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 the 4th LM629 chip sends and controls signal to the 4th motor driver, and described first motor driver drives the first high speed direct current generator; 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 the 4th motor driver drives the 4th high speed direct current generator, and described single-chip microcomputer comprises IMAQ and processing module.Also be connected with first scrambler between a described LM629 chip and the first high speed direct current generator; Also be connected with second scrambler between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the 3rd high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th high speed direct current generator.Described single-chip microcomputer is connected through the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used to connect data bus.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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; As shown in Figure 5, 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, the 3rd high speed direct current generator and the 4th high speed direct current generator will move respectively.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise the motor position demoder, and described motor position demoder is used to understand point gum machine device people's position data.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator 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, the 3rd high speed direct current generator and the 4th 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 controller for the present invention's design; As shown in Figure 6, X axle, Y axle, Z axle and U axle be the corresponding first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator respectively, 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 topworks's (comprising glue brush and glue-spreading head) are automatically moved to scrap rubber recovery place, the angle of its Glue dripping head inclination of the 4th high speed direct current generator adjustment earlier, and the 3rd high speed direct current generator adjustment glue dispensing valve is to predeterminated position; Automatically opening glue dispensing valve door colloid then flows out automatically; Move to starting point Deng the automatically mobile topworks in even back, this moment, the aligned position of Glue dripping head and starting point was proofreaied and correct in the image capturing system unlatching automatically.The automatically dropping glue robot is transferred to the single-chip microcomputer in the controller to the Actual path parameter and the glue dot information that store; Single-chip microcomputer is converted into these path 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 then with the communication of LM629 chip; Handle the servocontrol of three individual motor then according to these parameters by the LM629 chip; And give single-chip microcomputer the deal with data communication, continue to handle follow-up running status by single-chip microcomputer.
Concrete function realizes as follows:
1) opening power, automatic conveyor is sent to the perform 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; Motor can not self-locking, 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) open image collecting device, help the first high speed direct current generator and the second high speed direct current generator to work simultaneously topworks's (comprising glue brush and glue-spreading head) is moved to scrap rubber to reclaim out, open the Z axle then and adjust glue dispensing valve automatically and arrive desired location; The beginning Open valve; The adjustment colloid moves topworks to the starting point top then to uniform state, and this moment, image capturing system was opened once more; Make Glue dripping head aim at initial position through the IMAQ result then, 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 in order to drive four-spindle automatic point gum machine device people; This control system has been introduced four LM629 chips; In order to reduce the port address that data bus takies; The 3rd high speed direct current generator adopts identical data bus with the 4th high speed direct current generator, adopts mode step by step to start the 3rd high speed direct current generator and the 4th high speed direct current generator through different commands, accomplishes the vertical range of glue dispensing valve and the setting at angle of inclination.
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.
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 according to these range informations calculating and definite distance, speed and acceleration to next glue point automatically dropping glue robot first high speed direct current generator and the confidential operation of the second high speed direct current; Single-chip microcomputer then with the communication of LM629 chip; Transmit these parameters and give the LM629 chip; Generated the speeds ladder diagram of the first high speed direct current generator and the second high speed direct current generator then respectively by the LM629 chip, this trapezoidal area that comprises is exactly the distance of automatically dropping glue robot 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; The angle that single-chip microcomputer tilts according to glue point needs; Make the LM629 chip operation of control the 4th high speed direct current generator, the distance that single-chip microcomputer need move the glue dispensing valve angle of inclination, speed and acceleration are given LM629 chip, and the LM629 chip generates U spindle motor speeds ladder diagram then; This trapezoidal area that comprises is exactly automatically dropping glue robot the 4th high speed direct current generator and the angle that will move; The 4th high speed direct current generator self-locking then, the angle that keeps glue dispensing valve to tilt, the LM629 chip status that the U axle is set is " doing "; Make it not carry out data communication, reach the purpose of release data bus with bus.Then the LM629 chip of Z axle " is hurried " and reset; Make its can with the data bus communication; Controller is transferred to the LM629 chip to distance, speed, the acceleration signal of the 3rd high speed direct current generator motion of commit point glue point glue amount size; By LM629 chip formation speed motion ladder diagram, this trapezoidal area that comprises is exactly automatically dropping glue robot the 3rd high speed direct current generator and the distance that will move then.
