CN105945958B - A kind of four core constant speed articulated robot control systems of heavy duty wireless transmission - Google Patents
A kind of four core constant speed articulated robot control systems of heavy duty wireless transmission Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims description 42
- 210000000245 forearm Anatomy 0.000 claims description 28
- 230000005611 electricity Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims description 4
- 210000000617 arm Anatomy 0.000 description 8
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention discloses a kind of four core constant speed articulated robot control systems of heavy duty wireless transmission, the control system includes main website control computer and controller, the controller includes dsp chip controller, voice recognition processor, PLC controller, image capture module, wireless transport module and ARM controller, dsp chip controller and ARM controller are communicated to connect with main website control computer, dsp chip controller, voice recognition processor and ARM controller are communicatively connected to each other, four rare-earth permanent-magnetic synchronous servo motors are communicated to connect with dsp chip controller, multiple avoidance displacement sensors, alignment sensor, gyroscope, acceleration transducer is communicated to connect with the dsp chip controller and ARM controller.The heavy duty four core constant speed articulated robot control system calculating speeds of wireless transmission of the present invention are fast, and so that articulated robot arm is turned to, flexible, motion stability is accurate, is convenient for wireless monitor.
Description
Technical field
The present invention relates to a kind of four core constant speed articulated robot control systems of heavy duty wireless transmission, belong to assembling work
Four articulated robot arm application fields.
Background technology
In the industrial production, industrial robot can be done instead of the mankind some are more dull, relatively frequently and repetitive rates compared with
High long working, or in operations dangerous, under adverse circumstances, be typically used as moving to take part and assembly work, in micro- electricity
It is widely answered in the fields such as sub- manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry
With it is for improving production automation level, labor productivity and economic benefit, ensureing product quality, guarantee personal safety, change
Kind work situation reduces labor intensity, save material consumption and reduction production cost etc. are of great significance to.
The robot arm of SCARA industrial robots, that is, assembling work is a kind of industrial robot of circular cylindrical coordinate type, it
The quick positioning in X-Y plane is realized by rotary joint large arm and forearm, by a wrist linear joint and a hand
Wrist rotary joint does flexible and rotary motion in z-direction, and for tool there are four freedom of motion, the manipulator of the series is dynamic at it
The four direction for making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic makes SCARA robots be good at from some crawl object, is then quickly placed to another point, therefore SCARA robots
It is widely used on production line for automatically assembling.SCARA robot architectures are compact, flexible movements, and speed is fast, position is smart
Degree is high, its use substantially increases adaptability of the robot to Complex Assembly task, while also reducing cost, improves work
Make space availability ratio.
SCARA articulated robots want the moment to judge the location parameter of master controller input during transporting goods, and sentence
Environment moment avoidance around disconnected, then by motion controller repetitive control, its accurate acceleration and deceleration are transported goods,
Deviation accumulation slightly is possible to cause transport to fail in more bouts move.Although use of the country to SCARA robots
There are a decades, but since domestic industry robot develops starting than later, is influenced by more key technology, SCARA machines
Man-based development is also by being influenced, and traditional robot principle during long-time service as shown in Figure 1, great number of issues occur：
（1）When SCARA robots carry out zero position playback or when robot resets, relies on and manually estimate
Mode so that the zero position setting of robot is wrong.
（2）Although permanent-magnet DC servo motor increases compared with direct current generator, stepper motor function, common permanent magnetism is straight
Flow servo motor is to have brush configuration, because there are collector ring charcoal brush configuration, spark is generated in motor operation, especially in high speed
Serious ring fire will be generated, radio interference is generated, is not suitable for high speed rotation, is not suitable for the SCARA machines for applying to run with load
Device people.
（3）Permanent-magnet DC servo motor is to have brush configuration, is in direct contact between collector ring and carbon brush and high speed relative motion,
This mechanical structure to generate larger mechanical noise with the presence of mechanical friction so that the noise pollution of SCARA robots increases
Greatly.
（4）Although DC permanent-magnetic brushless servo motor is compared with stepper motor, direct current generator and DC servo motor performance
It improves, but its load capacity is relatively weak, cannot be satisfied heavily loaded SCARA robot systems requirement.
（5）When robot an emergency situation is encountered need to stop either stop after to start completed by button, machine
The degree of intelligence of people is not high.
