CN105729470B - A kind of serial-parallel machining robot control device - Google Patents
A kind of serial-parallel machining robot control device Download PDFInfo
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- CN105729470B CN105729470B CN201610181081.9A CN201610181081A CN105729470B CN 105729470 B CN105729470 B CN 105729470B CN 201610181081 A CN201610181081 A CN 201610181081A CN 105729470 B CN105729470 B CN 105729470B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a kind of serial-parallel machining robot control device, belong to technical field of robot control.Control device includes central processing unit, centerized fusion module and communication module：The central processing unit includes centerized fusion module and distributed control module, the centerized fusion module is provided with least one drive control passage, the quantity of the drive control passage is more than or equal to the quantity in the first kind joint, each drive control passage is connected with a centralized joint drive module, each centralized joint drive module electrically connects with the servomotor in a first kind joint, to realize the centralized Control to the first kind joint；The distributed control module is by the communication module and the distributed joint drive connection in the second class joint, to realize the distributed AC servo system to the second class joint.Therefore control device of the present invention can control the robot of any amount of articulation, have higher versatility.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of serial-parallel machining robot control device.
Background technology
As the development of social science and technology, the application of robot are more and more extensive.From daily life to industrial production, people couple
Machine Man's Demands are increasing.How to reduce the cost of serial-parallel machining robot control device, improve its versatility, improve it can
Also all the more become by property important.
The joint of robot is generally relatively more, has in theory more than two joints, therefore robot can is in certain area
Interior any point carries out the operation in any orientation.Serial-parallel machining robot control device needs to control each shutdown completion different
Action, therefore when joint of robot is more, often lead to that control device is more complicated, also, when the joint of robot
It is also different to the demand of serial-parallel machining robot control device when increasing and reducing, cause in the prior art, to control robot
Device it is complicated, development cost and production cost are higher.
The content of the invention
It is a primary object of the present invention to propose a kind of serial-parallel machining robot control device, it is intended to solve machine in the prior art
Device people's controller it is complicated, the problem of development cost and higher production cost.
To achieve the above object, a kind of serial-parallel machining robot control device provided by the invention, for being controlled with mixing
The robot of the multi-joint of function, the robot include using at least one first kind joint of centerized fusion and/or adopted
With at least one second class joint of distributed AC servo system, the control device include central processing unit, centerized fusion module,
And communication module：
The central processing unit includes centerized fusion module and distributed control module, and the centerized fusion module is set
There is at least one drive control passage, the quantity of the drive control passage is more than or equal to the quantity in the first kind joint,
Each drive control passage be connected with a centralized joint drive module, each described in centralized joint drive module and one
The servomotor electrical connection in first kind joint, to realize the centralized Control to the first kind joint；
The distributed control module is driven by the communication module and the distributed joint in the second class joint to be connected
Connect, to realize the distributed AC servo system to the second class joint.
A kind of control device as described above is provided, the central processing unit is additionally provided with internet-based control module, the control
Device processed also includes gateway, and the internet-based control module is connected with the communication module, the communication module and the gateway
Connection, the internet-based control module is by the gateway and internet communication and receives the signal of the internet-based control to collection
Chinese style and distributed joint drive controller controlled respectively with coordination.
A kind of control device as described above is provided, the centralized joint drive module is led to provided with four drive controls
Road.
A kind of control device as described above is provided, the communication module passes through controller area network bus and distribution
The communication connection of formula control module.
There is provided a kind of control device as described above, the control device is additionally provided with signal processing module, at the signal
Reason module is connected with the central processing unit communication, will be sent to the central processing unit after the signal transacting of reception.
A kind of control device as described above is provided, the control device is additionally provided with additional control modules, the additional control
Molding block is connected with the central processing unit communication.
A kind of control device as described above is provided, the control device is additionally provided with shell, and the shell connects provided with first
Mouth and second interface, the central processing unit, the centralized joint drive module and the communication module are located at the shell
Among, the first interface is connected with the drive control passage of the centralized joint drive module, the second interface and institute
State communication module connection.
