CN107081757A - Control system for robot palletizer - Google Patents
Control system for robot palletizer Download PDFInfo
- Publication number
- CN107081757A CN107081757A CN201710349079.2A CN201710349079A CN107081757A CN 107081757 A CN107081757 A CN 107081757A CN 201710349079 A CN201710349079 A CN 201710349079A CN 107081757 A CN107081757 A CN 107081757A
- Authority
- CN
- China
- Prior art keywords
- servo
- industrial computer
- driver
- control card
- motion control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The present invention relates to robot palletizer control field, a kind of control system for robot palletizer is disclosed, the current position of each axle is just can know that without Aligning control after robot power-off.The present invention includes industrial computer, multi-axis motion control card, servo-driver, servomotor, teaching machine, sensor and controlling switch；Servomotor is the servomotor using absolute value encoder；Multi-axis motion control card is arranged on industrial computer and connection communication；Industrial computer is connected with teaching machine by communication cable；Industrial computer is connected with servo-driver by bus；Multi-axis motion control card is connected with terminal board by communication cable；Terminal board is connected with servo-driver, sensor and controlling switch by digital input-output interface；Industrial computer reads absolute value encoder positional information by bus from servo-driver, and the positional information of each axle is write into multi-axis motion control card, realizes that position is synchronous.The present invention is applied to multiaxis robot palletizer.
Description
Technical field
The present invention relates to robot palletizer control field, the more particularly to control system for robot palletizer.
Background technology
China has turned into the big industrial robot demand state of the first in the world, and market development is stable.But robot of China is ground
Study carefully relatively low with application level ratio, market is mainly captured by foreign brand name, and domestic brand robot is in sales volume, sales volume and production
In terms of product quality, there is very big room for promotion.
At present, the framework of " computer+motion control card " is used the Multi-axis motion control method of robot palletizer, it has more
Have the advantages that reliability is high, information processing capability is strong, degree of opening is high, movement locus is accurate.Current Domestic support is driven with servo
Dynamic device carries out the motion control card of high-speed bus communications seldom, and the bus that each brand servo-driver is supported is not fully
Equally, common pulsed servo-driver is generally connected by pulse pinboard, servomotor is typically encoded using increment type
Device, this mode industrial computer can not read the encoder current location in servo-driver by multi-axis motion control card, only
Sent pulse can be changed to encoder position after system electrification to count.During robot power-off restarting, motion control
Fabrication can not remember the current position of each axle so start is needed to each axle Aligning control of robot every time.
The content of the invention
The technical problem to be solved in the present invention is：A kind of control system for robot palletizer, robot power-off are provided
The current position of each axle is just can know that without Aligning control afterwards.
To solve the above problems, the technical solution adopted by the present invention is：For the control system of robot palletizer, including work
Control machine, multi-axis motion control card, servo-driver, servomotor, teaching machine, sensor and controlling switch；Servomotor is to adopt
With the servomotor of absolute value encoder；Multi-axis motion control card is arranged on industrial computer and connection communication；Industrial computer and teaching
Device is connected by communication cable；Industrial computer is connected with servo-driver by bus；Multi-axis motion control card and terminal board
It is connected by communication cable；Terminal board passes through digital input-output interface phase with servo-driver, sensor and controlling switch
Connection, servo-driver is connected by cable with servomotor；
Industrial computer reads the positional information of absolute value encoder on servomotor by bus from servo-driver, and will be every
The positional information write-in multi-axis motion control card of individual axle, realizes that position is synchronous.
Further, industrial computer is connected with servo-driver by RS485 buses.
Further, industrial computer is connected with multi-axis motion control card by pci bus.
Further, the quantity of servo-driver and servomotor is 4.
Further, the teaching machine is made up of liquid crystal touch screen and one group of button switch.