Invention content
The invention mainly solves the technical problem of providing a kind of heavy duty wireless transmission four core constant speed articulated robots controls
System, the heavy duty four core constant speed articulated robot control system calculating speeds of wireless transmission are fast, and articulated robot arm is made to turn to
Flexibly, motion stability is accurate, bearing capacity is big, and performance is stablized, and is convenient for wireless monitor, the degree of intelligence of robot high.
In order to solve the above technical problems, the technical solution adopted by the present invention is：It is normal to provide a kind of four cores of heavy duty wireless transmission
Fast articulated robot control system, the articulated robot is using the X driving robot's arm rotations of rare-earth permanent-magnetic synchronous servo motor
Transhipment is dynamic, robot forearm rotary motion is driven using rare-earth permanent-magnetic synchronous servo motor Y, using rare-earth permanent-magnetic synchronous servo electricity
Machine Z driving robot wrists rotary motion drives robot wrist's elevating movement, institute using rare-earth permanent-magnetic synchronous servo motor R
It states and avoidance displacement sensor S1, avoidance displacement sensor S2, gyroscope and acceleration transducer A1 is installed on robot's arm,
Avoidance displacement sensor S3, avoidance displacement sensor S4, gyroscope and acceleration transducer are installed on the robot forearm
A2 is equipped with alignment sensor S5, gyroscope and acceleration transducer A3, the control system packet on the robot wrist
Main website control computer and controller are included, the controller includes dsp chip controller, PlC controllers, voice recognition processing
Device, image capture module, wireless transport module and ARM controller are led between described image acquisition module and wireless transport module
Letter connection, the dsp chip controller, voice recognition processor and PlC controllers are communicated with the main website control computer
Connection, the dsp chip controller, voice recognition processor and ARM controller are communicatively connected to each other, the wireless transport module
It is communicated to connect with ARM controller, the PlC controllers are communicated to connect with ARM controller, the rare-earth permanent-magnetic synchronous servo motor
X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R with it is described
Dsp chip controller communicate to connect, the avoidance displacement sensor S1, avoidance displacement sensor S2, avoidance displacement sensor S3,
Avoidance displacement sensor S4, alignment sensor S5, gyroscope, acceleration transducer A1, acceleration transducer A2 and acceleration pass
Sensor A3 is communicated to connect with the dsp chip controller and ARM controller simultaneously.
In a preferred embodiment of the present invention, further include the master that power supply is provided for the articulated robot and control system
Power supply and stand-by power supply, the controller in each motor and sensor and control system in the articulated robot are equal
It is electrically connected with the main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo electricity
It is even on machine Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R to be provided with photoelectric encoder, the photoelectricity
Encoder is electrically connected with the dsp chip controller.
In a preferred embodiment of the present invention, described image acquisition module is CCD camera component.
In a preferred embodiment of the present invention, it is provided with decoding chip in described image acquisition module.
In a preferred embodiment of the present invention, magnetoelectric transducer EM1, the machine are installed on the robot's arm
Magnetoelectric transducer EM2 is installed on people's forearm, magnetoelectric transducer EM3 and EM4, the magnetoelectricity are installed on the robot wrist
Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are logical with the dsp chip controller and ARM controller
Letter connection.
The beneficial effects of the invention are as follows：The heavy duty four core constant speed articulated robot control systems of wireless transmission of the present invention calculate
Speed is fast, and so that articulated robot arm is turned to, flexible, motion stability is accurate, bearing capacity is big, and performance is stablized, and is convenient for wireless monitor,
The degree of intelligence of robot is high, and the addition of wireless transmitting system allows main website to understand working result in real time, while main website can
To change SCARA robots task in real time according to actual needs at any time.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is tradition SCARA robot controller schematic diagrams；
Fig. 2 is based on four axis rare-earth permanent-magnetic synchronous servo motor SCARA robots two-dimensional structure figures；
Fig. 3 is based on four core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot controller schematic diagrams；
Fig. 4 is based on four core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot program's block diagrams；
Fig. 5 is based on four core, four axis rare-earth permanent-magnetic synchronous servo motor motion principle figure；
Fig. 6 is four spindle motor acceleration and deceleration curves figures；
Fig. 7 is the heavy duty four core constant speed articulated robot control system architecture schematic diagrams of wireless transmission of the present invention.
