CN106707972A - Universal seven-axis redundant industrial robot coordinated control system - Google Patents
Universal seven-axis redundant industrial robot coordinated control system Download PDFInfo
- Publication number
- CN106707972A CN106707972A CN201710019551.6A CN201710019551A CN106707972A CN 106707972 A CN106707972 A CN 106707972A CN 201710019551 A CN201710019551 A CN 201710019551A CN 106707972 A CN106707972 A CN 106707972A
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- China
- Prior art keywords
- umac
- module
- control system
- driver
- axles
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- 230000005611 electricity Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000004891 communication Methods 0.000 abstract description 6
- 230000005856 abnormality Effects 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004973 motor coordination Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31026—Diagnostic controller coupled to field and to redundant process controllers
Abstract
The invention provides a universal seven-axis redundant industrial robot coordinated control system, which comprises a power supply module, an industrial personal computer, a UMAC controller, a servo driver, a driving motor, a limiting sensor, a security module, a PLC controller and a teaching box. The UMAC controller is respectively in signal connection with the servo driver and the limiting sensor. The UMAC controller is internally provided with a shaft clip. The UMAC controller sends a control instruction to the servo driver through the shaft clip and then receives a feedback signal sent from the servo driver and the position information of the limiting sensor through the shaft clip. The industrial personal computer sends a control instruction to the UMAC controller and then receives a feedback signal sent from the servo driver. The security module is in signal connection with the UMAC controller and the PLC controller. The UMAC controller and the PLC controller are in signal connection with the industrial personal computer. According to the technical scheme of the universal seven-axis redundant industrial robot coordinated control system, based on the communication cooperation of the UMAC controller, the servo driver and the industrial personal computer, the motion of a universal seven-axis redundant industrial robot can be precisely controlled.
Description
Technical field
The invention belongs to industrial robot control system technical field, more particularly, to the general seven axles redundancy industrial machine of one kind
Device people's coordinated control system.
Background technology
Seven each axles of axle redundant robot carry out motion control by servomotor, and the coordinated operation of each axle is very crucial.
There is some difference for the dynamic fit motion and response between each axle under normal circumstances, and existing articulated robot electric-control system
Middle expandability is poor, while the interpolation function of each axle is weaker.
The content of the invention
In view of this, the present invention is directed to propose a kind of general robot coordinated control system of seven axles redundancy industrial, by fortune
The multi-axis interpolation motion control function of dynamic control module, can realize the precise control of control system movement locus, while making each
More accurate location following and speed follower control are realized in axle motion process, seven high-precision controls of kinematic axis are realized
And the motor coordination between them is taken into account, it is achieved thereby that the movement locus control of response.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
The general robot coordinated control system of seven axles redundancy industrial, including power module, industrial computer, UMAC controllers, watch
Take driver, motor, limit sensors, security module, PLC and teaching box；
The power module and the industrial computer, UMAC controllers, servo-driver, motor, security module, PLC
Controller and teaching box are electrically connected；
The UMAC controllers are connected with the servo-driver and limit sensors signal respectively, in the UMAC controllers
Axle card is provided with, the UMAC controllers send control instruction by axle card to the servo-driver, and are somebody's turn to do by axle clamping
The feedback signal of servo-driver and the positional information for receiving limit sensors；
The industrial computer is connected by network interface with the UMAC controller networks, and the industrial computer is sent out to UMAC controllers
Control instruction is sent, and receives the feedback signal of servo-driver；
The servo-driver is connected with the motor signal；
The industrial computer is connected with the teaching box signal；
The security module is connected with the UMAC controllers and PLC signal, and the UMAC controllers and PLC are controlled
Device processed is connected with the industrial computer signal.
