CN107688313A - A kind of opened industrial robot controller - Google Patents
A kind of opened industrial robot controller Download PDFInfo
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- CN107688313A CN107688313A CN201710890933.6A CN201710890933A CN107688313A CN 107688313 A CN107688313 A CN 107688313A CN 201710890933 A CN201710890933 A CN 201710890933A CN 107688313 A CN107688313 A CN 107688313A
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- Prior art keywords
- master controller
- control
- axle driving
- industrial robot
- robot
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21014—Interface, module with relays
-
- 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
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25174—Ethernet
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25176—RS485, differential data signals, xor
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25242—Relay
Abstract
The invention discloses a kind of opened industrial robot controller, including teaching programing system, master controller, axle driving plate and I/O expansion board, high-end ARM chips built in the teaching programing system, and communicated based on Ethernet with master controller using C/S model, high-end dsp chip built in master controller, master controller is communicated to connect by multiple axle driving plates of internal bus and robot, and axle driving plate is driven by pulse signal to multipath servo motor, STM32 chips built in axle driving plate；The master controller is provided with Ethernet interface, digital I/O ports and multichannel RS485 COM1s, and master controller is connected by RS485 COM1s and RS485 buses and the I/O expansion board of tandem type, the beneficial effects of the invention are as follows：Meet open, intelligentized robot control system architectural framework platform, based on modular design thinking, sector application technique can flexible expansion, support the autonomous definition process bag of producer, form robot control system extension and customization capability that different purposes are oriented to.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specifically a kind of opened industrial robot controller.
Background technology
In recent years, technological progress, market competition, labor shortage and cost increase etc. expedite the emergence of automation demanding not broken height
Rise, in order to reduce cost, improve efficiency, while ensure product manufacturing quality, unmanned, few peopleization can not as industrial circle
The trend of stop, every country are all promoting the intelligence manufacture plan based on CPS (Cyber-Physical Systems), Europe
With the German industry 4.0 promoted mainly for representative, China is referred to as made in China 2025, also has U.S., daily has similar state plan.
Intelligence manufacture be unable to do without robot, it is necessary to has the flexibility of robot, as important elements, is only possible to realize intelligent system
Make, and the embodiment of robot flexibility, whether the emphasis people's controller that minds the machine possesses such ability.
Towards the robot controller of commercial Application, robot task editor, planning, control, execution, monitoring work(need to be provided
Can, and can or peripheral equipment cooperation interaction attached with robot.The core control part of accurate operation is realized as robot, certainly
The efficiency of robot motion and Job execution handling process, intelligent and diversity are determined, have been robot product technical advance
Primary determinant.The robot of industrial circle application is based on 4 to 6 axis robots, this kind of robot market competition in recent years
Fierceness, especially Chinese market, each producer of robot is controlled product cost very strictly, to tackle keen competition, control
Device is as core component also necessary strict control cost, while also need lifting system disposal ability and autgmentability, to tackle market
Diverse requirements.Current American-European-Japanese mainstream vendor's controller system closing, cost are higher, it is difficult to meet domestic industry robot market
Demand, and the common robot control system based on X86 architectural frameworks on Vehicles Collected from Market, cost is high, system architecture ossifys, property
Valency is than relatively low.
Patent CN03100077 elaborates design concept with regard to open architecture robot controller, is based primarily upon real-time linux systems
System characteristic, carry out the design of system software functional organization and illustrate.What patent 200810161105.X was proposed possesses tutorial function
Robot controller, the closing of its structure is only capable of handling 6+2 humanoid robots and additional shaft and controls, multiaxis extended capability and multimachine
Device people's cooperative ability does not have, and does not possess extended capability.The control that Epson proposes in its patent CN201010225775.4
Device, it is only capable of controlling 6 axle robots, the closing of its structure, does not possess extended capability.Patent CN201110172333.9 proposes a open
Put formula controller, its based on PC+ motion control cards form structure, system architecture determine exploitation with scalability restrict compared with
Greatly, and cost is higher.Patent CN201310052729.9 proposes a kind of robot controller, and the controller is based on ARM chips system
System structure, core processor need to complete touch control screen and robotically-driven control process, its limited capacity, only can be suitably used for
Low-end applications.CN201410667272 proposes a kind of 6DOF parallel robot nonshared control unit, the controller specific aim compared with
By force, do not possess extended capability to all kinds of configurations and multi-machine collaborative.In general, towards the robot control system of commercial Application,
Higher is required to safety and reliability, due to the continuity of earlier technique, architecture flexibility at present is not weighed effectively
Depending on.In recent years, towards intelligent manufacturing system variation and flexibility requirement, to control system opening, scalability, control pair
As diversity etc. proposes high requirement, industrial robot control system shaping-orientation must take into consideration such application demand.
