CN108297114A - A kind of multiaxis coordinates robot's control system based on bus - Google Patents
A kind of multiaxis coordinates robot's control system based on bus Download PDFInfo
- Publication number
- CN108297114A CN108297114A CN201810028622.3A CN201810028622A CN108297114A CN 108297114 A CN108297114 A CN 108297114A CN 201810028622 A CN201810028622 A CN 201810028622A CN 108297114 A CN108297114 A CN 108297114A
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- China
- Prior art keywords
- bus
- servo
- multiaxis
- robot
- control system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A kind of multiaxis coordinates robot's control system based on bus of technical scheme of the present invention, the corresponding servo-driver of kinematic axis including host computer and with robot, servo-driver controls corresponding servo motor action, host computer connects more servo-drivers by an Ethernet switch, is connected by RJ45 connectors between servo-driver；Ethernet switch includes a bus and internal switch fabric, and all of the port of Ethernet switch is articulated in bus；Human-computer interaction interface and task dispatcher are also associated on Ethernet switch.Beneficial effects of the present invention are：By the way of bus marco servo, closed-loop control system is formed, increases reliability and stability, saves material, cost of labor；Equipment can increase and decrease as needed, and ductility, autgmentability improve；Control accuracy high anti-jamming capacity enhances, and transmission information content becomes larger.
Description
Technical field
Multiaxis coordinates robot's control system based on bus that the present invention relates to a kind of belonging to control with computational intelligence neck
Domain.
Background technology
Lithium battery industry carries out lithium battery and splits application technology automatically using Pulse Width Control servo mode；When lithium battery produces
When line carries out battery production task, scheduling system can issue dismounting disk task to control PLC 1, when PLC1 receives corresponding information
Afterwards, servo 1, several servos such as 2 servo N of servo can be driven to be positioned (control servo number of units by pulse control mode
Be restricted general most 6~7), carry out grasping movement after reaching corresponding position, later PLC1 can according to task definition, then
Secondary extra pulse control mode drives servo 1, several servos such as 2 servo N of servo to be positioned, and crawl article is placed into
Corresponding position.The prior art is come with some shortcomings using Pulse Width Control servo, including：Wiring cost is high, and wiring is complicated, error
Probability is high；Transmission rate is limited while information content transmission is small, and limitation is high；Control accuracy is easily disturbed, poor reliability, high speed
It will appear error when operation；Set expandability is poor, and when system is upgraded, ductility is not high while cost increases significantly；It writes
It controls program to be responsible for, error rate is high, high labor cost；For controlling transmission apart from limited, maintenance, repair is complicated.
Invention content
In view of the deficiencies of the prior art, technical scheme of the present invention provides a kind of multiaxis coordinates robot based on bus
Control system forms closed-loop control system by the way of bus marco servo, increases reliability and stability, saves material
Material, cost of labor；Equipment ductility, autgmentability improve；Control accuracy high anti-jamming capacity enhances, and transmission information content becomes larger；
A kind of multiaxis coordinates robot's control system based on bus of technical scheme of the present invention, including host computer and and machine
The corresponding servo-driver of kinematic axis of device people, servo-driver control corresponding servo motor action, and host computer passes through one
Ethernet switch connects more servo-drivers, is connected by RJ45 connectors between servo-driver；Ethernet switch
Including a bus and internal switch fabric, all of the port of Ethernet switch is articulated in bus；Ethernet switch
On be also associated with human-computer interaction interface and task dispatcher, human-computer interaction interface assigns a task instruction for user, task scheduling
Device is used to receive assignment instructions from human-computer interaction interface and passes through the working condition of bus feedback and existing according to each servo motor
Task and interpolation task carry out the scheduling of assignment instructions and corresponding assignment instructions are transmitted to host computer；Host computer will be for that will appoint
Signal is sent to servo-driver in order to control for business instruction conversion；Servo-driver parsing control signal simultaneously drives corresponding servo electricity
Machine makes corresponding actions.
Further, human-computer interaction interface is the touch screen of PC machine.
Further, host computer uses PLC controller.
Further, multiaxis coordinates robot includes mechanical arm and the handgrip in mechanical arm tail end is arranged, and is provided on handgrip
Clamping jaw for lithium battery to be clamped.
Further, the first sensor that state in place is opened and clamped for detecting clamping jaw is provided on clamping jaw.
Further, it is provided on clamping jaw for detecting the second sensor on clamping jaw whether there is or not battery.
Further, the kinematic axis of multiaxis coordinates robot includes the manipulator shaft acted for robot arm, is used for
The pedestal axis that robot moves integrally and the tooling shaft for instigating clamping jaw overturning, revolution and lifting.
