CN104626161A - Working condition-adaptive control system of stacking robot - Google Patents
Working condition-adaptive control system of stacking robot Download PDFInfo
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Abstract
The invention discloses a stacking robot control system and method adaptive to working conditions, which comprises the following steps: the device comprises a controller module, a servo module and a motion state sensor module; the controller module reads parameters set by a user and information transmitted by the motion state sensor, performs control operation to generate control quantity, transmits the generated control quantity to the servo module, a driver in the servo module performs power amplification on the control quantity to drive the servo motor to move, the servo motor drives each shaft to move in a coordinated manner, and the motion state sensor measures the grabbing quality of the hand grab and the vibration state of each shaft and transmits the grabbing quality and the vibration state of each shaft to the controller module; the controller reads the working condition information of the palletizing robot in real time, optimizes the movement of the palletizing robot, ensures that the palletizing robot works in a better working condition state, realizes safe, efficient and reliable work of the palletizing robot, and improves the intellectualization of the palletizing robot.
Description
Technical field
The present invention relates to automation field, particularly relate to the adaptive robot palletizer control system of a kind of operating mode and method.
Background technology
Robot palletizer has a wide range of applications in fields such as industrial production line product piling, material handling, logistics, and its efficiency is high, speed is fast, weight capacity is large, flexibility, is of great significance realizing production automation tool.Robot palletizer control system is the core technology in robot palletizer field, and the Performance And Reliability of its control system and control method is the performance and the safety that determine robot palletizer.
Traditional robot palletizer control system is generally made up of host computer, controller, servo-driver and servomotor, user arranges to comprise by host computer and captures the parameter such as quality, speed, then information is sent to controller, produce SERVO CONTROL amount by controller and passed to servo-driver, control motor by servo-driver according to the controlled quentity controlled variable that controller produces to run, thus realize corresponding action.This technology control system is monitored by the operating mode such as electric current, voltage, rotating speed of servo-driver to servomotor, but does not then monitor the motion state of robot body and working condition.On the other hand, due to robot palletizer in the course of the work, it captures quality and likely changes, on the other hand, the crawl mass parameter of user's setting may be inconsistent with actual crawl quality, and traditional robot palletizer is not to the monitoring capturing quality, thus the service behaviour of robot palletizer carries out performance optimization according to the parameter of user's setting, when there is above-mentioned situation, robot palletizer just may be caused to vibrate, even may produce safety problem.
Disclose " there is the robot palletizer control system from maintenance function " (Chinese invention patent: CN102139486A) this robot palletizer in prior art mainly to monitor fault, motion state and load are not monitored, do not have kinematic parameter to carry out automatic regulating function, the optimization of the performance in robot palletizer efforts process can not be realized yet.
Summary of the invention:
The object of the invention is to overcome the deficiencies in the prior art, for robot palletizer provides the adaptive robot palletizer control system of a kind of operating mode and method.
For achieving the above object, the present invention is achieved through the following technical solutions:
The invention discloses the adaptive robot palletizer control system of a kind of operating mode, this system comprises: controller module, servo module, motion state sensor assembly; Wherein controller module accepts the information of piling parameter and the motion state sensor assembly be set by the user, controller module passes the information of coming according to the parameter of setting and motion state sensor assembly, and calculate the controlled quentity controlled variable required for each axle according to control algolithm, then give servo module by controlled quentity controlled variable; Servo module carries out the motion needed for the generation of power amplification driving servomotor according to the controlled quentity controlled variable that controller module transmits, and the motor movement that servo module produces drives each arm motion of robot body, thus realizes robot coordinated motion; The hand that motion state sensor assembly is arranged on robot body is grabbed with on each arm, and the motion produce robot body and the crawl quality of robot gripper are measured in real time, and the information that the measurement of motion state sensor assembly obtains sends controller module to again.
Further, described controller module also comprises: teaching machine, touch-screen, analog quantity interface unit, arm processor system, FPGA circuit unit, DA conversion circuit unit, shaping filter unit, power amplification circuit unit, I/O interface unit, wherein user arranges the relevant operational factor of robot palletizer by touch-screen or teaching machine, then arm processor system is passed to, arm processor system reads analog quantity interface unit and reads its information measured from motion state sensor assembly, arm processor system carries out computing according to the control algolithm of setting, its operation result is passed to FPGA circuit unit, FPGA circuit unit produces digital waveform, the waveform that FPGA circuit unit is produced passes to DA change-over circuit, DA change-over circuit converts digital waveform to analog waveform, the analog waveform that DA conversion circuit unit is produced passes to plastic filter circuit unit, DA conversion circuit unit is passed the analog waveform of coming by plastic filter circuit unit to carry out shaping filter and gives power amplification circuit unit again, what circuit amplifying unit was come to shaping filter unit biography carries out through shaping filter signal the controlled quentity controlled variable that power amplification obtains servo module needs, then servo module is passed to, I/O interface unit has two-way information, one tunnel information reads each arm travel switch signal from robot body, pass to arm processor system, arm processor system is according to the information obtained from I/O interface unit, determine whether produce alarm signal and motor stop signal, the alarm signal that arm processor system produces passes to I/O interface unit, and I/O interface unit drives is reported to the police, another road information of I/O interface unit reads piling information from production line, then passes to arm processor system, the production line information that arm processor system obtains according to I/O interface unit, obtains the code-disc information of target and the stacking captured.
