Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Referring to Fig. 2 to Fig. 7, the embodiment of the present invention includes: a kind of heavily loaded five core quick articulated robot control system, should
Machine artificially SCARA robots based on four axle rare-earth permanent-magnetic synchronous servomotors, the most described articulated robot uses rare earth forever
Magnetic-synchro servomotor X 7 driven machine people's large arm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Y 8 driven machine people
Forearm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Z 9 driven machine human wrist rotary motion, employing rare earth permanent magnet are together
Step servomotor R 10 driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1
12, avoidance displacement transducer S2 13, gyroscope 27 and acceleration transducer A1 17, described robot forearm is provided with avoidance
Displacement transducer S3 14, avoidance displacement transducer S4 15, gyroscope 27 and acceleration transducer A2 18, described robot
Alignment sensor S5 16, gyroscope 27 and acceleration transducer A3 19 are installed on wrist.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3, permagnetic synchronous motor closed loop control chip 26, voice recognition processor 25, PlC controller 20 and ARM controller 4, described
Dsp chip controller 3, permagnetic synchronous motor closed loop control chip 26, PlC controller 20 and voice recognition processor 25 are all and institute
State main website control computer 1 to communicate to connect, described dsp chip controller 3, permagnetic synchronous motor closed loop control chip 26, voice
Recognition processor 25 and ARM controller 4 are communicatively connected to each other, and described PlC controller 20 communicates to connect with ARM controller 4.Described
Rare-earth permanent-magnetic synchronous servomotor X7, rare-earth permanent-magnetic synchronous servomotor Y8, rare-earth permanent-magnetic synchronous servomotor Z9 and rare earth are forever
Magnetic-synchro servomotor R10 all communicates to connect with described dsp chip controller 3, described avoidance displacement transducer S1 12, avoidance
Displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance displacement transducer S4 15, alignment sensor S5 16, acceleration
Degree sensors A 1 17, acceleration transducer A2 18 and acceleration transducer A3 19 all simultaneously with described dsp chip controller 3,
Voice recognition processor 25, PLC 20 and ARM controller 4 communicate to connect.
Preferably, the heavy duty five core quick articulated robot control system of the present invention also include for described articulated robot and
Control system provides the main power source 5 of power supply and stand-by power supply 6, each described motor in described articulated robot and sensor with
And the controller 2 in control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.
Preferably, described rare-earth permanent-magnetic synchronous servomotor X 7, rare-earth permanent-magnetic synchronous servomotor Y 8, rare earth permanent magnet are together
The even photoelectric encoder 11 that is provided with on step servomotor Z 9 and rare-earth permanent-magnetic synchronous servomotor R10, described photoelectric encoder 11
It is electrically connected with described dsp chip controller 3.
Preferably, described robot's arm is provided with magnetoelectric transducer EM1 21, described robot forearm is provided with
Magnetoelectric transducer EM2 22, described robot wrist is provided with magnetoelectric transducer EM3 23 and EM4 24, described magnetic-electric sensing
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 all with described dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, when four all detect signal
Time, SCARA robot realizes accurately resetting, improves the degree of accuracy of reset.
The present invention uses dsp controller 3(TMS320F2812)+permagnetic synchronous motor closed loop control chip 26(is i.e.
IRMCK203 controller)+voice recognition processor 25(chip model is LD3320)+PLC 20+ ARM controller 4
(STM32F746) five cores carry out system control.