Further, the coordinate system of multiaxis coordinates robot includes the joint coordinate system for control machinery arm position and is used for
Control the rectangular coordinate system of jaw position.
Further, assignment instructions include position command, mechanical arm action command and clamping jaw action command.
Beneficial effects of the present invention are：By the way of bus marco servo, closed-loop control system is formed, is increased reliable
Property and stability, save material, cost of labor；Equipment can increase and decrease as needed, and ductility, autgmentability improve；Control accuracy is high
Anti-interference ability enhances, and transmission information content becomes larger.
Description of the drawings
Fig. 1 show the overall construction drawing according to embodiment of the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.The present embodiment with by the present invention the multiaxis coordinates robot control system based on bus in
Technical scheme of the present invention is further explained for lithium battery production line.
Referring to Fig.1, a kind of multiaxis coordinates robot's control system based on bus of the technical program, including host computer and
Servo-driver corresponding with the kinematic axis of robot, servo-driver control corresponding servo motor action, and host computer passes through
One Ethernet switch connects more servo-drivers, is connected by RJ45 connectors between servo-driver；Ethernet is handed over
It changes planes including a bus and internal switch fabric, all of the port of Ethernet switch is articulated in bus；Ethernet is handed over
It is also associated with human-computer interaction interface and task dispatcher on changing planes, human-computer interaction interface assigns a task instruction for user, task
Scheduler be used to receive assignment instructions from human-computer interaction interface and according to each servo motor by the working condition of bus feedback and
Existing task and interpolation task carry out the scheduling of assignment instructions and corresponding assignment instructions are transmitted to host computer；Host computer is used for
By assignment instructions conversion, signal is sent to servo-driver in order to control；Servo-driver parsing controls signal and drives and watches accordingly
It takes motor and makes corresponding actions.
Wherein, it is the touch screen of PC machine that host computer, which uses PLC controller, human-computer interaction interface,；Multiaxis coordinates robot wraps
It includes mechanical arm and the handgrip in mechanical arm tail end is set, the clamping jaw for lithium battery to be clamped is provided on handgrip；It is arranged on clamping jaw
Detection clamping jaw is useful for open and clamp the first sensor of state in place and detect the second sensing on clamping jaw whether there is or not battery
Device.
One bus communication mouth of PLC controller connects the more servos connected by RJ45 by Ethernet switch
Driver, one servo motor of every servo driver drives, servo motor corresponds to the various axis of robot, including is used for machine
People's mechanical arm action manipulator shaft, for robot move integrally pedestal axis and for instigate clamping jaw overturning, revolution and hang down
Go straight up to the tooling shaft of drop.
When work, PLC controller sends assignment instructions according to real-time task to servo-driver, and servo-driver receives
Corresponding servo motor is driven to act after assignment instructions, material table where robot is moved to lithium battery entirely through pedestal axis, machine
Tool arm is moved to right over lithium battery, and clamping jaw opens clamping jaw after navigating to lithium battery position, is inserted into feeding position rear clip-claw and is stepped up electricity
Pond, robot setback, after reaching for discharge position, clamping jaw opens, and robot is to lithium battery stacking.Handgrip is special using FESTo
Industry captures cylinder, and clamping jaw holds battery side using PU plastic clips, to ensure enough frictional forces and prevent from scratching battery, battery pole ear
Region uses PU blob of viscoses, and doing blocking prevents short circuit and scratch battery.It detects the opening of handgrip and clamps the of status signal in place
Highly sensitive Hall is all made of whether there is or not the second sensor of the status signal in place of battery on one sensor and detection clamping jaw
Sensor, detection signal is by bus feedback to PLC controller.
Wherein, assignment instructions include position command, mechanical arm action command and clamping jaw action command, and position command is by more
The coordinate system of axial coordinate robot determines that the coordinate system includes being sat for controlling the pedestal of multiaxis coordinates robot's base position
Mark system, the rectangular coordinate system for the joint coordinate system of control machinery arm position and for controlling jaw position.
The failure that PLC controller can occur by bus monitoring servo motor in real time, and shown on human-computer interaction interface
It shows to come.PLC controller can also monitor the information such as servo motor physical location, actual speed simultaneously, can also be as needed
By program adjust automatically servo parameter.Servo parameter can be set in human-computer interaction interface, without using the modification of servo panel, letter
It is prompt intuitive not error-prone.
Need interpolation task, task dispatcher can be according to multiaxis coordinate when multiaxis coordinates robot executes in task process
Robot feedback working condition and at that time real-time task instruction dispatch interpolation assignment instructions, so that multiaxis coordinates robot is had
Execute task to sequence.