The beneficial effects of the invention are as follows：Hardware selection of the present invention flexibly, can select not supporting to carry out with servo-driver
The common motion control card of high-speed bus communications, can select not supporting the common pulsed servo-drive of high-speed bus communications
Device, when system cut-off restarts, industrial computer can be read exhausted on each servomotor by RS485 buses and servo-driver
To being worth the currency of encoder, and the currency of each axle is synchronized to motion control card, so when robot starts shooting every time not
Need just to can know that each axle Aligning control the current location of each axle；Simultaneously the present invention additionally increase origin switch, spacing open
The hardware such as pass and increase wiring, therefore saved cost and simplified system wiring.
Brief description of the drawings
Fig. 1 is the structured flowchart of embodiment.
The structured flowchart for the software that Fig. 2 is loaded by system in embodiment.
Embodiment
Embodiment provides a kind of control system for robot palletizer, as shown in figure 1, including industrial computer, four axes motion
Control card, servo-driver, servomotor, teaching machine, sensor and controlling switch；Servomotor is to use absolute encoder
Device；Four-axis movement control card is arranged on industrial computer, and industrial computer is connected with multi-axis motion control card by pci bus；Work
Control machine is connected with teaching machine by communication cable；Industrial computer is connected with servo-driver by RS485 buses；Four axes motion
Control card is connected with terminal board by communication cable；Terminal board passes through numeral with servo-driver, sensor and controlling switch
Input/output interface is connected；Four servo-drivers are connected with four servomotors respectively by cable.
When system works, industrial computer reads the absolute encoder on servomotor by RS485 buses from servo-driver
Device positional information, and the positional information of each axle is write into motion control card, realize that position is synchronous.Four-axis movement control card is used
Four servomotors can be carried out coordination control by general four-axis movement control card simultaneously.Four-axis movement control card is received and come from
The motion planning information of industrial computer, the motion control arithmetic specified according to industrial computer and parameter generation Serve Motor Control signal,
Each servo-driver is sent to by signal cable, each servomotor coordinated movement of various economic factors is controlled.It is each that four-axis movement control card is gathered
The status signals such as position, the speed of servomotor send industrial computer to by pci bus, and it is judged as decision-making for system software
With.
Servo-driver is servo-driver and motor point in the auxiliary products of AC servo motor used in robot, this example
Driver and its supporting motor that Shi Yong be not serial ESTUN companies ProNet.
Teaching machine is made up of liquid crystal touch screen and one group of button switch, for robot location's teaching and presentation of information, ginseng
Number setting, is connected by dedicated communications cable with industrial computer.Button switch includes China's industrial robot safety standard defined
Emergency stop button, three safety switches, and mode selection switch, speed switching push button, input validation button etc. be conventional
Load button is switched.The signal that so-called dedicated communications cable is transmitted includes the standard VGA interface signal needed for liquid crystal display, touch
PS/2 interface signals needed for input equipment and the digital quantity signal for button switch etc..Figure circle shown by teaching machine
Face is directly generated by industrial computer, and the liquid crystal touch screen that is received, the input information of button switch are sent directly to industrial computer progress
Processing.
Emergency stop button, pallet detection sensor, the hand that each sensor and controlling switch refer to install throughout are grabbed out
The various types of signal input units such as detection sensor, material detection sensor are closed, and hand grabs the pneumatic operated valve of folding control, conveyer belt
The signal output apparatus such as control device.
As shown in Fig. 2 the software that system is loaded uses modeled programming, it may include following functions module：
First, parameter initialization submodule, user can be every by parameter initialization submodule completion on teaching machine
The setting of parameter, standby point, pile disk origin and crawl point coordinates can both have been inputted and can also set by way of teaching.
2nd, data block editor submodule, user can by the data block editor submodule complete want palletized products information,
Pile disk information and stacking starting wire size, level number, the setting of Bale No. and the selection of pile type.
3rd, automatic running submodule, the automatic running submodule is according to the characteristics of parameter and the palletizing operation of setting pair
The operation of robot is controlled shows current operating conditions during palletizing operation, automatic running to realize on teaching machine, and
Allow to stop immediately or the complete pile of code stops again.
4th, maintenance submodule, the maintenance submodule permission user checks all inputs of motion control card
Whether signal is normal, it is allowed to which the individually operated each executing agency of user sees whether its action is normal.