The label of each component is as follows in attached drawing：1, main website control computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, stand-by power supply, 7, rare-earth permanent-magnetic synchronous servo motor X, 8, rare-earth permanent-magnetic synchronous servo motor
Y, 9, rare-earth permanent-magnetic synchronous servo motor Z, 10, rare-earth permanent-magnetic synchronous servo motor R, 11, photoelectric encoder, 12, avoidance displacement
Sensor S1,13, avoidance displacement sensor S2,14, avoidance displacement sensor S3,15, avoidance displacement sensor S4,16, positioning
Sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC controller,
21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectric transducer EM4,25, wireless pass
Defeated module, 26, image capture module, 27, decoding chip, 28, voice recognition processor, 29, gyroscope.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
Fig. 2 to Fig. 7 is please referred to, the embodiment of the present invention includes：A kind of four core constant speed articulated robot controls of heavy duty wireless transmission
System processed, SCARA robot of the machine artificially based on four axis rare-earth permanent-magnetic synchronous servo motors, i.e., the described articulated robot are adopted
It is driven with the rotary motion of rare-earth permanent-magnetic synchronous servo motor X7 driving robot's arms, using rare-earth permanent-magnetic synchronous servo motor Y8
Robot forearm rotary motion drives robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z9, using rare earth
Permanent magnet synchronous servo motor R10 drives robot wrist's elevating movement, and avoidance displacement sensing is equipped on the robot's arm
Device S1 12, avoidance displacement sensor S2 13, gyroscope 29 and acceleration transducer A1 17 are installed on the robot forearm
There are avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, gyroscope 29 and acceleration transducer A2 18, the machine
Alignment sensor S5 16, gyroscope 29 and acceleration transducer A3 19 are installed in device human wrist.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, voice recognition processor 28, PlC controllers 20, image capture module 26, wireless transport module 25 and ARM controller 4, institute
It states and is communicated to connect between image capture module 26 and wireless transport module 25, the dsp chip controller 3, voice recognition processing
Device 28 and PlC controllers 20 are communicated to connect with the main website control computer 1, the dsp chip controller 3, speech recognition
Processor 28 and ARM controller 4 are communicatively connected to each other, and the wireless transport module 25 and ARM controller 4 communicate to connect, described
PlC controllers 20 are communicated to connect with ARM controller 4, and decoding chip 27 is provided in described image acquisition module 26.
The rare-earth permanent-magnetic synchronous servo motor X7, rare-earth permanent-magnetic synchronous servo motor Y8, rare-earth permanent-magnetic synchronous servo electricity
Machine Z9 and rare-earth permanent-magnetic synchronous servo motor R10 is communicated to connect with the dsp chip controller 3, the avoidance displacement sensing
Device S1 12, avoidance displacement sensor S2 13, avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, orientation sensing
Device S5 16, gyroscope 29, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 are simultaneously
It is communicated to connect with the dsp chip controller 3, PLC controller 20 and ARM controller 4.
Preferably, heavy duty four core constant speed articulated robot control systems of wireless transmission of the invention further include for the joint
Robot and control system provide the main power source 5 and stand-by power supply 6 of power supply, each motor in the articulated robot and
Controller 2 in sensor and control system is electrically connected with the main power source 5 and/or stand-by power supply 6.
Preferably, the rare-earth permanent-magnetic synchronous servo motor X 7, rare-earth permanent-magnetic synchronous servo motor Y 8, rare earth permanent magnet are same
It is even on step servo motor Z 9 and rare-earth permanent-magnetic synchronous servo motor R10 to be provided with photoelectric encoder 11, the photoelectric encoder 11
It is electrically connected with the dsp chip controller 3.
Preferably, magnetoelectric transducer EM1 21 is installed on the robot's arm, is equipped on the robot forearm
Magnetoelectric transducer EM2 22 is equipped with magnetoelectric transducer EM3 23 and EM4 24, the magnetic-electric sensing on the robot wrist
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 with the dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, detect signal when four
When, SCARA robots realize accurate reset, improve the accuracy of reset.