Further, described servo module comprises servo-driver group and servomotor group, each servo-driver in servo-driver group receives and passes the analog quantity waveform of coming from controller module, the servomotor that servo-driver is attached thereto with driving the further power amplification of this analog quantity waveform, each servomotor in servomotor group is under the driving of servo-driver, produce motion, drive each arm motion in robot body, thus realize each arm coordinated movement of various economic factors of robot palletizer;
Further, described motion state sensor assembly is made up of mass sensor and vibrating sensor, mass sensor is arranged on the handgrip of robot body, real-time measurement captures quality information, vibrating sensor is arranged on each arm of robot, the Vibration Condition information of each arm of real-time robot measurement, the crawl quality information that motion state sensor assembly is measured and Vibration Condition information pass to controller module;
The invention also discloses the adaptive robot palletizer control method of a kind of operating mode, in the system as claimed in claim 1, the method comprises the steps:
S1. controller module receives information from user and sensor assembly, carries out processing the controlled quentity controlled variable that process adapts to required for its real-time working condition to produce robot palletizer, and give servo module by this controlled quentity controlled variable to this reception information;
S2. the information of servo module Read Controller module transmission, drives each arm servomotor to move, and realizes expected code buttress robot motion;
S3. motion state sensor assembly reads stack robot manipulator quality and each arm vibrational state information, and sends this information to controller module;
Further, in described step S1, described controller module also comprises: teaching machine, touch-screen, analog quantity interface unit, arm processor system, FPGA circuit unit, DA conversion circuit unit, shaping filter unit, power amplification circuit unit, I/O interface unit, user passes through teaching machine, touch-screen arranges duty parameter, this parameter passes to arm processor system, simultaneously, motion state sensor die is planned it and is measured the handgrip that obtains and capture the robot actual condition status information such as quality and each arm vibrational state and also pass to arm processor system by analog quantity interface unit, the duty parameter that arm processor system is arranged according to user and robot actual condition parameter, according to the real-time result of calculation of its control algolithm, FPGA circuit unit is given by this result, FPGA circuit unit produces corresponding digital waveform again, the waveform that FPGA circuit unit is produced passes to DA change-over circuit, DA change-over circuit converts digital waveform to analog waveform, the analog waveform that DA conversion circuit unit is produced passes to plastic filter circuit unit, DA conversion circuit unit is passed the analog waveform of coming by plastic filter circuit unit to carry out shaping filter and gives power amplification circuit unit again, what circuit amplifying unit was come to shaping filter unit biography carries out through shaping filter signal the controlled quentity controlled variable that power amplification obtains servo module needs, then servo module is passed to,
Further, in described step S2, described servo module comprises servo-driver group and servomotor group, each servo-driver in servo-driver group receives and passes the analog quantity waveform of coming from controller module, the servomotor that servo-driver is attached thereto with driving the further power amplification of this analog quantity waveform, each servomotor in servomotor group is under the driving of servo-driver, produce motion, drive each arm motion in robot body, thus realize each arm coordinated movement of various economic factors of robot palletizer;
Further, in described step S3, described motion state sensor assembly is made up of mass sensor and vibrating sensor, mass sensor is arranged on the handgrip of robot body, real-time measurement captures quality information, vibrating sensor is arranged on each arm of robot, the Vibration Condition information of each arm of real-time robot measurement, and the crawl quality information that motion state sensor assembly is measured and Vibration Condition information pass to controller module;
Accompanying drawing explanation
Fig. 1 is a kind of operating mode of the present invention adaptive robot palletizer Control system architecture block diagram;
Fig. 2 is a kind of operating mode of the present invention adaptive robot palletizer control method flow chart.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the robot palletizer system architecture diagram of a kind of self adaptation operating mode of the present invention, and as shown in Figure 1, system of the present invention comprises controller module, servo module, motion state sensor assembly.Controller module is connected with servo module.Servo module drives robot body to rotate.Motion state sensor assembly is arranged on robot body, and the vibrational state handgrip of robot body being captured to quality and each arm is measured in real time, and gives controller module during fructufy by measurement.