5th, abnormality processing submodule, the abnormality processing submodule can be soft spacing to the progress of each axle, can be in machine
Shut down in time during people's operation exception, can people enter robot working range in when autostop.
The general principle and main feature of the present invention is the foregoing described, the description of specification simply illustrates the original of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.
Claims (5)
1. the control system for robot palletizer, it is characterised in that including industrial computer, multi-axis motion control card, servo-drive
Device, servomotor, teaching machine, sensor and controlling switch；Servomotor is the servomotor using absolute value encoder；Multiaxis
Motion control card is arranged on industrial computer and connection communication；Industrial computer is connected with teaching machine by communication cable；Industrial computer with
Servo-driver is connected by bus；Multi-axis motion control card is connected with terminal board by communication cable；Terminal board is with watching
Take driver, sensor with controlling switch by digital input-output interface to be connected, servo-driver passes through cable and servo
Motor connection；
Industrial computer reads the positional information of absolute value encoder on servomotor by bus from servo-driver, and by each axle
Positional information write-in multi-axis motion control card, realize that position is synchronous.
2. the control system according to claim 1 for robot palletizer, it is characterised in that industrial computer and servo-drive
Device is connected by RS485 buses.
3. the control system according to claim 1 for robot palletizer, it is characterised in that industrial computer and multiaxial motion
Control card is connected by pci bus.
4. the control system according to claim 1 for robot palletizer, it is characterised in that multi-axis motion control card is
The quantity of four-axis movement control card, servo-driver and servomotor is 4.
5. the control system according to claim 1 for robot palletizer, it is characterised in that the teaching machine is by liquid crystal
Touch-screen and one group of button switch composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710349079.2A CN107081757A (en) | 2017-05-17 | 2017-05-17 | Control system for robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710349079.2A CN107081757A (en) | 2017-05-17 | 2017-05-17 | Control system for robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081757A true CN107081757A (en) | 2017-08-22 |
Family
ID=59607595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710349079.2A Withdrawn CN107081757A (en) | 2017-05-17 | 2017-05-17 | Control system for robot palletizer |
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| CN (1) | CN107081757A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108147143A (en) * | 2017-12-19 | 2018-06-12 | 合肥泰禾光电科技股份有限公司 | A kind of automatic stacking machine people's control system |
| CN108568818A (en) * | 2018-04-10 | 2018-09-25 | 珠海格力智能装备有限公司 | The control system and method for robot |
| CN108845543A (en) * | 2018-08-17 | 2018-11-20 | 芜湖安普机器人产业技术研究院有限公司 | A kind of four axis punching press feeding robot electric control systems |
| CN110515314A (en) * | 2018-05-22 | 2019-11-29 | 上海优爱宝智能机器人科技股份有限公司 | Distributed Servo control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108147143A (en) * | 2017-12-19 | 2018-06-12 | 合肥泰禾光电科技股份有限公司 | A kind of automatic stacking machine people's control system |
| CN108147143B (en) * | 2017-12-19 | 2020-02-14 | 合肥泰禾光电科技股份有限公司 | Automatic pile up neatly machine people control system |
| CN108568818A (en) * | 2018-04-10 | 2018-09-25 | 珠海格力智能装备有限公司 | The control system and method for robot |
| CN110515314A (en) * | 2018-05-22 | 2019-11-29 | 上海优爱宝智能机器人科技股份有限公司 | Distributed Servo control system |
| CN108845543A (en) * | 2018-08-17 | 2018-11-20 | 芜湖安普机器人产业技术研究院有限公司 | A kind of four axis punching press feeding robot electric control systems |
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No. 909, section 4, xihanggang Avenue, Shuangliu District, Chengdu, Sichuan 610207 Applicant after: Chengdu Ruidi Zhiqu Technology Co.,Ltd. Address before: No. 909, section 4, xihanggang Avenue, Shuangliu District, Chengdu, Sichuan 610000 Applicant before: CHENGDU REACH MACHINERY CO.,LTD. |
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170822 |