CN111168671A - Servo driver, control method and control system - Google Patents
Servo driver, control method and control system Download PDFInfo
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- CN111168671A CN111168671A CN202010002042.4A CN202010002042A CN111168671A CN 111168671 A CN111168671 A CN 111168671A CN 202010002042 A CN202010002042 A CN 202010002042A CN 111168671 A CN111168671 A CN 111168671A
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- tool
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- controller
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 11
- 239000003292 glue Substances 0.000 claims description 7
- 239000003973 paint Substances 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 6
- 238000003754 machining Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a servo driver, a control method and a control system, wherein the servo driver comprises: a main controller, a tool controller and a drive circuit; the main controller is used for receiving a servo driving command and a tool control command, issuing the servo driving command to the driving circuit and issuing the tool control command to the tool controller; the tool controller is used for controlling corresponding tool actions according to the tool control commands; and the drive circuit is used for driving the servo motor to operate according to the servo drive instruction. According to the servo driver, the tool controller is integrated in the existing servo driver, so that the tool and the robot can be accurately synchronized, the machining precision of the robot is further improved, the cost for matching the robot and the tool is reduced, and the occupied space is saved.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a servo driver, a control method and a control system.
Background
With the advance of industrial automation, industrial robots are more widely used, and in many cases, robots (for example, manipulators) need to hold tools for work, and control of the held tools becomes a problem to be considered. For some tools which are easy to control, such as a glue gun, a welding gun and a spray gun, an additional tool controller needs to be used for control in the prior art, the cost is high, and the number of wires and the occupied space are increased by an external tool controller; in addition, since the robot is controlled by the numerical control system and the tool is controlled by an additional tool controller, precise synchronization of the tool and the robot may be difficult to achieve. If the numerical control system is directly used for control, since the control robot needs to pass through the servo driver, the precise synchronization of the tool and the robot can be difficult to realize.
Disclosure of Invention
In view of the above, the present invention provides a servo driver, a control method and a control system to overcome the disadvantages of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a servo driver, comprising:
a main controller, a tool controller and a drive circuit;
the main controller is used for receiving a servo driving command and a tool control command, issuing the servo driving command to the driving circuit and issuing the tool control command to the tool controller;
the tool controller is used for controlling corresponding tool actions according to the tool control commands;
and the drive circuit is used for driving the servo motor to operate according to the servo drive instruction.
Optionally, the controlling the corresponding tool action according to the tool control instruction includes:
acquiring the clamping state of the tool;
and if the tool is clamped well, executing the tool control command.
Optionally, the tool controller is further configured to: and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to external control equipment.
Optionally, the tool controller is further configured to:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to external control equipment.
Optionally, the servo driver further comprises: an external device;
the external device includes at least one of:
memory, keyboard and digital display tube.
Optionally, the main controller, the tool controller and the driving circuit are integrated on the same circuit board.
The present invention also provides a control system comprising:
a servo driver as described previously, and,
the control device, the servo motor and the controlled tool;
the servo driver is respectively connected with the control equipment, the servo motor and the controlled tool.
Optionally, the controlled tool includes at least one of the following:
welding guns, glue guns and paint guns.
The invention also provides a control method of the servo driver, which comprises the following steps:
the servo driver receives a servo driving command and a tool control command;
the servo driver drives the servo motor to operate according to the servo driving command;
and the servo driver controls the corresponding tool to act according to the tool control command.
Optionally, the controlling the corresponding tool action according to the tool control instruction includes: acquiring the clamping state of the tool; if the tool is clamped well, executing the tool control command;
and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to external control equipment.
Optionally, the control method further includes:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to external control equipment.
The invention adopts the technical scheme that the servo driver comprises: a main controller, a tool controller and a drive circuit; the main controller is used for receiving a servo driving command and a tool control command, issuing the servo driving command to the driving circuit and issuing the tool control command to the tool controller; the tool controller is used for controlling corresponding tool actions according to the tool control commands; and the drive circuit is used for driving the servo motor to operate according to the servo drive instruction. According to the servo driver, the tool controller is integrated in the existing servo driver, so that the tool and the robot can be accurately synchronized, the machining precision of the robot is further improved, the cost for matching the robot and the tool is reduced, and the occupied space is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a servo driver according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a control method of a servo driver according to an embodiment of the present invention.