The present invention uses dsp controller 3（TMS320F2812）+ PLC controller 20+ voice recognition processors 28（It is chip-shaped
Number LD3320）+ ARM controller 4（STM32F746）Four cores carry out system control.Under power-on state, ARM controller is first
Dynamic edits the key words list of LD3320, increases robot voice discrimination, then to robot stand-by power supply SOC（Lotus
Electricity condition）Judged with main power source, if stand-by power source is relatively low, controller will be sent out by wireless device to work master station
Alarm signal；If stand-by power supply and main power source are working properly, first by PLC controller or LD3320 voices are based on by master station
Identifying system transport goods large arm, forearm and wrist rotation angle and lifting information input to ARM, machine is calculated by ARM
The parameter queue of device people's servo-drive system；Zero position sensor EM1, EM2, EM3 and EM4 and be based on CCD that SCARA robots carry
Image capturing system start to work, the two guided robot resets to setting zero position, and robot enters self-locking state；Once
After carrying command starts, avoidance sensor, alignment sensor and acceleration transducer that robot carries are opened, SCARA machines
The transport path fast removal that device people optimizes according to setting ARM, DSP are adjusted in real time according to servo parameter and sensor feedback
SCARA robots rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z
It is exported with the PWM of rare-earth permanent-magnetic synchronous servo motor R, realizes the real-time servo control of four rare-earth permanent-magnetic synchronous servo motors,
CCD camera detects carrying in real time as a result, ARM is transmitted to the processing and storage of digital picture and by wireless system, and main website is logical
It crosses image comparison technology and detects carrying result automatically.If ARM has a question to carrying some position, will be communicated with DSP, DSP
Sending out cutoff command makes SCARA robots stop, and then main website is judged by image comparison carrying information, confirms errorless
Unfinished task is continued by wireless device restarting SCARA robots afterwards；In robot kinematics, if encountered
Emergency, main website control computer 1 will be by microphone apparatus to controller input control order, speech recognition device LD3320
It communicates, is communicated with DSP after having ARM processing, the order of main website control computer 1 is converted into each rare earth forever by DSP with ARM after identification
The control signal of magnetic-synchro servo motor.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, specific function are realized as follows：
1）After SCARA robot power supplies are opened, in order to improve robot voice recognition effect, misrecognition is further decreased
Rate, ARM controller is first to the common number order of LD3320 input SCARA robots and instruction, for absorbing wrong identification, from
And achieve the purpose that reduce LD3320 false recognition rates.
2）ARM first judges stand-by power supply SOC and main power source state, if stand-by power supply SOC is relatively low, DSP will
Forbid four rare-earth permanent-magnetic synchronous servo motor work, motor input PWM wave is blocked, while alarm sensor is concurrent by work
Go out alarm signal；If battery SOC is normal, SCARA robots, which enter, waits for working condition, waits for work order.
3）Once master station's work order starts, master station can select based on the either PLC controls of LD3320 speech recognition systems
Device processed is communicated with ARM, any one controller can pass through the information such as the length of large arm, forearm lengths and elevating lever
RS485 is passed to ARM controller, then robot start correct zero position, SCARA robots carry magnetoelectric transducer EM1,
EM2, EM3 and EM4 and image capturing system based on CCD are started to work, and EM1, EM2, EM3 and EM4 respectively find the zero of setting
Tick lables, when magnetoelectric transducer EM1, EM2, EM3 and EM4 have signal output, ARM real-time Transmission reset images are to total
It stands, after master station's confirmation is errorless, passes through wireless device and DSP is communicated, DSP blocks the PWM of four road rare-earth permanent-magnetic synchronous servo motors
Wave control signal, SCARA robots guide zero position to reset and complete automatically, and ARM controller sets each rotation angle at this time, wrist lifting height。
4）In order to meet the acceleration and deceleration needs of SCARA robots, the present invention uses the run duration ladder diagram such as Fig. 6, this
The area that ladder diagram includes is exactly the height of robot's arm, forearm and the wrist angle to be rotated either wrist lifting, is
Control, the present invention is facilitated to use single acceleration model.
5）SCARA robots read its operating mode, and if it is manual working pattern, main website begins through PLC either
Speech recognition system based on LD3320 is communicated with ARM controller, by main website input SCARA robot's arms, forearm and wrist
Need the angle rotated,,And SCARA robot wrists need to rise the height either declinedIt is controlled to ARM
Device, ARM controller start robot forward direction according to Denavit-Hartenberg algorithms and solve：ARM controller basis first
SCARA robot's arms, forearm and wrist need the angle rotated,,And SCARA robot wrists need to rise
HeightCalculate the position auto―control between adjacent two member coordinates,,,4*4 two-dimemsional numbers are used in combination
Group mark,,,,It indicates respectively as follows：
,,
,。
Then pass through formulaCan find out the position after wrist actuator completion task and
Posture, then ARM and DSP is communicated, and transmits artificial input parameter.
