CN103009393A - Control device of network embedded robot - Google Patents
Control device of network embedded robot Download PDFInfo
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- CN103009393A CN103009393A CN2012105440189A CN201210544018A CN103009393A CN 103009393 A CN103009393 A CN 103009393A CN 2012105440189 A CN2012105440189 A CN 2012105440189A CN 201210544018 A CN201210544018 A CN 201210544018A CN 103009393 A CN103009393 A CN 103009393A
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Abstract
The invention discloses a control device of a network embedded robot. The control device comprises an upper computer of a special man-machine interface, a servo driver and a robot body, wherein the upper computer is connected with the servo driver and is used for sending an operation instruction by means of wired or wireless communication; an internal CPU (central processing unit) of the servo driver exchanges data according to the operation instruction of the upper computer, and the servo driver directly controls the robot body to move; and the robot body is directly connected to the upper computer through I/O (input/output) equipment, or is connected to the upper computer through a built-in sensor and the I/O equipment to feed back information to the upper computer. The control device is simple in structure, safe in use, and convenient to operate; and through the device, the source is saved, and the cost is reduced.
Description
Technical field
The present invention relates to a kind of network built-in type robot controller.
Background technology
In the industrial robot, modal is manipulator and revolute robot at present.The intelligent robot motion control as shown in Figure 1, had both comprised and had controlled required various hardware systems, comprised again various software systems.Hardware system comprise host computer, slave computer (or), servo-driver, software systems comprise upper computer software, slave computer software.After the robot hardware system finishes, purposes difference according to robot is carried out functional programming to robot, the robot program who finishes is deposited among the EPROM of slave computer (or PLC), by slave computer the robot servo-driver is controlled, robot body is moved by functional requirement.Slave computer and upper machine communication are realized human-computer dialogue, and host computer is served as by ordinary PC or the special-purpose PC that touches.The shortcoming of above control technology: complex structure, the trouble point is many; The a large amount of open loop controls of control system, potential safety hazard is many; The robot control program is strongly professional, require height to controlling personnel, and tool program specificity is strong, is difficult to realize generalization; Technical resource is failed integrated use, and high-end servo-driver function is shelved, and causes the technical resource waste, and increases the robot cost, demands urgently improving.
Summary of the invention
Problem for prior art exists the object of the invention is to propose a kind of network built-in type robot controller, by enforcement of the present invention, designs simplification, uses safety, easy operating, economizes on resources, reduces cost.
For reaching this purpose, the present invention by the following technical solutions:
A kind of network built-in type robot controller comprises:
The host computer of dedicated human interface is connected with servo-driver, communicates by letter the transmit operation instruction by wired or wireless mode;
Servo-driver, according to the operational order of described host computer, innernal CPU carries out exchanges data, direct control unit device human body motion;
Robot body directly accesses host computer by I/O equipment, or sensor and I/O equipment access host computer through carrying, to the host computer feedback information.
Preferably, the host computer of described dedicated human interface is connected into wide area network, realizes the control of Internet network remote.
Preferably, be provided with fire wall between the host computer of described dedicated human interface and the described wide area network.
Preferably, described dedicated human interface uses 7 " capacitance touch screen, ARM9 core, LINUX operating system, the hardware equipment I/O interface.
Compared with prior art, the present invention has following beneficial effect:
Network built-in type of the present invention robot, structural refinement has saved the intermediate equipments such as slave computer or PLC, and the trouble point is few; Adopt the theoretical control technology of closed loop, guaranteed without potential safety hazard; Network answer drives, and prevents from disturbing bringing unpredictable misoperation, guarantees the in real time accuracy of control; Open configuration can adapt to the establishment of most of techniques, need not to change source program, and versatility is stronger; The interface is clear, and is easy to operate, can understand fast the grasp method of operating; Native system integrates control and man-machine interface, greatly reduces in equipment cost, realizes that the thing favorable rates is honest and clean; Can be used as the long-distance centralized control monitoring terminal, realize factory automation, modernization.
The invention accompanying drawing
Fig. 1 is robot control structure schematic diagram in the prior art;
Fig. 2 is a kind of network built-in type robot controller and the control flow chart that the embodiment of the invention 1 provides.
The specific embodiment
The embodiment of the invention 1 provides a kind of network built-in type robot controller, as shown in Figure 2, comprising: Internet Long-distance Control, host computer (using the Special artificial interface), servo-driver, robot body.Wherein, dedicated human interface (host computer) is connected with servo-driver, communicates by letter the transmit operation instruction by wired or wireless mode; Servo-driver, according to the operational order of described host computer, innernal CPU carries out exchanges data, direct control unit device human body motion; Robot body directly accesses host computer by I/O equipment, or sensor and I/O equipment access host computer through carrying, to the host computer feedback information.In addition, dedicated human interface also can be connected into wide area network by fire wall, realizes the control of Internet network remote.