In the figure: 1. a main controller; 2. a tool controller; 3. a drive circuit; 31. a three-phase rectifier; 32. a filter; 33. a soft start/stop circuit; 34. an IPM inverter; 35. a single-phase rectifier; 36. a switching power supply; 37. an FPGA; 38. a protection circuit; 4. an external device; 41. a memory; 42. a keyboard; 43. a digital display tube; 5. a servo driver; 6. a control device; 7. a servo motor; 8. a controlled tool; 9. a robot arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a servo driver according to an embodiment of the present invention.
As shown in fig. 1, the servo driver according to this embodiment includes:
a main controller 1, a tool controller 2 and a drive circuit 3;
the main controller 1 is configured to receive a servo drive instruction and a tool control instruction, issue the servo drive instruction to the drive circuit 3, and issue the tool control instruction to the tool controller 2;
the tool controller 2 is used for controlling corresponding tool actions according to the tool control commands;
and the drive circuit 3 is used for driving the servo motor 7 to operate according to the servo drive instruction.
Further, the driving circuit 3 is a driving circuit 3 in an existing servo driver, and specifically includes: three-phase rectifier 31, filter 32, soft start/brake circuit 33, IPM inverter 34, single-phase rectifier 35, switching power supply 36, FPGA37, and protection circuit 38.
Further, the controlling the corresponding tool action according to the tool control command includes:
acquiring the clamping state of the tool;
and if the tool is clamped well, executing the tool control command.
Further, the tool controller 2 is further configured to: and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to an external control device 6.
Further, the tool controller 2 is further configured to:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to the external control equipment 6.
Further, the servo driver further includes: an external device 4;
the external device 4 comprises at least one of the following:
memory 41, keyboard 42 and digital display tube 43.
Further, the main controller 1, the tool controller 2 and the driving circuit 3 are integrated on the same circuit board.
In practical use, in this embodiment, the tool controller 2 is integrated into a servo driver, a numerical control system (external control device 6, such as an upper computer) sends a servo drive command and a tool control command to the main controller 1 of the servo driver together, the main controller 1 sends a tool control command to the tool controller 2, and then the tool controller 2 controls the corresponding tool to act and monitors, feeds back and controls the state of the tool in real time; when the main controller 1 sends a tool control command to the tool controller 2, the main controller 1 also sends the servo drive command to the drive circuit 3, and the drive circuit 3 drives the servo motor 7 to operate according to the servo drive command. This allows for accurate synchronization of the servo drive signals and the tool control signals.
The tool described in this embodiment may be a tool used when the industrial robot performs assembly line work, such as a fixture for clamping a workpiece, a welding gun for welding, a glue gun for dispensing, a paint gun for painting, and the like. The tool controller 2 can store control algorithms of various tools at the same time, can select the tool algorithms through key input of an upper computer or a servo driver, and can also update new control programs through the upper computer according to requirements. The tool control instruction may be an instruction for controlling the tool to work according to requirements, including starting and closing the tool. The glue output or the paint spraying amount can be controlled by a glue gun and a paint gun for dispensing; the clamp for clamping the workpiece controls the clamping force and the like, and the control methods adopt the prior art.
The servo driver of this embodiment can realize the accurate synchronization of instrument and robot through will tool controller 2 is integrated in current servo driver, is favorable to making robot machining precision further improve, reduces the cost of robot and instrument collocation simultaneously, has also saved occupation space.
Fig. 2 is a schematic structural diagram provided by an embodiment of a control system of the present invention.
As shown in fig. 2, the control system according to this embodiment includes:
as described for the servo drive 5 of fig. 1, and,
a control device 6, a servo motor 7 and a controlled tool 8;
the servo driver 5 is respectively connected with the control device 6, the servo motor 7 and the controlled tool 8.
The servo motor 7 is also connected with a manipulator 9 (robot) and is used for driving the manipulator 9 to execute corresponding actions under the driving of the servo driver 5.
Further, the controlled tool 8 includes at least one of the following items:
welding guns, glue guns and paint guns.