Under power-on state, ARM controller the most dynamically edits the key words list of LD3320, increases robot language
Sound discrimination, then to robot stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low,
Controller can send alarm signal;If stand-by power supply and main power source are working properly, first by master station by PLC or
Speech recognition system based on LD3320 is transporting goods large arm, forearm and the wrist anglec of rotation and lifting information inputs to
ARM, is then calculated the parameter queue of robot servo's system by ARM;Zero position sensor EM1 that SCARA robot carries,
EM2, EM3 and EM4 start working, and make robot reset to set zero position, and robot enters self-locking state;Once carrying command
After beginning, avoidance sensor, alignment sensor, acceleration transducer and gyroscope that robot carries all are opened, SCARA machine
People according to set ARM optimize transport path fast removal, DSP Yu IRMCK203 communication, IRMCK203 according to servo parameter with
Sensor feedback adjusts SCARA robot rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth in real time
The PWM output of permanent magnet synchronous servo motor Z and rare-earth permanent-magnetic synchronous servomotor R, it is achieved four rare-earth permanent-magnetic synchronous servo electricity
The real-time servo of machine controls, DSP and ARM Real-time Collection robot motion's information also stores cargo location information;If ARM is to removing
Transport some position to have a question, will be with DSP communication, DSP makes SCARA robot stop by IRMCK203, then artificial to DSP
Storage information judges, confirms that errorless rear master station manually starts SCARA robot by PLC secondary and continues to be not fully complete
Task.In robot kinematics, if running into emergency, main website will be by microphone apparatus to controller input control
System order, speech recognition device LD3320 is converted into main website order with DSP communication, DSP after processing with ARM communication, ARM after identifying
The control signal of each rare-earth permanent-magnetic synchronous servomotor.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, its concrete functional realiey is as follows:
1), after SCARA robot power supply is opened, in order to improve robot voice recognition effect, false recognition rate, ARM are reduced further
Controller first inputs the conventional number order of SCARA robot and instruction to LD3320, is used for absorbing wrong identification, thus reaches
Reduce the purpose of LD3320 false recognition rate.
2) stand-by power supply SOC and main power source state are first judged by ARM, if stand-by power supply SOC is relatively low, DSP will
Forbidding controlling the IRMCK203 work of four rare-earth permanent-magnetic synchronous servomotors, motor input PWM wave control signal is blocked, with
Work to master station and is sent alarm signal by PLC by alarm sensor;If battery SOC is normal, SCARA machine
People enters and treats duty, waits work order.
3) once master station's work order starts, and master station can select to control based on LD3320 speech recognition system or PLC
Device processed and ARM communication, 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, and then robot starts correcting zero position, magnetoelectric transducer EM1 that SCARA robot carries,
EM2, EM3 and EM4 start working, and each find the zero position mark of setting, as magnetoelectric transducer EM1, EM2, EM3 and EM4
When all having signal to export, DSP blocks the PWM wave control signal of four road rare-earth permanent-magnetic synchronous servomotors by IRMCK203,
SCARA robot guides zero position to reset automatically, now ARM controller sets each anglec of rotation
, wrist lifting height。
4) in order to meet the acceleration and deceleration motion needs of SCARA robot, the present invention uses the movement time such as Fig. 6 trapezoidal
Figure, the area that this ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting
Degree, controls for convenience, and the present invention uses single acceleration model.
5) SCARA robot reads its mode of operation, if manual working pattern, master station can select based on LD3320
Speech recognition system or PLC and ARM communication, needed by main website input SCARA robot's arm, forearm and wrist
The angle rotated,,And SCARA robot wrist needs to rise or the height of declineTo ARM controller,
ARM controller starts robot location according to Denavit-Hartenberg algorithm and attitude forward solves: ARM controller is first
The angle rotated is needed according to SCARA robot's arm, forearm and wrist,,And on SCARA robot wrist's needs
The height risenCalculate the position auto-control between adjacent two member coordinates,,,, and with each personal 4*4
Two-dimensional array mark,,,,It is expressed as follows respectively:
,,
,。
Then ARM controller passes through formulaJust can obtain wrist executor and complete task
After position and attitude, and with DSP communication, transmission be manually entered parameter to DSP.