Serial-parallel machining robot control device and robot proposed by the present invention, support the control of integrated form, support distribution again
The control of formula, has very big mobility, and control device can directly control up to four by motor-driven joint and multiple points
The joint of robot of cloth.The increase of joint of robot can use building block system to increase at any time.And the control device possesses mutually
The function of networking, channel can be provided for Intelligent Machining, quality management.Four joint integrated forms controls reduce controller into
This, alleviates the weight of controller, reduces the volume of controller, reduce the energy consumption of controller, and can realize long-range association
Adjust operation.
Brief description of the drawings
Fig. 1 is that a kind of modular structure of a feasible embodiment of control device that the embodiment of the present invention one provides is shown
It is intended to；
Fig. 2 is a kind of modular structure of another the feasible embodiment for control device that the embodiment of the present invention one provides
Schematic diagram；
Fig. 3 is the shell schematic diagram of the control device shown in the embodiment of the present invention one；
Fig. 4 is a kind of schematic diagram for robot that the embodiment of the present invention two provides；
Fig. 5 is the structural representation of an electricity powered executing agency of robot shown in the embodiment of the present invention two；
Fig. 6 is the control device of robot shown in the embodiment of the present invention two and the connection diagram of each executing agency.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Describe to realize the mobile terminal of each embodiment of the present invention referring now to accompanying drawing.In follow-up description, use
For represent element such as " module ", " part " or " unit " suffix only for be advantageous to the present invention explanation, itself
Not specific meaning.Therefore, " module " can be used mixedly with " part ".
The embodiment of the present invention one proposes a kind of serial-parallel machining robot control device, suitable for the machine with hybrid control system
Device people, the robot are included using at least one first kind joint of centerized fusion and/or using distributed AC servo system at least
One the second class joint.
In a feasible scheme, referring to Fig. 1, control device includes central processing unit 11 and gateway 12.
Central processing unit includes centerized fusion module 111, distributed control module 112, communication module 113, internet
Control module 114.
Centerized fusion module 111 is provided with four drive control passages, and each drive control passage and a centralization are closed
Machine drive module 1111 connects.Each centralized joint drive module 1111 and the servomotor in a first kind joint are electrically connected
Connect, to realize the centralized Control to the first kind joint.
It should be noted that in practical application, the quantity of drive control passage and centralized joint drive module can root
According to needing to be configured, the quantity of drive control passage is more than or equal to the quantity in the first kind joint.
Distributed control module 112 by the distributed joint in the class joint of communication module 113 and second driving 191,192,
19n connections, to realize the distributed AC servo system to the second class joint.
In practical application, communication module 13 can use controller local area network（Controller Area Network,
CAN）Bus is communicated with distributed control module 112.
Internet-based control module 114 is connected with the communication module 113, and the communication module 113 connects with the gateway 12
Connect, the internet-based control module 114 is by the gateway 12 and internet communication and receives the signal of the internet-based control
Control is adjusted respectively to centerized fusion module and distributed control module.
By internet-based control module 114, automatic detection and statistics in robot system can be converged by internet
Offer the Internet module.The renewal of new procedures, the processing technology of new product, quality testing, also by the Internet module renewal and
Complete.
For example product off-line test platform finds that some processing technology has error in the detection, data result passes through internet report
The robot for accusing responsible processing is automatically adjusted to different joints to eliminate error in time.
New processing scheme can remotely update, it is not necessary to more new procedures between the robot of people during exercise.Due to one
The activity interval change of individual robot, adjacent robot automatically will be also adjusted to activity space in order to avoid mutually colliding hair
It is raw dangerous.
Internet-based control module 114 is Intelligent Machining, quality management provides channel, is overcome in the prior art, machine
People can only single operation, can not be mutually coordinated between robot, can not in time adjust, change from the quality problems of quality department feedback
Kind, new processing will be change program the defects of than relatively hazardous scene.
In a feasible scheme, as shown in Fig. 2 being additionally provided with following module on control device architecture basics：
Signal processing module 13 connects with the central processing unit 11 communication, will be sent to the center after the signal transacting of reception
Processor 11.The signal processing module can receive the sensor set on the first kind joint and the second class joint of robot
（Such as position sensor and/or angular transducer）The signal of transmission, and central processing will be sent to after the signal transacting received
Device 11, central processing unit 11 can be according to the motions in each joint of data point reuse of reception.