The content of the invention
It is an object of the invention to provide a kind of opened industrial robot controller, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical scheme：
A kind of opened industrial robot controller, including teaching programing system, master controller, axle driving plate and I/O expand
Panel, high-end ARM chips built in the teaching programing system, and communicated based on Ethernet with master controller using C/S model, it is main
High-end dsp chip built in controller, master controller are communicated to connect by multiple axle driving plates of internal bus and robot, and axle drives
Dynamic plate is driven by pulse signal to multipath servo motor, STM32 chips built in axle driving plate；Set on the master controller
There are Ethernet interface, digital I/O ports and multichannel RS485 COM1s, master controller to pass through RS485 COM1s and RS485
Bus and the I/O expansion board of tandem type connect, and I/O expansion board with field apparatus or sensor being connected.
As the further scheme of the present invention：The teaching programing system includes color touch screen, mode selector switch, urgency
Stop button, system control button and axle driving button, mode selector switch to be used in manual control, program control control and remote control
Switched between Three models, axle driving button is used for drive shaft control panel.
As further scheme of the invention：The master controller passes through Open network architecture and external management and monitoring
PC communicates, for providing the monitoring and management of local device state for upper management system.
As further scheme of the invention：The teaching programing system has warm connection function.
As further scheme of the invention：USB interface is additionally provided with the teaching programing system.
As further scheme of the invention：Also include being used for system jerk safety circuit signal and motor internal contracting brake electricity
The safety relay control panel of road signal input and output, safety relay control panel are electrically connected with master controller and teaching programming
System, and safety relay control panel is based on the safe jerk circuit design of dual redundant.
After jerk is pressed, reliable motor driving shut-off and band-type brake can be ensured, safeguards system is safe to use, jerk circuit branch
Multichannel extension is held, the place that can be beneficial to operation at control cabinet, operating desk scene respectively is disposed.
Compared with prior art, the beneficial effects of the invention are as follows：(1) the pluggable design of teaching programing system, reality can be supported
The exchange of existing teaching programing system is connected with more master controllers, realizes that a machine is controlled more；
(2) Ethernet open communication mode is based on, robot master controller supports distal end task and system status monitoring,
It is easy to live execution system Centralized Monitoring to dispose；
(3) front end and Master Communications mode are realized based on Ethernet, is follow-up man-machine interaction front end flexible expansion and manufacture
Presence information system interconnection is provided convenience；
(4) mode based on bus extension axle driving plate, the driving number of axle, the drive of flexible expansion, up to 15 axles can be directed to
Kinetic force, the work station application that all kinds of humanoid robots can be supported to be combined with outside axle, or even dual robot Cooperation controlling；
(5) embedded chip constructing system is based on, and uses distributed axle drive control mode, is reducing the premise of cost
Under, performance is not lost, and system reconfiguration, configuration can be supported, meet open architecture controller demand；
(6) open, intelligentized robot control system architectural framework platform is met, based on modular design thinking,
Sector application technique can flexible expansion, support producer autonomous definition process bag, form the control system of robot that different purposes are oriented to
System extension and customization capability；
(7) system supports point, line, circular arc, the teaching of batten track, and S-shaped acceleration and deceleration motion is smooth, and it is flexible to swing state modulator
Intuitively, system carries welding procedure bag, can support the integrated applications such as the carrying of user's rapid deployment, welding, loading and unloading, polishing.