6) SCARA robot reads its mode of operation, if normal automatic transporting mode of operation, main website can select base
In LD3320 speech recognition system or PLC and ARM communication, initial by residing for input SCARA robot of main website
Position and given position three-dimensional coordinate start machine to ARM controller, ARM controller according to Denavit-Hartenberg algorithm
People is Converse solved: first ARM controller is obtained greatly according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate
Arm needs the angle rotated, and byValue obtainValue, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise
Or the height reduced, finally obtain the anglec of rotation, owing to solvingWhen equation have bilingual, so SCARA machine
Device people obtains the angle that large arm, forearm and wrist need to rotate,,And SCARA robot wrist needs the height of rising
DegreeAfter, solving result can be optimized by ARM controller, then ARM controller and DSP communication, and most there is servo in robot
Kinematic parameter is transferred to dsp controller.
7) dsp controller accepts the angle that SCARA robot's arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfter, the sensor S1 in large arm, forearm and wrist ~ S5, EM1, EM2 and EM3
To open, first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, SCARA robot is to each
Barrier in the turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be to interruption
Doing very first time response, then DSP forbids four axle IRMCK203 work, and four axle rare-earth permanent-magnetic synchronous servomotor PWM ripples control
Signal is blocked, and SCARA robot forbids rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth forever
Magnetic-synchro servomotor Z and motor rare-earth permanent-magnetic synchronous servomotor R work, robot is self-locking in original place, dsp controller secondary
Judge the obstacle information in range of movement, prevent information from judging by accident.
8) if dsp controller determines that clear enters moving region, dsp controller is bent according to the Velocity Time of Fig. 6
Movement position is decomposed by line, and DSP is first three anglecs of rotation,,It is converted into three rare-earth permanent-magnetic synchronous servos
The acceleration of motor, speed and position initial order value, then DSP Yu IRMCK203 communication, IRMCK203 combines motor X, electricity
The photoelectric encoder feedback of machine Y and motor Z, through IRMCK203 internal servo regulation Program Generating motor X, motor Y's and motor Z
PWM wave control signal, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is according to input partially
Difference size adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time, and IRMCK203 controller is by adjusting rare earth permanent magnet
The number of drive pulses of synchronous servo motor adjusts its anglec of rotation, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Frequency realize the change of angular velocity speed, make three axle rare-earth permanent-magnetic synchronous servomotor timing synchronization work, DSP moment record
The location parameter that robot has moved.
9) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment
Judging, if there being barrier to enter range of movement, DSP makes the large arm of SCARA robot, forearm and hands by IRMCK203 immediately
Wrist stops immediately according to the retarded motion curve of Fig. 6, and dsp controller records present rotation angel degree,,Information.On barrier
After hindering thing to disappear, recalculate the anglec of rotation to new position,,, then DSP controls the IRMCK203 fortune according to Fig. 6
Moving curve is again through three sections of movement locus: accelerated motion, uniform motion and retarded motion, eventually arrives at set point.
10) in moving process, the DSP moment records the angle acceleration that the large arm of accelerometer feedback, forearm and wrist rotate
Degree, controller obtains the anglec of rotation of large arm, forearm and wrist by quadratic integral, and compared with the position angle angle value set
Relatively, if deviation is more than setting threshold values, DSP is converted into three new acceleration of rare-earth permanent-magnetic synchronous servomotor this deviation
Degree, speed and position initial order value, in the next sampling period, DSP Yu IRMCK203 communication, IRMCK203 combine motor X,
Motor Y and the feedback of motor Z motor photoelectric encoder feedback, through IRMCK203 internal servo regulation Program Generating motor X, motor
The PWM wave control signal of Y and motor Z, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller
Adjust the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to input deviation size, IRMCK203 controller is by adjusting
The number of drive pulses of whole rare-earth permanent-magnetic synchronous servomotor adjusts its anglec of rotation, by adjusting rare-earth permanent-magnetic synchronous servo electricity
The frequency of machine control signal realizes the change of angular velocity speed, and then eliminates the error that a sampling period produces, and makes SCARA
Robot completes task according to setting track.