Additional control modules 14, additional control modules 14 connect with the central processing unit 11 communication, for control machine people
Other applications, such as coolant switch, indicator lamp, trouble light in system.
Power module 15, for providing electric power support for each element of control device.
In a feasible scheme, referring to Fig. 3, control device can set a shell 31.The shell 31 is provided with
Interface 32.The interface 32 includes first interface and second interface, and each element of control device is located among the shell 31, should
First interface is electrically connected with the centralized joint drive module 1111, and the second interface is connected with the communication module 113.
The serial-parallel machining robot control device of the present embodiment can either support the control of integrated form, and and can enough supports distribution
Control, there is very big flexibility.And as a result of distributed control, therefore any amount of articulation can be controlled
Robot, there is higher versatility.
On the basis of above-described embodiment, present invention also offers a kind of robot, referring to Fig. 4, the present embodiment closes with 6
Illustrated exemplified by the robot of section.
The robot has four first kind joints and two the second class joints.Distinguish corresponding diagram 3 in four first kind joints
In electricity powered executing agency 410,420,430 and 440, four electricity powered executing agencies use centerized fusion.
Referring specifically to 5, for the structural representation of an electricity powered executing agency.Including：For motor 510, pass
Motivation structure 520, position sensor feedback 530 and mechanical arm 540.Motor 510 turns under the control of drive control passage
It is dynamic, moved by the driving mechanical arm 540 of drive mechanism 520, position sensor feedback 530 then gathers electricity powered executing agency
Positional information and feed back information to central controller.
In the present embodiment, control device, which is provided with up to four drive control passages, each control passage, can control one respectively
The rotating of the servomotor of individual electricity powered executing agency and speed speed, position etc..Each power of motor is up to 400W.It is real
In the application of border, this four drive control passages can also be directly used in the control of hydraulic valve or electronic switch, such as to hydraulic system
More heavy-duty motor carries out switch control.
It should be noted that according to can simple just simple principle as far as possible（Except the versatility requirement of flexiblesystem）, one
As only need a joint robot avoid the need for configure two joints.In most cases, the joint drive in robot
Power varies.Executing agency power of the executing agency of end generally than basis is smaller.Therefore, can be each according to robot
The output control passage of the driving power demand selection all-purpose robot controller in joint.No matter power is big with traditional robot
Small mostly different using hydraulic pressure, present low power executing agency can use the type of drive of electronically controlled motors.
Two the second class joints of the robot correspond to distributed AC servo system executing agency 450 and 460, wherein each distributed
Control executing agency is equipped with a distributed joint driving.
In practical application, for powerful joint, using distributed AC servo system.Distributed AC servo system executing agency uses band point
The outer drive circuit of cloth joint drive controller.Central processing unit controls distributed AC servo system by CAN or other communication modes
Executing agency 450,456.These distributed AC servo system executing agencies can be the pneumatic or more powerful electronic execution of hydraulic pressure
Mechanism, for controlling base joint and height to control the bigger joint of joint even load.
In practical application, settable position sensor and/or angle sensor on first kind joint and the second class joint
The signal of device, position sensor and/or angular transducer collection is sent to the signal processing module of the controller.So control dress
Put can with according to the adjustment of these signals, correct the motion in each joint.
The base of the robot is provided with controller mounting groove, and the control device is arranged in the mounting groove.
Please continue to refer to Fig. 6, the annexation signal between each joint executing agency of control device 470 and robot
Figure.
Four drive control passages of control device 470 respectively four electricity powered executing agencies 410 with robot,
420th, 430 and 440 electrical connection.
The central processing unit of control device 470 by CAN respectively with Liang Ge distributed AC servo systems executing agency 450 and
460 communication connections.
The Internet module of control device 470 connects with the communication of gateway 480.
The robot of the present embodiment had both supported the control of integrated form, supported distributed control again, had very big motor-driven
Property, control device can directly control up to four by motor-driven joint and multiple distributed joint of robot.Robot
The increase in joint can use building block system to increase at any time.Can be that intelligence adds also, the control device possesses the function of internet
Work, quality management provide channel.Four joint integrated form controls reduce the cost of controller, alleviate the weight of controller,
The volume of controller is reduced, reduces the energy consumption of controller.Its versatility is more beneficial for machine man-based development.