6）SCARA robots read its operating mode, and if it is normal automatic transporting operating mode, main website is begun through
PLC either speech recognition systems based on LD3320 are communicated with ARM controller, by main website input SCARA robot's arms, small
Initial position and given position three-dimensional coordinate residing for arm and wrist is to ARM controller, and ARM controller is according to Denavit-
It is Converse solved that Hartenberg algorithms start robot：ARM controller is first according to large arm, forearm lengths and final three-dimensional
X and Y coordinates in coordinate find out large arm and need the angle rotated, and byValue find outValue, and according to three-dimensional sit
Z coordinate in mark finds out the height that wrist rises or reduces, finally find out rotation angle, due to solvingWhen
Equation have it is bilingual, so SCARA robots find out large arm, forearm and wrist need the angle rotated,,And
SCARA robot wrists need the height risenAfterwards, ARM controller can optimize solving result, and then ARM is controlled
Device is communicated with DSP, most has servo motion parameter to be transferred to dsp controller in robot.
7）Dsp controller receives SCARA robot's arms, forearm and wrist and needs the angle rotated,,And
SCARA robot wrists need the height risenAfterwards, sensor S1 ~ S5 in large arm, forearm and wrist, EM1, EM2 and
EM3 will be opened, and SCARA robots want zero setting position to be judged first, after confirming that initial position is errorless, SCARA robots pair
Barrier in each rotating arm rotation angle is judged that such as there is barrier will send out interrupt requests to DSP, and DSP can be right
Interruption is done to be responded at the first time, is then blocked the control signal output of four axis PWM waves, is forbidden the rare earth permanent magnet of SCARA robots same
Walk servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and motor rare-earth permanent-magnetic synchronous servo
Motor R work, robot self-locking is in situ, and the image capturing system based on CCD is opened, and passes through wireless device after ARM processing
Interrupt requests are sent out to master station, information is judged by accident in order to prevent, and master station passes through in the secondary judgement motion range of radio transmitting image
Obstacle information artificially handles barrier by master station, prevents barrier from influencing to carry work.
8）If master station is secondary to determine that clear enters moving region by image taking results, wireless device will be passed through
It is communicated with DSP, according to the speed time curve of Fig. 6, DSP is three rotation angles,,It is converted into three rare earth permanent magnets
Acceleration, speed and the position initial order value of synchronous servo motor, then DSP is in conjunction with current of electric feedback, acceleration biography
The feedback of sensor, gyroscope and photoelectric encoder is based on according to its internal three closed loopVector controlled servo programe it is real-time
The PWM wave for adjusting motor X, motor Y and motor Z controls signal, and the deviation size that dsp controller is inputted according to three closed loops is adjusted in real time
The pid parameter of whole internal SERVO CONTROL program, the number of drive pulses by adjusting rare-earth permanent-magnetic synchronous servo motor adjust it
Rotation angle realizes the variation of angular speed speed by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal, makes three
Axis rare-earth permanent-magnetic synchronous servo motor timing synchronization works, the location parameter that DSP moment recorder people have moved, and passes through
Wirelessly transmitted in real time to master station.
9）In SCARA robots moving process, sensor S1 ~ S4 moment carries out the moving obstacle in motion range
Judge, if there is barrier enters motion range, large arm, forearm and the wrist of SCARA robots are vertical according to the curve movement of Fig. 6
It stops, dsp controller records present rotation angel degree,,Information, and by wirelessly being communicated with main website；Equal barriers
After disappearance, main website inputs the rotation angle of new position by wireless device to DSP,,, then robot is according to Fig. 6's
Curve passes through three sections of movement locus again：Accelerated motion, uniform motion and retarded motion, eventually arrive at set point.
10）In moving process, the angular acceleration of accelerometer and gyroscope moment record large arm, forearm and wrist rotation
And angular speed, and the rotation angle of large arm, forearm and wrist is obtained by integral, and compared with the position angle angle value of setting,
If deviation is more than setting threshold values, in next sampling period, dsp controller is according to internal three closed loop rare-earth permanent-magnetic synchronous servos
Motor controls program adjustment rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo
The pwm control signal of motor Z, the deviation size that dsp controller is inputted according to three closed loops adjust internal SERVO CONTROL program in real time
Pid parameter, its rotation angle is adjusted by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor, by adjusting dilute
The frequency of native permanent magnet synchronous servo motor control signal realizes the variation of angular speed speed, and then eliminates upper sampling period production
Raw error makes SCARA robots complete task according to setting track.