Controller module comprises: teaching machine, touch-screen, analog quantity interface unit, arm processor system, FPGA circuit unit, DA conversion circuit unit, shaping filter unit, power amplification circuit unit, I/O interface unit.User is by teaching machine, touch-screen to the relevant duty parameter (as robot speed, buttress type, the number of plies, piling quality etc.) arranging robot palletizer, and these parameters pass to arm processor system.The robot actual condition status informations such as the quality that robot palletizer captures by motion state sensor assembly and each arm vibration are passed to analog quantity unit and are completed the process changed from analog to digital, and the information after conversion is passed to arm processor system by analog quantity interface unit.The relevant duty parameter that arm processor system sets according to user and actual condition status information calculate in conjunction with Controlling model, and give FPGA module by the result of calculating, FPGA module produces the waveform needed arbitrarily, then DA conversion circuit unit is given by this digital waveform, the waveform transformation that FPGA produces is become analog quantity waveform by DA conversion circuit unit, shaping filter unit is given again by analog quantity waveform, shaping filter unit simulation amount waveform is nursed one's health, and then give power amplification circuit by the waveform after conditioning, by in power amplification circuit, waveform is amplified, obtain the control waveform expected, after amplifying, waveform passes to servo module again.The travel switch signal of I/O interface circuit read machine human body, and this signal is passed to arm processor system, the switching signal that arm processor system transmits according to I/O interface circuit determines whether will produce alarm signal, then relevant status indication information is issued I/O interface circuit, I/O interface circuit drives relevant indicator lamp and alarm work.I/O interface circuit also reads the information on production line, gives arm processor system by this information, and arm processor system, according to status information on production line, determines the target of grabbing of piling and the position of putting.
ARM (Advanced RISC Machines) processor is the common name of microprocessor, and be reduced instruction set computer (RISC) processor architecture, it is widely used in many Embedded System Design.
Servo module is made up of servo-driver and servomotor, servo-driver receives the signal of controller, then servomotor work is driven according to the signal of controller, servomotor produces motion under the driving of servo-driver, driving mechanical arm motion again, each arm coordinated movement of various economic factors, namely namely robot palletizer produces the action of expectation.
Motion state sensor assembly is made up of mass sensor and vibrating sensor, mass sensor is contained on handgrip, vibrating sensor is contained on each arm, on the analog quantity interface of mass sensor and vibrating sensor and controller module, mass sensor measures handgrip quality in real time, and like this when capturing mass change, controller module can obtain the information of mass change in real time, thus adjust associated control parameters in time, under making robot palletizer be operated in optimum state; Meanwhile, when handgrip maloperation or fault, controller can control motor in time, realizes safety in production.Vibrating sensor be arranged on each arm, the change of the working condition of robot or running parameter improper time, easily there are mechanical oscillation in robot palletizer, this mechanical oscillation are difficult to detect by servo-driver.Utilize vibrating sensor to measure mechanical arm vibration information, robot work can be guaranteed in the secure state.
Fig. 2 is a kind of operating mode of the present invention adaptive robot palletizer control method flow chart, as shown in Figure 2, the present invention includes following steps:
S1. controller module produces controlled quentity controlled variable: the parameter that controller module reading user is arranged and the information that motion state sensor passes is come, carry out control algorithm, FPGA is utilized to produce waveform according to control algorithm result, then this digital waveform is transformed into analog quantity waveform, carry out shaping filter again, and carry out power amplification, obtain required controlled quentity controlled variable, pass to servo module;
Also comprise in described step S1: teaching machine, touch-screen, analog quantity interface unit, arm processor system, FPGA circuit unit, DA conversion circuit unit, shaping filter unit, power amplification circuit unit, I/O interface unit;
S2. servo module: servo module comprises servo-driver and servomotor, servo-driver receives the control information that controller module produces, then power amplification is carried out, drive servomotor, servomotor produces the motion required for controller module, drive each axle to move, realize robot coordinated motion;
S3. motion state sensor assembly: motion state sensor assembly is made up of mass sensor and vibrating sensor, motion state sensor assembly reads stack robot manipulator quality and each arm vibrational state information, and sends this information to controller module;
Beneficial effect of the present invention: adopt controller of the present invention to produce motion control amount, this motion control amount arranges comprehensive result according to current actual condition and user and produces, thus, under can ensureing that security of system is operated in optimum operating mode reliably, the safe and efficient work of robot palletizer is realized;
Above are only preferred embodiment of the present invention and institute's application technology principle, be anyly familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed in protection scope of the present invention.
Claims (5)
1. the adaptive robot palletizer control system of operating mode, it is characterized in that, this system comprises: controller module, servo-driven module, motion state sensor assembly; Wherein controller module is according to the parameter of user's setting and the work condition state information from the reading of motion sensor block of state, carry out control algorithm, produce controlled quentity controlled variable, give servo module by controlled quentity controlled variable, servo module produces motor movement, and each arm of driven by motor robot produces the coordinated movement of various economic factors; Motion state sensor assembly captures quality to each shaft vibration and handgrip and measures, and gives controller module by the result of measurement.