Brief description of the drawings
Fig. 1 is a kind of structural representation of opened industrial robot controller.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Referring to Fig. 1, in the embodiment of the present invention, a kind of opened industrial robot controller, including teaching programing system,
Master controller, axle driving plate and I/O expansion board, (the present embodiment uses high-end ARM chips built in the teaching programing system
AM3354 chips), and communicated based on Ethernet with master controller using C/S model, high-end dsp chip built in master controller is main
Controller is communicated to connect by multiple axle driving plates of internal bus (the present embodiment uses CAN) and robot, axle driving
Plate is driven by pulse signal to multipath servo motor, STM32 chips built in axle driving plate, complete pulse subdivision with it is smooth
Output, while servo condition monitoring, encoder pulse signal response processing are completed, reduce the calculating and communication of master controller chip
Processing load, ensures the real-time of master controller multimode task concurrent processing, while has also ensured that multipath servo motor drives
The reliable execution handled in real time parallel with transducing signal, the code device signal of master controller receive axle driving plate collection, complete anti-
Feedback, which controls, to be calculated, and according to target trajectory requirement and control law result of calculation, is sent differential driving and instructed to axle driving plate, axle drive
Dynamic hardened conjunction SERVO CONTROL circulation carries out pulse subdivision and smoothly exported；Multiple axle driving plates can be in teaching programing system control interface
Configured, parameter is driven according to robot modeling and outside axle, can be combined and realize various configuration robot configurations, configuration
Data are issued to master controller by teaching programing system, and master controller is according to structure parameters, using corresponding kinematics and power
Learn and calculate, realize that the forward direction of control object calculates with reverse, such a framework, can flexibly realize and all kinds of configurations and periphery motor are driven
The control of dynamic equipment, and support the controllable number of axle to cut and extend, directly support the machine combined comprising robot or multiaxis
The control of device people work station, particular device；
The master controller is provided with Ethernet interface, digital I/O ports and multichannel RS485 COM1s, master controller
Connected by RS485 COM1s and RS485 buses and the I/O expansion board of tandem type, realize 8 tunnels simulation I/O, 16 railway digital I/
The demands for control such as O, maximum support 64 railway digital I/O, because I/O expansion board is tandem type, if therefore user still have more points
I/O demands for control, it is only necessary to carry out system configuration, you can expand resource processing border, ensure that any Single Point of Faliure does not influence urgency
Stop input action, I/O expansion board with field apparatus or sensor being connected.
The teaching programing system includes color touch screen, mode selector switch, scram button, system control button and axle
Button is driven, mode selector switch is used between manual control, program control control and remote control Three models switch over, axle
Driving button is used for drive shaft control panel, and under MANUAL CONTROL mode, user can drive button by axle, drive each controlled shaft driving
Plate, reach object pose after, can pickup robot or the current pose data of axle driving plate, complete program control reference record, also only have
In a manual mode, the program control task teaching programming of robot can be completed；Under program control control model, teaching programmed tasks can be started,
Carry out dry run inspection, and normal operation control；Under distance control mode, user can be based on remote I/O reservation signal, swash
Reservation configuration task living, program control task with preengaging digital input signals mapping relations, it is necessary to be configured in teaching-programming pendant,
When reservation input is effective, the corresponding program control task of configuration is activated, the task is added pending queue by master control, and program control task can press
According to reservation signal activation sequence, perform successively, under distance control mode, being especially suitable for the control of multistation different operation assignments should
With after clamping workpiece is changed, you can reservation performs, multistation rotation, efficiently convenient.
The master controller is communicated by Open network architecture with external management and monitoring PC, can be supervised by external management
Control PC and read master controller internal state data, be easy to build field management monitoring network.
The teaching programing system has warm connection function, can connect and connect live any one master controller, be led
Controller task management and programming, you can realize a teaching programing system management Duo Tai robot, can also reduce cost, simultaneously
Reduce the loss that delays work that live teaching programing system accidental damage is brought.
USB interface is additionally provided with the teaching programing system, the program control assignment file of user writable can be supported, be easy to producing line one
Cause operation unit Task Duplication, and configuration data copy download.
A kind of opened industrial robot controller, in addition to for system jerk safety circuit signal and motor internal contracting brake
Circuit signal inputs the safety relay control panel with output, after jerk is pressed, can ensure reliable motor driving shut-off and embrace
Lock, safeguards system is safe to use, and jerk circuit supports multichannel extension, can be beneficial to operation at control cabinet, operating desk scene respectively
Place disposed.
The present invention operation principle be：Teaching machine provides robot and configured with peripheral workbench shafting configuration, and user only needs
Input robot and the configuration of workbench structure parameters, motor type, shafting speed reducing ratio, range of motion, encoder configuration etc.
Control parameter, and the I/O signal electrical characteristic such as each axle servo is enabled, band-type brake, you can be rapidly completed control object configuration, pass through
Simple debugging is verified with test, you can starts to apply.It is configurable to be supported with expansible characteristic, can make complete set manufacturer of robot,
System integrator, terminal user carry out flexible customization and adjustment, can support that producing line is flexible according to robot workstation's application demand
Restructuring, increases investment returns.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (6)
1. a kind of opened industrial robot controller, including teaching programing system, master controller, axle driving plate and I/O extensions
Plate, it is characterised in that high-end ARM chips built in the teaching programing system, and C/S moulds are used with master controller based on Ethernet
Formula communicates, high-end dsp chip built in master controller, and master controller drives board communications by multiple axles of internal bus and robot
Connection, axle driving plate are driven by pulse signal to multipath servo motor, STM32 chips built in axle driving plate；The master
Controller is provided with Ethernet interface, digital I/O ports and multichannel RS485 COM1s, master controller and passes through RS485 communication ends
Mouthful and RS485 buses and the connection of the I/O expansion board of tandem type, I/O expansion board with field apparatus or sensor being connected.