11）In SCARA robot kinematics, DSP can store passed through the location of SCARA robots at the moment
The reference point either passed through, and next reference point SCARA robots relatively are calculated by DSP according to these range informations
Rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
Angle, angle rates and angular acceleration, dsp controller are anti-in conjunction with current of electric, angular acceleration, gyroscope, photoelectric encoder
Feedback obtains the pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors according to its internal three Close loop servo control program,
The deviation size that dsp controller is inputted according to three closed loops adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting dilute
The number of drive pulses of native permanent magnet synchronous servo motor adjusts its rotation angle, by adjusting rare-earth permanent-magnetic synchronous servo motor control
The frequency of signal processed realizes the variation of angular speed speed, and SCARA robots is made quickly to move ahead according to setting speed.
12）In SCARA robot kinematics, the ARM and real-time recorder National People's Congress arms of DSP, forearm and wrist rotation
Angle can be inputted and be accelerated to ARM by LD3320 speech recognition systems if master station finds that the robot speed of service is slower
Order communicates after ARM processing with DSP, and DSP is required according to the acceleration time, and remaining angle, which is converted into rare-earth permanent-magnetic synchronous, to be watched
Take angle, the angle rates that motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
It is instructed with angular acceleration, dsp controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and photoelectric encoder
Feedback is based on according to its internal three closed loopVector controlled servo programe readjust three rare-earth permanent-magnetic synchronous servos
The pwm control signal signal of motor, makes robot that task be rapidly completed.
13）In SCARA robot kinematics, the ARM and real-time recorder National People's Congress arms of DSP, forearm and wrist rotation
Angle, if master station find robot need emergency service, can by LD3320 speech recognition systems to ARM input stop
Order communicates after ARM processing with DSP, and DSP requires according to down time, in conjunction with current of electric feedback, acceleration transducer,
The feedback of gyroscope and photoelectric encoder is based on according to its internal three closed loopVector controlled servo programe readjust
The pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors, makes robot quickly complete parking, and dsp controller passes through
Acceleration and the angle of the real-time recorder people rotation of gyro sensor and storage.Main website is finished by image comparison detection
Afterwards, it is inputted to ARM by LD3320 speech recognition systems and starts order, communicated with DSP after ARM processing, DSP is according to the acceleration time
It is required that it is same that remaining angle is converted into rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare earth permanent magnet
Angle, angle rates and angular acceleration instruction, the dsp controller that step servo motor Z to be run respectively are anti-in conjunction with current of electric
Feedback, acceleration transducer, gyroscope and photoelectric encoder feedback, be based on according to its internal three closed loopVector controlled
Servo programe readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors, so that robot is rapidly completed surplus
Remaining task.
14）Three axis rotation angles are completed in SCARA robots,,SERVO CONTROL after, DSP secondary detections accelerate
Spend sensor integrated value, if it find that SCARA robots in motion process by three rotation angles after external interference,
,When error with set angle is more than setting threshold values, ccd image acquisition system acquires in real time carries information, after ARM is handled
By wireless device to master station send out image transmitting request, master station by image comparison technology automatically detect carry as a result, if
It is implicitly present in certain error, master station starts to communicate with DSP by wireless device, and DSP is three rotation angle deviations,,It is converted into acceleration, speed and the position initial order value of three rare-earth permanent-magnetic synchronous servo motor fine positions, DSP is again
In conjunction with the feedback of motor X, motor Y and motor Z current of electric feedback, photoelectric encoder feedback and acceleration transducer, through in DSP
The PWM wave of portion three Close loop servo control programs adjustment motor X, motor Y and motor Z control signal, and dsp controller is according to three closed loops
The deviation size of input adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting rare-earth permanent-magnetic synchronous servo motor
Number of drive pulses adjust its rotation angle, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal frequency realize angle
The variation of speed speed makes robot's arm, forearm and wrist by the task again of three axis rare-earth permanent-magnetic synchronous servo motors
Reach setting position.