Further, the power module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V power supply moulds
Block, 15V energy supply control modules and breaker；
Transformer is provided with the power distribution cabinet, the power output end of the power distribution cabinet passes through breaker and the separated time busbar
Input electrical connection；
The separated time busbar includes multichannel single-phase output and all the way three-phase output, separated time busbar single-phase output Zhong Ji roads
Electrically connected with the band-type brake power module, 24V energy supply control modules and 15V energy supply control modules respectively, the band-type brake power supply mould
Block, energy supply control module and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on the separated time busbar and all the way three-phase output output single-phase 220V alternating currents respectively
Or three-phase 220V alternating currents.
Further, the UMAC controllers pass through single-phase output all the way, the 24V of relay or contactor by separated time busbar
Energy supply control module and 15V energy supply control modules provide power supply.
Further, the PLC passes through the single-phase output all the way and 24V of relay or contactor by separated time busbar
Energy supply control module provides power supply.
Further, the industrial computer is provided by relay or contactor by the single-phase output all the way of the separated time busbar
Power supply.
Further, the servo-driver passes through relay or contactor by the single all the way of the separated time busbar output end
Mutually output and all the way three-phase output and 24V energy supply control modules offer power supply.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes fan and lighting device,
The output end of the fan and lighting device respectively with the separated time busbar is electrically connected.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes band-type brake, and the band-type brake leads to
Relay or contactor is crossed to be electrically connected with the output end of the band-type brake power module.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes switch, button and instruction
Lamp, the switch, button and indicator lamp are electrically connected with the 24V energy supply control modules respectively.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes guard grating, the safety
Grid are electrically connected with the 24V energy supply control modules.
Further, the security module includes safety switch, limit switch alarm module, driver alarm module, urgency
Stop alarm module and hand automatic switching module, the safety switch, limit switch alarm module and drive alarm module with it is described
UMAC controller signals are connected, and the UMAC controllers are connected with the PLC signal, the urgent-stop alarm module and hand
Automatic switching module is connected with the PLC signal, the industrial computer and the UMAC controllers and PLC signal
Connection.
Relative to prior art, the general robot coordinated control system of seven axles redundancy industrial of the present invention has following
Advantage：
(1) the general robot coordinated control system of seven axles redundancy industrial of the present invention, by UMAC controllers, servo
Communication between driver and industrial computer coordinates, and realizes the precise control of seven axle redundancy industrial robot motions.
(2) the general robot coordinated control system of seven axles redundancy industrial of the present invention, by specific button, instruction
Lamp and limit sensors, with reference to jointly controlling for UMAC controllers, PLC and industrial computer, realize seven axle redundancy industrial machines
The safety management of device people and virtual protection.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the robot coordinated control system principle schematic of general seven axles redundancy industrial described in the embodiment of the present invention；
Fig. 2 is the power module principle schematic described in the embodiment of the present invention；
Fig. 3 is that the robot coordinated control system control principle of general seven axles redundancy industrial described in the embodiment of the present invention is illustrated
Figure.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 to 3, the present invention includes power module, industrial computer, UMAC controllers, servo-driver, driving electricity
Machine, limit sensors, security module, PLC and teaching box；
Power module and industrial computer, UMAC controllers, servo-driver, motor, security module, PLC and
Teaching box is electrically connected；
UMAC controllers are connected with servo-driver and limit sensors signal respectively, and axle is provided with the UMAC controllers
Card, UMAC controllers send control instruction by axle card to servo-driver, and by axle clamping by the anti-of the servo-driver
Feedback signal and the positional information for receiving limit sensors；
Industrial computer is connected by network interface with UMAC controller networks, and the industrial computer sends control and refers to UMAC controllers
Order, and receive the feedback signal of servo-driver；
Servo-driver is connected with motor signal；
Industrial computer is connected with teaching box signal；
Security module is connected with UMAC controllers and PLC signal, UMAC controllers and PLC and industrial computer
Signal is connected.