More than, only presently preferred embodiments of the present invention, the invention is not limited in the above embodiments, as long as its with
Identical means reach the technique effect of the present invention, should all belong to the scope of protection of the present invention.Within the scope of the present invention
Its technical solution and/or embodiment can have a variety of different modifications and variations.
Claims (9)
1. a kind of multiaxis coordinates robot's control system based on bus, including host computer and corresponding with the kinematic axis of robot
Servo-driver, the servo-driver control corresponding servo motor action, it is characterised in that：The host computer passes through one
Ethernet switch connects more servo-drivers, is connected by RJ45 connectors between the servo-driver；The ether
Network switch includes a bus and internal switch fabric, and all of the port of the Ethernet switch is articulated in the bus
On；Human-computer interaction interface and task dispatcher are also associated on the Ethernet switch, the human-computer interaction interface is used
Family assigns a task instruction, the task dispatcher be used for from human-computer interaction interface receive assignment instructions and according to each servo motor it is logical
It crosses the working condition of bus feedback and existing task and interpolation task carries out the scheduling of assignment instructions and by corresponding assignment instructions
It is transmitted to host computer；The host computer, which is used to assignment instructions converting signal in order to control, is sent to servo-driver；The servo
Driver parsing control signal simultaneously drives corresponding servo motor to make corresponding actions.
2. multiaxis coordinates robot's control system according to claim 1 based on bus, it is characterised in that：It is described man-machine
Interactive interface is the touch screen of PC machine.
3. multiaxis coordinates robot's control system according to claim 1 based on bus, it is characterised in that：It is described upper
Machine uses PLC controller.
4. multiaxis coordinates robot's control system according to claim 1 based on bus, it is characterised in that：The multiaxis
Coordinates robot includes mechanical arm and the handgrip in mechanical arm tail end is arranged, and is provided on the handgrip for lithium battery to be clamped
Clamping jaw.
5. multiaxis coordinates robot's control system according to claim 4 based on bus, it is characterised in that：The clamping jaw
On be provided with the first sensor that state in place is opened and clamped for detecting clamping jaw.
6. multiaxis coordinates robot's control system according to claim 5 based on bus, it is characterised in that：The clamping jaw
On be additionally provided with for detecting the second sensor on clamping jaw whether there is or not battery.
7. multiaxis coordinates robot's control system according to claim 6 based on bus, it is characterised in that：The multiaxis
The kinematic axis of coordinates robot includes the manipulator shaft acted for robot arm, the pedestal moved integrally for robot
Axis and for instigate clamping jaw overturning, revolution and lifting tooling shaft.
8. multiaxis coordinates robot's control system according to claim 7 based on bus, it is characterised in that：The multiaxis
The coordinate system of coordinates robot includes the right angle for the joint coordinate system of control machinery arm position and for controlling jaw position
Coordinate system.
9. multiaxis coordinates robot's control system according to claim 8 based on bus, it is characterised in that：The task
Instruction includes position command, mechanical arm action command and clamping jaw action command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810028622.3A CN108297114A (en) | 2018-01-12 | 2018-01-12 | A kind of multiaxis coordinates robot's control system based on bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810028622.3A CN108297114A (en) | 2018-01-12 | 2018-01-12 | A kind of multiaxis coordinates robot's control system based on bus |
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| CN108297114A true CN108297114A (en) | 2018-07-20 |
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ID=62868652
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| CN201810028622.3A Pending CN108297114A (en) | 2018-01-12 | 2018-01-12 | A kind of multiaxis coordinates robot's control system based on bus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262615A (en) * | 2018-11-09 | 2019-01-25 | 杭州海灵智电科技有限公司 | A kind of control system of robot |
| CN109910004A (en) * | 2019-02-28 | 2019-06-21 | 北京镁伽机器人科技有限公司 | User interaction approach, control equipment and storage medium |
| CN110280645A (en) * | 2019-07-08 | 2019-09-27 | 太仓欧克仓储设备有限公司 | A kind of sheet metal component automatic punching feeder |
| CN110497410A (en) * | 2019-08-22 | 2019-11-26 | 苏州浪潮智能科技有限公司 | A kind of robot control system and method |
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| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
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| CN107433593A (en) * | 2017-09-07 | 2017-12-05 | 龙海铂格自动化设备有限责任公司 | Parallel robot food sorts system of processing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109262615A (en) * | 2018-11-09 | 2019-01-25 | 杭州海灵智电科技有限公司 | A kind of control system of robot |
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| CN110280645A (en) * | 2019-07-08 | 2019-09-27 | 太仓欧克仓储设备有限公司 | A kind of sheet metal component automatic punching feeder |
| CN110497410A (en) * | 2019-08-22 | 2019-11-26 | 苏州浪潮智能科技有限公司 | A kind of robot control system and method |
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Application publication date: 20180720 |