In actual use, the control system described in this embodiment sends the servo drive command and the tool control command to the servo driver 5 simultaneously by the control device 6. After receiving the tool control command, the tool controller 2 of the servo driver 5 immediately inquires the tool clamping state, if the tool clamping is good, the tool control command is executed, if the tool clamping is not normal, the tool controller 2 feeds back to the control device 6, and then the control device 6 judges whether to stop the operation of the servo driver 5. If the tool is abnormal in the operation process, after receiving the tool operation state, the tool controller 2 starts a tool protection mode (for example, stops the tool operation in time), then generates feedback information according to the operation state, sends the feedback information to the control device 6, and determines whether to stop the operation of the servo driver 5 or not by the control device 6.
The control system described in this embodiment includes the servo driver described in fig. 1, which not only reduces the occupation of numerical control system resources, but also ensures the synchronism of the robot and the tool, and reduces the control cost of the tool.
FIG. 3 is a flow chart illustrating a control method of a servo driver according to an embodiment of the present invention.
As shown in fig. 3, the method for controlling a servo driver according to this embodiment includes:
s31: the servo driver receives a servo driving command and a tool control command;
s32: the servo driver drives the servo motor to operate according to the servo driving command;
further, the controlling the corresponding tool action according to the tool control command includes: acquiring the clamping state of the tool; if the tool is clamped well, executing the tool control command;
and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to external control equipment.
S33: and the servo driver controls the corresponding tool to act according to the tool control command.
Further, the control method further includes:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to external control equipment.
The working principle of the control method of the servo driver in this embodiment is the same as that of the servo driver described above, and is not described herein again.
The control method has simple control and processing process, ensures the synchronism of the robot and the tool and is beneficial to reducing the control cost of the tool.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A servo driver, comprising:
a main controller, a tool controller and a drive circuit;
the main controller is used for receiving a servo driving command and a tool control command, issuing the servo driving command to the driving circuit and issuing the tool control command to the tool controller;
the tool controller is used for controlling corresponding tool actions according to the tool control commands;
and the drive circuit is used for driving the servo motor to operate according to the servo drive instruction.
2. The servo driver of claim 1, wherein the controlling the respective tool actions according to the tool control commands comprises:
acquiring the clamping state of the tool;
and if the tool is clamped well, executing the tool control command.
3. The servo driver of claim 2, wherein the tool controller is further configured to: and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to external control equipment.
4. The servo driver of claim 1, wherein the tool controller is further configured to:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to external control equipment.
5. The servo driver of any of claims 1 to 4, further comprising: an external device;
the external device includes at least one of:
memory, keyboard and digital display tube.
6. Servo driver according to any of claims 1 to 4, characterized in that the main controller, the tool controller and the drive circuit are integrated on one and the same circuit board.
7. A control system, comprising:
the servo driver of any of claims 1 to 6, and,
the control device, the servo motor and the controlled tool;
the servo driver is respectively connected with the control equipment, the servo motor and the controlled tool.
8. The control system of claim 7, wherein the controlled tool comprises at least one of:
welding guns, glue guns and paint guns.
9. A method of controlling a servo driver, comprising:
the servo driver receives a servo driving command and a tool control command;
the servo driver drives the servo motor to operate according to the servo driving command;
and the servo driver controls the corresponding tool to act according to the tool control command.
10. The control method according to claim 9, wherein the controlling the respective tool action according to the tool control command comprises: acquiring the clamping state of the tool; if the tool is clamped well, executing the tool control command;
and when the tool is not well clamped, generating first feedback information according to the clamping state, and sending the first feedback information to external control equipment.
11. The control method according to claim 9 or 10, characterized by further comprising:
acquiring the running state of the tool;
judging whether the tool operates normally according to the operating state;
and when the tool runs abnormally, starting a tool protection mode, generating second feedback information according to the running state, and sending the second feedback information to external control equipment.
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| CN202010002042.4A CN111168671A (en) | 2020-01-02 | 2020-01-02 | Servo driver, control method and control system |
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| CN202010002042.4A CN111168671A (en) | 2020-01-02 | 2020-01-02 | Servo driver, control method and control system |
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Application publication date: 20200519 |