Wherein, dedicated human interface adopts 7 " capacitance touch screen, take ARM9 as core, LINUX operating system, the hardware equipment I/O interface.Deeply resolve the servo-driver communications protocol, with each driver Direct Communication of robot body, understand the inner motor servo driver coding of robot body, by network servomotor is controlled.Host computer receives the feedback signals such as external switch, pulse, sound, video, presses equipment work technological requirement, and robot body is carried out closed-loop control.
System is different according to different robot work characteristics, defined robot network's configuration table, the user can be according to the robot working environment, configuration robot duty freely, and complete robot work technique is kept in the memory, can name according to technique preserving content, can also define the duty code for technique, robot can understand the duty code, extracts automatically operation process.Robot Configuration Language friendly interface, lower dress is convenient, is fit to the various robots controls such as injection machine industry, spraying industry, engraving industry, electronic circuit processing industry.
The above; only be the better specific embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.
Claims (4)
1. a network built-in type robot controller is characterized in that, comprising:
The host computer of dedicated human interface is connected with servo-driver, communicates by letter the transmit operation instruction by wired or wireless mode;
Servo-driver, according to the operational order of described host computer, innernal CPU carries out exchanges data, direct control unit device human body motion;
Robot body directly accesses host computer by I/O equipment, or sensor and I/O equipment access host computer through carrying, to the host computer feedback information.
2. network built-in type robot controller according to claim 1 is characterized in that, the host computer of described dedicated human interface is connected into wide area network, realizes the control of Internet network remote.
3. network built-in type robot controller according to claim 2 is characterized in that, is provided with fire wall between the host computer of described dedicated human interface and the described wide area network.
4. network built-in type robot controller according to claim 1 is characterized in that, described dedicated human interface uses 7 " capacitance touch screen, ARM9 core, LINUX operating system, the hardware equipment I/O interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105440189A CN103009393A (en) | 2012-12-14 | 2012-12-14 | Control device of network embedded robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105440189A CN103009393A (en) | 2012-12-14 | 2012-12-14 | Control device of network embedded robot |
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| Publication Number | Publication Date |
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| CN103009393A true CN103009393A (en) | 2013-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012105440189A Pending CN103009393A (en) | 2012-12-14 | 2012-12-14 | Control device of network embedded robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699004A (en) * | 2013-12-05 | 2015-06-10 | 上海能感物联网有限公司 | Controller device for robot remotely controlled by Chinese text |
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| CN1970247A (en) * | 2006-12-01 | 2007-05-30 | 南开大学 | Inset type mobile robot core controller |
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| CN201519955U (en) * | 2009-09-22 | 2010-07-07 | 西安理工大学 | Multi-freedom degree mechanical hand closed loop positioning controller based on visual sense |
| CN102681465A (en) * | 2012-05-23 | 2012-09-19 | 浙江大学 | Industrial robot demonstration planner with motion planning function and control method for industrial robot demonstration planner |
| CN203045733U (en) * | 2012-12-14 | 2013-07-10 | 安徽蓝德三元智能系统集成有限公司 | Network embedded type robot control device |
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- 2012-12-14 CN CN2012105440189A patent/CN103009393A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007056343A2 (en) * | 2005-11-08 | 2007-05-18 | Mobility Electronics, Inc. | Networked linux machine and windows software development system |
| CN1970247A (en) * | 2006-12-01 | 2007-05-30 | 南开大学 | Inset type mobile robot core controller |
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| CN201519955U (en) * | 2009-09-22 | 2010-07-07 | 西安理工大学 | Multi-freedom degree mechanical hand closed loop positioning controller based on visual sense |
| CN102681465A (en) * | 2012-05-23 | 2012-09-19 | 浙江大学 | Industrial robot demonstration planner with motion planning function and control method for industrial robot demonstration planner |
| CN203045733U (en) * | 2012-12-14 | 2013-07-10 | 安徽蓝德三元智能系统集成有限公司 | Network embedded type robot control device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699004A (en) * | 2013-12-05 | 2015-06-10 | 上海能感物联网有限公司 | Controller device for robot remotely controlled by Chinese text |
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Owner name: ANHUI LAND GROUP CO., LTD. Free format text: FORMER OWNER: ANHUI LAND SANYUAN INTELLIGENT SYSTEM INTEGRATION CO., LTD. Effective date: 20141014 |
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Effective date of registration: 20141014 Address after: 239300 New River North Road, Anhui, Chuzhou, No. 586, No. Applicant after: Anhui Land Group Co., Ltd. Address before: 239300, Tianchang Economic Development Zone, Chuzhou, Anhui Province, five road blue group, four floor Applicant before: Anhui Land Sanyuan Intelligent Systems Integration Co., Ltd. |
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Application publication date: 20130403 |