11) if no matter the automatically dropping glue robot controller finds that X axle, Y axle, Z axle still are that U axle glue point distance is found the solution and endless loop occurred and will send interrupt request to single-chip microcomputer in motion process; Single-chip microcomputer can be to interrupting doing very first time response; If the interrupt response of single-chip microcomputer does not have enough time to handle; The first high speed direct current generator of automatically dropping glue robot, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator be the original place self-locking, and store current information, wait pending fault to get rid of after; Again transfer a glue information during secondary opening, 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, the 3rd high speed direct current generator and the 4th 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, the 3rd high speed direct current generator and the 4th 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 XYZU four-dimentional space then.
14) single-chip microcomputer is according to the particular location of automatically dropping glue robot in the XYZU four-dimentional space; Send relevant acceleration, speed and position data etc. to be worth for the ladder diagram generator of LM629 chip as a reference, this calculates the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator actual acceleration, speed and position signalling that the automatically dropping glue robot 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 storer record is current location information down, and single-chip microcomputer 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, open the angle of inclination that the 4th high speed direct current generator is regulated glue dispensing valve earlier; Carry out the compensation of secondary point glue by the 3rd high speed direct current generator then; Point glue returns original angle of inclination of glue dispensing valve and Z axle predetermined altitude after finishing, and gets back to the position of storer under depositing originally, continues original work again.
16) if when the automatically dropping glue robot runs into sudden power in operational process; Accumulator 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 request 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) if in a glue process, read the automatic pause point of importing on the man-machine interface; Single-chip microcomputer can be controlled the LM629 chip and stop with the acceleration of maximum and X motor, Y motor and Z motor are suspended be provided with a little; And store current coordinate information; Read up to controller and to press START button information once more the LM629 chip is reworked, and transfer canned data 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 operational process, 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 reference mark walks out movement locus then.
20) point gum machine device people is according to new service part 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 digital signal, in the middle of the work of complicacy, free single-chip microcomputer the steering 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 four, has added figure collection and processing unit, can help automatic kinetic control system location and find the trouble spot, and automaticity improves greatly.In the motion process, shift the glue dispensing valve door onto initial position by aut.eq. in the early stage, image capturing system is opened then, helps glue dispensing valve 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 chip 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 servocontrol of four motors of automatically dropping glue robot by the LM629 chip; 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 chip 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 chip output PWM modulation signal and direction signal; Through the direct drive motor of driving circuit; Not only alleviate the burden of single-chip microcomputer, simplified interface circuit, and saved single-chip microcomputer internal composition position, speed control program; And the trouble of various pid algorithms, make that the debugging of system is simple.In automatically dropping glue robot operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, 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 pid parameter of LM629 chip internal 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 slow running.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 control and the instruction of motion control class of LM629 chip; 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 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 four; Comprise single-chip microcomputer, a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, first motor driver, second motor driver, the 3rd motor driver, the 4th motor driver, the first high speed direct current generator, the second high speed direct current generator, the 3rd high speed direct current generator and the 4th high speed direct current generator; It is characterized in that: described single-chip microcomputer is connected with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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; Described the 4th LM629 chip sends and controls signal to the 4th motor driver; 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, and described the 3rd motor driver drives the 3rd high speed direct current generator; Described the 4th motor driver drives the 4th 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 four according to claim 1 is characterized in that: also be connected with first scrambler between a described LM629 chip and the first high speed direct current generator; Also be connected with second scrambler between described the 2nd LM629 chip and the second high speed direct current generator; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the 3rd high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th high speed direct current generator.
3. low speed full-automatic glue-dropping machine device people servo controller in four according to claim 1; It is characterized in that: described single-chip microcomputer is connected through the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively; A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used to connect data bus.
4. low speed full-automatic glue-dropping machine device people servo controller in four according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th 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, the 3rd high speed direct current generator and the 4th high speed direct current generator will move respectively.
5. low speed full-automatic glue-dropping machine device people servo controller in four according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise the motor position demoder, and described motor position demoder 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 four according to claim 1; It is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator 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 four 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, the 3rd high speed direct current generator and the 4th 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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| CN103223672A (en) * | 2013-05-17 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system of four-axis full-automatic tin soldering robot |
| CN103240741A (en) * | 2013-05-17 | 2013-08-14 | 苏州工业园区职业技术学院 | Four-freedom-degree high-speed soldering robot servo control system |
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| CN103223672A (en) * | 2013-05-17 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system of four-axis full-automatic tin soldering robot |
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Application publication date: 20121226 |