Power module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V energy supply control modules, 15V power supplies
Module and breaker；
Transformer is provided with power distribution cabinet, the power output end of power distribution cabinet is electrically connected by breaker with the input of separated time busbar
Connect；
Separated time busbar includes multichannel single-phase output and all the way three-phase output, separated time busbar single-phase output Zhong Ji roads difference
Electrically connected with band-type brake power module, 24V energy supply control modules and 15V energy supply control modules, band-type brake power module, power supply mould
Block and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on separated time busbar and all the way three-phase output output single-phase 220V alternating currents or three respectively
Phase 220V alternating currents.
UMAC controllers pass through single-phase output all the way, the 24V energy supply control modules of relay or contactor by separated time busbar
Power supply is provided with 15V energy supply control modules.
PLC passes through the single-phase output all the way and 24V energy supply control modules of relay or contactor by separated time busbar
Power supply is provided.
Industrial computer provides power supply by relay or contactor by the single-phase output all the way of separated time busbar.
Servo-driver by relay or contactor by separated time busbar output end single-phase output all the way and three-phase all the way
Output and 24V energy supply control modules provide power supply.
The general robot coordinated control system of seven axles redundancy industrial also includes fan and lighting device, fan and lighting device
The output end with separated time busbar is electrically connected respectively.
The general robot coordinated control system of seven axles redundancy industrial also includes band-type brake, band-type brake by relay or contactor with
The output end electrical connection of band-type brake power module.
The general robot coordinated control system of seven axles redundancy industrial also includes switch, button and indicator lamp, switch, button and
Indicator lamp is electrically connected with 24V energy supply control modules respectively.
The general robot coordinated control system of seven axles redundancy industrial also includes guard grating, guard grating and 24V power supply moulds
Block is electrically connected.
Security module includes safety switch, limit switch alarm module, driver alarm module, urgent-stop alarm module and hand
Automatic switching module, safety switch, limit switch alarm module and driving alarm module are connected with UMAC controller signals, UMAC
Controller is connected with PLC signal, and urgent-stop alarm module and hand automatic switching module are connected with PLC signal, work
Control machine is connected with UMAC controllers and PLC signal.
UMAC controllers, industrial computer, servo-driver and teaching box collectively form kinetic control system, wherein UMAC controls
Device is the center of motion control, and UMAC controllers control corresponding servomotor, UMAC controls by controlling servo-driver
The I/O modules of device itself can realize corresponding security control by some limit sensors, in this kinetic control system
Pilot controller is industrial computer and teaching box.
UMAC controllers send control instruction to driver and control it to perform corresponding movement output by axle card, together
When, closed-loop control is realized by the feedback of axle clamping device driven.UMAC controllers pass through the specific interface monitor servo of axle card
The signal condition of the running status of driver and corresponding limit sensors.
Industrial computer can carry out ethernet communication by Ethernet interfaces and UMAC controllers, therefore industrial computer can be transmitted control
Instruct to UMAC controllers to realize the purpose of indirect control servo-driver, while also may be used by ethernet communication industrial computer
To receive the feedback information of UMAC controllers.
Servo-driver receives the control instruction that UMAC controllers are sent, and drives corresponding servomotor, by coding
Device come realize particular track move.Meanwhile, the encoder data that be transmitted back to for motor by driver is by corresponding interface and always
Line feeds back to UMAC controllers and industrial computer, so as to realize the precise control of whole kinetic control system.