A kind of 2. opened industrial robot controller according to claim 1, it is characterised in that the teaching programming system
System includes color touch screen, mode selector switch, scram button, system control button and axle driving button, mode selector switch
For being switched between manual control, program control control and remote control Three models, axle driving button is used for drive shaft control
Making sheet.
3. a kind of opened industrial robot controller according to claim 1, it is characterised in that the master controller leads to
Cross Open network architecture to communicate with external management and monitoring PC, for providing the monitoring of local device state for upper management system
With management.
A kind of 4. opened industrial robot controller according to claim 1, it is characterised in that the teaching programming system
System has warm connection function.
A kind of 5. opened industrial robot controller according to claim 4, it is characterised in that the teaching programming system
USB interface is additionally provided with system.
6. according to a kind of any described opened industrial robot controllers of claim 1-5, it is characterised in that also include using
In to system jerk safety circuit signal and motor internal contracting brake circuit signal input with export safety relay control panel, safety after
Appliance controling plate is electrically connected with master controller and teaching programing system, and safety relay control panel is based on the safe jerk of dual redundant
Circuit design.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710890933.6A CN107688313A (en) | 2017-09-27 | 2017-09-27 | A kind of opened industrial robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710890933.6A CN107688313A (en) | 2017-09-27 | 2017-09-27 | A kind of opened industrial robot controller |
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| CN107688313A true CN107688313A (en) | 2018-02-13 |
Family
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| CN201710890933.6A Pending CN107688313A (en) | 2017-09-27 | 2017-09-27 | A kind of opened industrial robot controller |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN109848960A (en) * | 2018-12-17 | 2019-06-07 | 珠海格力电器股份有限公司 | A kind of plug-and-play circuit and its control method for industrial robot teaching device |
| CN110824900A (en) * | 2019-11-12 | 2020-02-21 | 佛山智能装备技术研究院 | Automatic switching circuit of external scram device |
| CN111515940A (en) * | 2020-05-21 | 2020-08-11 | 阜阳职业技术学院 | Reconfigurable modular robot system |
| CN112318491A (en) * | 2020-09-11 | 2021-02-05 | 深圳市启玄科技有限公司 | Robot with control of multiple coordinated shafts |
| CN114038150A (en) * | 2021-12-09 | 2022-02-11 | 江苏业力科技有限公司 | Electric fire early warning monitoring devices |
| CN114625061A (en) * | 2020-12-08 | 2022-06-14 | 山东新松工业软件研究院股份有限公司 | Navigation controller |
| CN115066115A (en) * | 2022-08-18 | 2022-09-16 | 上海捷勃特机器人有限公司 | Control cabinet for robot drive and assembling method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109397260A (en) * | 2018-10-16 | 2019-03-01 | 珠海格力电器股份有限公司 | Teaching machine hot plug device, industrial robot and its teaching machine hot-plug method |
| CN109848960A (en) * | 2018-12-17 | 2019-06-07 | 珠海格力电器股份有限公司 | A kind of plug-and-play circuit and its control method for industrial robot teaching device |
| CN109848960B (en) * | 2018-12-17 | 2020-09-22 | 珠海格力电器股份有限公司 | Hot plug circuit for industrial robot demonstrator and control method thereof |
| CN110824900A (en) * | 2019-11-12 | 2020-02-21 | 佛山智能装备技术研究院 | Automatic switching circuit of external scram device |
| CN111515940A (en) * | 2020-05-21 | 2020-08-11 | 阜阳职业技术学院 | Reconfigurable modular robot system |
| CN112318491A (en) * | 2020-09-11 | 2021-02-05 | 深圳市启玄科技有限公司 | Robot with control of multiple coordinated shafts |
| CN114625061A (en) * | 2020-12-08 | 2022-06-14 | 山东新松工业软件研究院股份有限公司 | Navigation controller |
| CN114038150A (en) * | 2021-12-09 | 2022-02-11 | 江苏业力科技有限公司 | Electric fire early warning monitoring devices |
| CN115066115A (en) * | 2022-08-18 | 2022-09-16 | 上海捷勃特机器人有限公司 | Control cabinet for robot drive and assembling method thereof |
| CN115066115B (en) * | 2022-08-18 | 2022-12-02 | 上海捷勃特机器人有限公司 | Control cabinet for robot drive and assembling method thereof |
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Application publication date: 20180213 |