15）When the large arm of SCARA robots, forearm and wrist complete angle,,Angle compensation reach setting
Behind position, the sensor EM4 in wrist will be again turned on, and SCARA robots want zero setting position to be judged first, be confirmed initial
After position is errorless, DSP is according to the speed time curve of Fig. 6, the distance that wrist is liftedRare-earth permanent-magnetic synchronous is converted into watch
Acceleration, speed and the position initial order value of motor R are taken, then the current feedback of DSP combinations motor R, photoelectric encoder are anti-
The feedback of feedback and sensor S5, the PWM wave for adjusting motor R in real time through three Close loop servo control programs of inside control signal, DSP controls
The deviation size that device processed is inputted according to three closed loops adjusts the pid parameter of internal SERVO CONTROL program in real time, forever by adjusting rare earth
The number of drive pulses of magnetic-synchro servo motor adjusts its rotation angle, believes by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control
Number frequency realize angular speed speed variation, so that wrist is steadily reached setting position in setting time.
16）During the motion if SCARA robots find that location parameter solution occurs during endless loop will send out to ARM
Disconnected request, ARM can do interruption and respond at the first time, and ARM controller will be communicated with DSP immediately, and DSP blocks four rare earths immediately
The control signal of permanent magnet synchronous servo motor, then robot original place self-locking, ARM controller are carried out by wireless device and main website
Communication, CCD moment acquire peripheral information and by wireless transmissions, and main website analyzes Image Acquisition information, and according to acquisition
As a result information is carried by secondary inputted to SCARA robots of PLC controller by secondary restarting SCARA robots.
17）In SCARA robots repeatedly repeatedly in motion process, if main website discovery has interim vital task to need to be added
In work queue, main website will open LD3320 controllers, be communicated by LD3320 controllers and ARM by main website, weight is inputted to ARM
It wants the position servo parameter of task, ARM and DSP to communicate, currently outstanding task is completed by DSP first, while ARM updates
The original servo control parameter queues of DSP, and new servo position parameter is transmitted to DSP, make the next servo motions of DSP
Important temporary duty is completed in control.
18）In SCARA robots repeatedly repeatedly in motion process, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 are read
When to transducing signal, dsp controller will carry out new position servo control with zero position parameter instead of existing location parameter, and
Error is calculated, in next sampling period, DSP is by internal three closed loop rare-earth permanent-magnetic synchronous Serve Motor Control programs to accidentally
Difference compensates, and eliminates cumulative errors in time.
19）In SCARA robots handling process, main website can carry out automatically analyzing comparison to the acquisition image based on CCD,
A certain position such as pinpoint the problems there are when problem, main website first passes through wireless device and communicated with DSP, and DSP completes current task first
And zero position parking is being set, carrying is detected by main website automatically as a result, next by ARM updates DSP after automatic detection
Servo-controlled location parameter.
20）Mounted in rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo electricity
Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servo motor R can export its position signal A and position signal B, photoelectric coding
The position signal A pulses of device and B pulsed logics state often change once, and the location register in DSP and ARM can be according to motor
Traffic direction adds 1 either to subtract 1；When the position signal A pulses and B pulses and Z pulses of photoelectric encoder are low level simultaneously, just
It generates an INDEX signal and gives DSP and ARM internal registers, record the absolute position of rare-earth permanent-magnetic synchronous servo motor, then
It is real-time to be converted into SCARA robot's arms, forearm either specific location of the wrist in three-dimensional coordinate system, ARM controller
It is communicated by PLC and main website, important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 read sensing
When signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
21）SCARA robots are monitored AC ac main powers at the operational process ARM controller moment, if control
When device finds main power source failure power-off suddenly, ARM can be communicated with DSP, and open stand-by power supply, be four axis by stand-by power supply
Rare-earth permanent-magnetic synchronous servo motor provides energy, and passes through the adjustment four in real time of three closed loop servo-control system programs inside DSP
The PWM of rare-earth permanent-magnetic synchronous servo motor is exported, and is adjusted by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor
Its rotation angle is realized the variation of angular speed speed by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal, is made
SCARA robots complete it is current carry task, then SCARA robots are communicated by PLC and main website, and notify main website into
Row maintenance.
22）In the SCARA robots Multi-asis servo system course of work, if DSP servo controllers detect some
The torque of rare-earth permanent-magnetic synchronous servo motor is pulsed, due to the present invention usingVector control mode, therefore
Controller can be easy to compensate this interference, and adjust the pid parameter of electric current loop in real time according to interference size DSP, reduce motor
Influence of the torque disturbance to SCARA robot kinematics.