Security module, UMAC controllers, PLC and industrial computer constitute safety management system, including jerk, UMAC works
Make exception, malleation abnormal alarm, PLC and the super spacing alarm of IPC communication abnormalities, motor, driver to alarm, fatal follow
The logic control program treatment safety switch of error alarm, teaching machine and the alarm of IPC communication abnormalities, wherein UMAC controllers, and
UMAC controllers send UMAC operation irregularity signals to PLC, and PLC treatment UMAC operation irregularities, jerk, industrial computer are different
Often, and with industrial computer treatment hand automatic switchover work is coordinated.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. the general robot coordinated control system of seven axles redundancy industrial, it is characterised in that：Including power module, industrial computer, UMAC
Controller, servo-driver, motor, limit sensors, security module, PLC and teaching box；
The power module is controlled with the industrial computer, UMAC controllers, servo-driver, motor, security module, PLC
Device and teaching box are electrically connected；
The UMAC controllers are connected with the servo-driver and limit sensors signal respectively, are provided with the UMAC controllers
Axle card, the UMAC controllers send control instruction by axle card to the servo-driver, and receive the servo by axle clamping
The feedback signal of driver and the positional information for receiving limit sensors；
The industrial computer is connected by network interface with the UMAC controller networks, and the industrial computer sends to UMAC controllers and controls
System instruction, and receive the feedback signal of servo-driver；
The servo-driver is connected with the motor signal；
The industrial computer is connected with the teaching box signal；
The security module is connected with the UMAC controllers and PLC signal, the UMAC controllers and PLC
It is connected with the industrial computer signal.
2. the general robot coordinated control system of seven axles redundancy industrial according to claim 1, it is characterised in that：The electricity
Source module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V energy supply control modules, 15V energy supply control modules and open circuit
Device；
Transformer is provided with the power distribution cabinet, the power output end of the power distribution cabinet is defeated with the separated time busbar by breaker
Enter end electrical connection；
The separated time busbar includes multichannel single-phase output and all the way three-phase output, separated time busbar single-phase output Zhong Ji roads difference
Electrically connected with the band-type brake power module, 24V energy supply control modules and 15V energy supply control modules, the band-type brake power module, electricity
Source control module and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on the separated time busbar and all the way three-phase output output single-phase 220V alternating currents or three respectively
Phase 220V alternating currents.
3. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described
UMAC controllers are by relay or contactor by the single-phase output all the way of separated time busbar, 24V energy supply control modules and 15V power supplys
Control module provides power supply.
4. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described
PLC provides power supply by relay or contactor by the single-phase output all the way and 24V energy supply control modules of separated time busbar.
5. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：The work
Control machine provides power supply by relay or contactor by the single-phase output all the way of the separated time busbar.
6. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described to watch
Take driver by relay or contactor by the separated time busbar output end single-phase output all the way and all the way three-phase output with
And 24V energy supply control modules provide power supply.
7. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
The output end of fan and lighting device, the fan and lighting device respectively with the separated time busbar is electrically connected.
8. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
Switch, button and indicator lamp, the switch, button and indicator lamp are electrically connected with the 24V energy supply control modules respectively.
9. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
Guard grating, the guard grating is electrically connected with the 24V energy supply control modules.
10. the general robot coordinated control system of seven axles redundancy industrial according to claim 1, it is characterised in that：It is described
Security module includes that safety switch, limit switch alarm module, driver alarm module, urgent-stop alarm module and hand automatically switch
Module, the safety switch, limit switch alarm module and driving alarm module are connected with the UMAC controller signals, described
UMAC controllers are connected with the PLC signal, and the urgent-stop alarm module and hand automatic switching module are controlled with the PLC
Device signal connection processed, the industrial computer is connected with the UMAC controllers and PLC signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019551.6A CN106707972A (en) | 2017-01-10 | 2017-01-10 | Universal seven-axis redundant industrial robot coordinated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019551.6A CN106707972A (en) | 2017-01-10 | 2017-01-10 | Universal seven-axis redundant industrial robot coordinated control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106707972A true CN106707972A (en) | 2017-05-24 |
Family
ID=58907233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019551.6A Pending CN106707972A (en) | 2017-01-10 | 2017-01-10 | Universal seven-axis redundant industrial robot coordinated control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112099404A (en) * | 2020-09-10 | 2020-12-18 | 敬科(深圳)机器人科技有限公司 | Safety controller for robot |
| CN112432957A (en) * | 2020-12-10 | 2021-03-02 | 苏州特斯捷电子科技有限公司 | Tin ball automatic check out system |
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