11) in SCARA robot kinematics, DSP can store in the moment the SCARA robot location of process
Or the reference point of process, and it is calculated relatively next reference point SCARA robot according to these range informations by DSP
Rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, servomotor Z is to be run for rare-earth permanent-magnetic synchronous
Angle, angle rates and angular acceleration, IRMCK203 combine motor X, motor Y and motor Z motor photoelectric encoder feedback anti-
Feedback, through internal servo regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal is through driving
Dynamic bridge amplifies each motor movement of rear drive.Dsp controller adjusts the internal servo of IRMCK203 in real time according to input deviation size
The PI parameter of control program, adjusts its anglec of rotation by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor, logical
Cross and adjust the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal and realize the change of angular velocity speed, make SCARA robot by
Quickly move ahead according to setting speed.
12) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate
Angle, if master station finds that the robot speed of service is relatively slow, can be accelerated to ARM input by LD3320 speech recognition system
Order, ARM according to acceleration time requirement with DSP communication, DSP, is converted into rare-earth permanent-magnetic synchronous remaining angle and watches after processing
Take motor X, rare-earth permanent-magnetic synchronous servomotor Y, angle to be run for rare-earth permanent-magnetic synchronous servomotor Z, angle rates
Instructing with angular acceleration, IRMCK203 controller is in conjunction with the feedback of photoelectric encoder, according to its internal three Close loop servo control
Program readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, makes robot be rapidly completed task.
13) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate
Angle, if master station find robot need emergency service, can by LD3320 speech recognition system to ARM input stop
Order, with DSP communication after ARM process, DSP is according to requirement down time, and IRMCK203 controller is in conjunction with photoelectric encoder
Feedback, controls letter according to the PWM that its internal three Close loop servo control programs readjust three rare-earth permanent-magnetic synchronous servomotors
Number signal, makes robot be quickly completed parking, and dsp controller is revolved by acceleration and gyro sensor real time record robot
Turn angle and store.After main website completes maintenance, start order, ARM by LD3320 speech recognition system to ARM input
With DSP communication after process, DSP according to acceleration time requirement, remaining angle be converted into rare-earth permanent-magnetic synchronous servomotor X,
Rare-earth permanent-magnetic synchronous servomotor Y, angle to be run for rare-earth permanent-magnetic synchronous servomotor Z, angle rates and angle are accelerated
Degree instruction, IRMCK203 controller is in conjunction with the feedback of photoelectric encoder, according to its internal three Close loop servo control programs again
Adjust the pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, make robot be rapidly completed residue task.
14) the three axle anglecs of rotation are completed in SCARA robot,,SERVO CONTROL after, DSP secondary detection accelerate
The integrated value of degree sensor, if it find that SCARA robot three anglecs of rotation after motor process is by external interference,
,When exceeding setting threshold values with the error of set angle, DSP is three anglec of rotation deviations,,It is converted into three
The acceleration of rare-earth permanent-magnetic synchronous servomotor fine position, speed and position initial order value, then DSP Yu IRMCK203 leads to
News, IRMCK203 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, through the internal servo of IRMCK203
Regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal amplifies rear drive through drive axle
Each motor movement.Dsp controller adjusts the PI ginseng of the internal SERVO CONTROL program of IRMCK203 in real time according to input deviation size
Number, IRMCK203 controller adjusts its anglec of rotation by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor, logical
The frequency crossing adjustment rare-earth permanent-magnetic synchronous Serve Motor Control signal realizes the change of angular velocity speed, by three axle rare earth permanent magnets
The task again of synchronous servo motor makes robot's arm, forearm and wrist arrive setting position.
15) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position
Postponing, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial bit
Put errorless after, DSP is according to the speed time curve of Fig. 6, distance to be lifted for wristIt is converted into rare-earth permanent-magnetic synchronous servo
The acceleration of motor R, speed and position initial order value, then DSP Yu IRMCK203 communication, IRMCK203 combines motor R light
The feedback of photoelectric coder, through the PWM wave control signal of internal servo regulation Program Generating motor R, PWM wave control signal is through driving
Bridge amplifies each motor movement of rear drive.Dsp controller adjusts the internal servo control of IRMCK203 in real time according to input deviation size
The PI parameter of processing procedure sequence, dsp controller adjusts it by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor and rotates
Angle, realizes the change of angular velocity speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal, makes wrist put down
Steady arrival setting position within the setting time.
16) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motor process
Disconnected request, ARM can to interrupting doing very first time response, ARM controller will immediately with DSP communication, DSP passes through IRMCK203 immediately
Block four rare-earth permanent-magnetic synchronous servomotors control signal, robot original place self-locking, main website by PLC or based on
LD3320 speech recognition system inputs new operating position information to ARM controller.
17) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task and needs to add
In work queue, main website will be again based on the speech recognition system of LD3320, main website led to ARM by LD3320 controller
News, the phonetic order of main website input is converted into important with ARM communication, ARM controller phonetic order after LD3320 identifies
The position servo parameter of business, ARM Yu DSP communication, first controlled IRMCK203 by DSP and complete currently outstanding task, simultaneously
ARM updates DSP original servo control parameter queue, and transmits new servo position parameter to DSP, makes DSP next
Servo control completes important temporary duty.
18) in SCARA robot motor process the most repeatedly, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 read
During to transducing signal, dsp controller will replace existing location parameter to carry out new position servo control with zero position parameter, and
Calculating error, in the next sampling period, DSP is by the internal three closed loop rare-earth permanent-magnetic synchronous Serve Motor Control of IRMCK203
Error is compensated by program, eliminates cumulative errors in time.
19) rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servo electricity it are contained in
Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servomotor R can export its position signalling A and position signalling B, photoelectric coding
Position signalling A pulse and the B pulsed logic state of device often change once, and the location register in DSP and ARM can be according to motor
Traffic direction adds 1 or subtracts 1;When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just
Produce an INDEX signal to DSP and ARM internal register, the absolute position of record rare-earth permanent-magnetic synchronous servomotor, then
Being converted into SCARA robot's arm, forearm or the wrist particular location in three-dimensional coordinate system, ARM controller is real-time
By PLC and main website communication, important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 read sensing
During signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
20) AC ac main power is monitored by SCARA robot in the running ARM controller moment, if controlled
Device find main power source break down unexpected power-off time, ARM with DSP communication, and can open stand-by power supply, stand-by power supply be four axles
Rare-earth permanent-magnetic synchronous servomotor provides energy, and DSP adjusts four rare earths in real time by IRMCK203 internal servo regulation program
The PWM output of permanent magnet synchronous servo motor, IRMCK203 controller is by adjusting the driving arteries and veins of rare-earth permanent-magnetic synchronous servomotor
Strokes per minute mesh adjusts its anglec of rotation, realizes angular velocity speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Change, make SCARA robot complete specifically to carry task, then SCARA robot carries out communication by PLC and main website, and
Notice main website overhauls.
21) in SCARA robot Multi-asis servo system work process, if DSP servo controller detects some
There is pulsation in the torque of rare-earth permanent-magnetic synchronous servomotor, and the rare-earth permanent-magnetic synchronous servomotor used due to the present invention uses straight
Connecing direct torque, therefore controller can be easy to compensate this interference, and adjusts in real time inside IRMCK203 according to interference size DSP
PI parameter, decrease the motor torque disturbance impact on SCARA robot kinematics.
22) task is completed when SCARA robot, it is achieved during the zero of position, acceleration transducer A1 ~ A3 that it carries, top
Spiral shell instrument 27, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer and gyroscope to detect it and add
Speed and speed, when acceleration and speed exceed pre-set threshold value, can be repaiied by IRMCK203 at next cycle dsp controller
Just going up the error that a cycle brings, when magnetoelectric transducer EM1, EM2, EM3, EM4 all have signal to export, DSP passes through
IRMCK203 blocks the PWM wave control signal of four road rare-earth permanent-magnetic synchronous servomotors, and SCARA robot guides zero position automatically
Reset completes, and SCARA robot realizes playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 6, and then zero
Position self-locking, waits next group work order.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.