The preferred embodiments of the present invention are these are only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of serial-parallel machining robot control device, suitable for the robot of multi-joint, the robot is included using centralization
At least one first kind joint of control and/or at least one second class joint using distributed AC servo system, it is characterised in that institute
Stating control device includes central processing unit and gateway：
The central processing unit includes centerized fusion module, distributed control module, communication module and internet-based control module,
The centerized fusion module is provided with least one drive control passage, and the quantity of the drive control passage is more than or equal to institute
The quantity in first kind joint is stated, each drive control passage is connected with a centralized joint drive module, and each centralization is closed
Section drive module electrically connects with the servomotor in a first kind joint, to realize the concentration control to the first kind joint
System；
The distributed control module by the distributed joint drive connection in the communication module and the second class joint, with
Realize the distributed AC servo system to the second class joint.
2. control device as claimed in claim 1, it is characterised in that the central processing unit is additionally provided with internet-based control mould
Block, the control device also include gateway, and the internet-based control module is connected with the communication module, the communication module with
The gateway connection, the internet-based control module is by the gateway and internet communication and receives the internet-based control
Signal carries out controlling with coordination respectively to centralized and distributed joint drive controller.
3. control device as claimed in claim 1, it is characterised in that the centralized joint drive module is provided with four drivings
Control passage.
4. control device as claimed in claim 1, it is characterised in that the communication module is total by controller area network
Line connects with distributed control module communication.
5. control device as claimed in claim 1, it is characterised in that the control device is additionally provided with signal processing module, institute
State signal processing module to be connected with the central processing unit communication, the central processing will be sent to after the signal transacting of reception
Device.
6. the control device as described in any one of claim 1 to 5, it is characterised in that the control device is additionally provided with additional control
Molding block, the additional control modules are connected with the central processing unit communication.
7. control device as claimed in claim 6, it is characterised in that the control device is additionally provided with shell, and the shell is set
There are first interface and second interface, the central processing unit, the centralized joint drive module and the communication module are located at
Among the shell, the first interface is connected with the drive control passage of the centralized joint drive module, and described second
Interface is connected with the communication module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610181081.9A CN105729470B (en) | 2016-05-06 | 2016-05-06 | A kind of serial-parallel machining robot control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610181081.9A CN105729470B (en) | 2016-05-06 | 2016-05-06 | A kind of serial-parallel machining robot control device |
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| CN105729470A CN105729470A (en) | 2016-07-06 |
| CN105729470B true CN105729470B (en) | 2018-03-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108068114A (en) * | 2017-12-25 | 2018-05-25 | 安徽腾奎智能科技有限公司 | A kind of intelligent machine arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN102860150A (en) * | 2010-04-29 | 2013-01-02 | 富士机械制造株式会社 | Manufacturing-work machine |
| CN104827468A (en) * | 2015-01-20 | 2015-08-12 | 上海优爱宝机器人技术有限公司 | Robot distributed control system and method |
| CN205674208U (en) * | 2016-05-06 | 2016-11-09 | 广东戈兰玛汽车系统有限公司 | A kind of serial-parallel machining robot controls device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62190505A (en) * | 1986-02-18 | 1987-08-20 | Toshiba Corp | Controller for industrial robot |
| JP2959534B2 (en) * | 1997-08-25 | 1999-10-06 | 日本電気株式会社 | Control device for articulated robot |
| JP2002361585A (en) * | 2001-06-07 | 2002-12-18 | Atr Media Integration & Communications Res Lab | Communication robot |
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2016
- 2016-05-06 CN CN201610181081.9A patent/CN105729470B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN102860150A (en) * | 2010-04-29 | 2013-01-02 | 富士机械制造株式会社 | Manufacturing-work machine |
| CN104827468A (en) * | 2015-01-20 | 2015-08-12 | 上海优爱宝机器人技术有限公司 | Robot distributed control system and method |
| CN205674208U (en) * | 2016-05-06 | 2016-11-09 | 广东戈兰玛汽车系统有限公司 | A kind of serial-parallel machining robot controls device |
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