23）When SCARA robots complete a series of tasks, realize position zero, the acceleration transducer A1 that carries ~
A3, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work at the moment, first have acceleration transducer to detect its acceleration, work as acceleration
When more than pre-set threshold value, the error that upper a cycle is brought can be corrected in next cycle dsp controller, works as magnetoelectric transducer
When EM1, EM2, EM3, EM4 have signal output, ccd image acquisition system acquires repositioning information in real time, passes through after ARM is handled
Wireless device sends out image transmitting request to master station, and master station is automatically reset by image comparison technology as a result, DSP blocks four tunnels
The PWM wave of rare-earth permanent-magnetic synchronous servo motor controls signal, and SCARA robots guide zero position to reset and complete automatically, SCARA machines
Device people realizes playback and zero-bit self-locking from certain point to zero-bit according to the Velocity-time curve movement of Fig. 6, waits for next group fortune
Dynamic command queue.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of four core constant speed articulated robot control systems of heavy duty wireless transmission, which is characterized in that the articulated robot is adopted
With the rotary motion of rare-earth permanent-magnetic synchronous servo motor X driving robot's arms, using rare-earth permanent-magnetic synchronous servo motor Y driving machines
The rotary motion of device people's forearm drives robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z, using rare earth permanent magnet
Synchronous servo motor R drives robot wrist's elevating movement, is equipped with avoidance displacement sensor S1 on the robot's arm, keeps away
Hinder displacement sensor S2, gyroscope and acceleration transducer A1, be equipped on the robot forearm avoidance displacement sensor S3,
Avoidance displacement sensor S4, gyroscope and acceleration transducer A2 are equipped with alignment sensor S5, top on the robot wrist
Spiral shell instrument and acceleration transducer A3, the control system include main website control computer and controller, and the controller includes
Dsp chip controller, PlC controllers, voice recognition processor, image capture module, wireless transport module and ARM controller,
Communicated to connect between described image acquisition module and wireless transport module, the dsp chip controller, voice recognition processor and
PlC controllers are communicated to connect with the main website control computer, the dsp chip controller, voice recognition processor and ARM
Controller is communicatively connected to each other, and the wireless transport module and ARM controller communication connection, the PlC controllers are controlled with ARM
Device communicates to connect, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo electricity
Machine Z and rare-earth permanent-magnetic synchronous servo motor R is communicated to connect with the dsp chip controller, the avoidance displacement sensor S1,
Avoidance displacement sensor S2, avoidance displacement sensor S3, avoidance displacement sensor S4, alignment sensor S5, each gyroscope, acceleration
Spend sensors A 1, acceleration transducer A2 and acceleration transducer A3 simultaneously with the dsp chip controller and ARM controller
Communication connection, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor
Even on Z and rare-earth permanent-magnetic synchronous servo motor R to be provided with photoelectric encoder, the photoelectric encoder is controlled with the dsp chip
Device is electrically connected, and described image acquisition module is CCD camera component, and decoding chip is provided in described image acquisition module,
Magnetoelectric transducer EM1 is installed on the robot's arm, magnetoelectric transducer EM2 is installed on the robot forearm, it is described
Magnetoelectric transducer EM3 and EM4, the magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetic-electric sensing are installed on robot wrist
Device EM3 and EM4 are communicated to connect with the dsp chip controller and ARM controller, and magnetoelectricity is equipped on the robot's arm
Sensor EM1 is equipped with magnetoelectric transducer EM2 on the robot forearm, magnetic-electric sensing is equipped on the robot wrist
Device EM3 and EM4, the magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 with the dsp chip
Controller and ARM controller communication connection.
2. four core constant speed articulated robot control systems of heavy duty wireless transmission according to claim 1, which is characterized in that also
Include the main power source and stand-by power supply that power supply is provided for the articulated robot and control system, it is each in the articulated robot
Controller in a motor and sensor and control system is electrically connected with the main power source and/or stand-by power supply.
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| CN102841557A (en) * | 2012-09-26 | 2012-12-26 | 苏州工业园区职业技术学院 | Four-axis full-automatic high-speed dispensing robot servo-control system |
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Effective date of registration: 20190507 Address after: 211106 Jiangsu Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province, 19 Suyuan Avenue, Kowloon Lake International Enterprise Headquarters Park, Block C4, 2nd Floor Patentee after: Runtou Intelligent Science and Technology Research Institute Jiangsu Co., Ltd. Address before: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Patentee before: Jiangsu Ruobo Robot Technology Co., Ltd. |