2. the adaptive robot palletizer control system of a kind of operating mode as claimed in claim 1, it is characterized in that, described controller module also comprises: teaching machine, touch-screen, analog quantity interface unit, arm processor system, FPGA circuit unit, DA conversion circuit unit, shaping filter unit, power amplification circuit unit, I/O interface unit, wherein user arranges the relevant operational factor of robot palletizer by touch-screen or teaching machine, then arm processor system is passed to, arm processor system reads analog quantity interface unit and reads its information measured from motion state sensor assembly, arm processor system carries out computing according to the control algolithm of setting, its operation result is passed to FPGA circuit unit, FPGA circuit unit produces digital waveform, the waveform that FPGA circuit unit is produced passes to DA change-over circuit, DA change-over circuit converts digital waveform to analog waveform, the analog waveform that DA conversion circuit unit is produced passes to plastic filter circuit unit, DA conversion circuit unit is passed the analog waveform of coming by plastic filter circuit unit to carry out shaping filter and gives power amplification circuit unit again, what circuit amplifying unit was come to shaping filter unit biography carries out through shaping filter signal the controlled quentity controlled variable that power amplification obtains servo module needs, then servo module is passed to, I/O interface unit has two-way information, one tunnel information reads each arm travel switch signal from robot body, pass to arm processor system, arm processor system is according to the information obtained from I/O interface unit, determine whether produce alarm signal and motor stop signal, the alarm signal that arm processor system produces passes to I/O interface unit, and I/O interface unit drives is reported to the police, another road information of I/O interface unit reads piling information from production line, then passes to arm processor system, the production line information that arm processor system obtains according to I/O interface unit, obtains the code-disc information of target and the stacking captured.
3. the adaptive robot palletizer control system of a kind of operating mode as claimed in claim 1, it is characterized in that, described servo module also comprises servo-driver and servomotor, the controlled quentity controlled variable that servo-driver Read Controller module sends, power amplification is carried out according to controlled quentity controlled variable, driving servomotor moves, and each axle of servomotor band mobile robot produces the coordinated movement of various economic factors.
4. the adaptive robot palletizer control system of a kind of operating mode as claimed in claim 1, it is characterized in that, described motion state sensor assembly also comprises mass sensor and vibrating sensor, mass sensor captures quality, the mechanical oscillation that vibrating sensor produces for measuring each axle for measuring handgrip; And give controller module during fructufy by measurement.
5. utilize the control method of the adaptive robot palletizer control system of a kind of operating mode as right 1 requirement, in the system as claimed in claim 1, it is characterized in that, concrete steps are as follows:
S1. controller module reads the parameter and the information that transmits of motion state sensor assembly that user arranges, and according to control algolithm, produces controlled quentity controlled variable, passes to servo drive system;
S2. servo module, the controlled quentity controlled variable that Read Controller module sends, its servo-driver carries out power amplification to this controlled quentity controlled variable, drives servomotor motion, and servomotor drives each axle to move and realizes the coordinated movement of various economic factors;
S3. motion state sensor assembly reads handgrip quality and each axle movement state information, gives controller by these information.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302031A (en) * | 2015-11-24 | 2016-02-03 | 镇江天空机器人技术有限公司 | Control device and control method for piling carrying robot |
| CN106597877A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Robot control system |
| CN107738264A (en) * | 2017-11-15 | 2018-02-27 | 纳博特南京科技有限公司 | A kind of Industrial robots Mechanical's arm motion controller |
| CN108021056A (en) * | 2016-10-28 | 2018-05-11 | 沈阳高精数控智能技术股份有限公司 | A kind of manipulator controller |
| CN108972564A (en) * | 2018-09-20 | 2018-12-11 | 中国科学院合肥物质科学研究院 | A kind of robot palletizer control system |
-
2013
- 2013-11-11 CN CN201310554205.XA patent/CN104626161A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597877A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Robot control system |
| CN105302031A (en) * | 2015-11-24 | 2016-02-03 | 镇江天空机器人技术有限公司 | Control device and control method for piling carrying robot |
| CN108021056A (en) * | 2016-10-28 | 2018-05-11 | 沈阳高精数控智能技术股份有限公司 | A kind of manipulator controller |
| CN107738264A (en) * | 2017-11-15 | 2018-02-27 | 纳博特南京科技有限公司 | A kind of Industrial robots Mechanical's arm motion controller |
| CN108972564A (en) * | 2018-09-20 | 2018-12-11 | 中国科学院合肥物质科学研究院 | A kind of robot palletizer control system |
| CN108972564B (en) * | 2018-09-20 | 2023-11-24 | 中国科学院合肥物质科学研究院 | Control system of palletizing robot |
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