CN114986509A - Heavy industrial robot high accuracy dual encoder full cut-off loop control system - Google Patents
Heavy industrial robot high accuracy dual encoder full cut-off loop control system Download PDFInfo
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- CN114986509A CN114986509A CN202210665385.8A CN202210665385A CN114986509A CN 114986509 A CN114986509 A CN 114986509A CN 202210665385 A CN202210665385 A CN 202210665385A CN 114986509 A CN114986509 A CN 114986509A
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- 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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- 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
- B25J9/1628—Programme controls characterised by the control loop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a high-precision double-encoder full closed-loop control system of a heavy industrial robot, which comprises a main control system, an input system, a display system and an execution system, wherein the main control system is connected with the input system; the input system, the display system and the execution system are all connected with the main control system; the main control system is used for receiving external input signals and corresponding execution actions and carrying out real-time feedback; the input system receives an externally input signal and sends the externally input signal to the main control system; the display system displays the information input into the main control system and the information fed back by the main control system; the execution system receives an execution signal sent by the main control system and then performs a corresponding execution action; the invention adopts the design of double encoders, and the incremental encoder and the absolute value encoder are respectively arranged on the servo motor and the accelerator, thereby reducing the position error and the speed error during processing, greatly improving the processing precision of the robot, promoting the development of enterprises and meeting the production requirements of the enterprises.
Description
Technical Field
The invention relates to a high-precision double-encoder full closed-loop control system of a heavy industrial robot, and belongs to the technical field of mechanical equipment control.
Background
With the development of robot technology, in modern industrial production, robots play more and more important roles, change the traditional production and living modes and attract the attention of all countries in the world; the heavy-duty robot is widely applied to industrial production, and controls a mechanical arm to move through a preset program so as to reduce labor intensity of personnel and improve industrial production efficiency.
Disclosure of Invention
In view of the above technical problems, the present invention aims to: the high-precision double-encoder full-closed-loop control system for the heavy industrial robot can greatly improve the precision of the robot, reduce position errors and speed errors during machining and meet machining requirements.
The technical solution of the invention is realized as follows: a high-precision double-encoder full-closed-loop control system of a heavy industrial robot comprises a main control system, an input system, a display system and an execution system;
the input system, the display system and the execution system are all connected with the main control system;
the main control system is used for receiving external input signals and corresponding execution actions and carrying out real-time feedback;
the input system receives an externally input signal and sends the externally input signal to the main control system;
the display system displays the information input into the main control system and the information fed back by the main control system;
and the execution system receives the execution signal sent by the main control system and then performs corresponding execution action.
In a preferred embodiment, the main control system is connected to a plurality of execution systems, and individually controls each execution system.
In a preferred scheme, the input system is a computer or a PLC singlechip.
Preferably, the display system is a computer display screen or a television screen or a liquid crystal display.
In a preferred scheme, the execution system is a six-axis robot; the six-axis robot comprises six movable axes; each movable shaft comprises a servo driver, a servo motor, a speed reducer and a movable joint; the servo driver, the servo motor, the speed reducer and the movable joint are connected in series; the servo driver is connected with and controls the servo motor, the servo motor and the movable joint; the servo driver receives a control signal of the main control system and drives according to the signal; the servo motor is provided with an incremental encoder and performs speed feedback to the main control system; an absolute value encoder is arranged on the speed reducer and feeds back the position to the main control system; after receiving the speed feedback and the position feedback of the servo motor and the speed reducer, the main control system performs corresponding data adjustment by combining built-in data of the main control system; the main control system sends the adjusted parameters to the servo motor and the speed reducer; and the servo motor and the speed reducer carry out speed regulation and position regulation according to the obtained regulation parameters.
In a preferred scheme, a Hall sensor is further arranged on the servo motor and feeds current back to the main control system; after receiving the current feedback of the servo motor, the main control system performs corresponding data adjustment by combining with data built in the main control system; the main control system sends the adjusted parameters to the servo motor; and after obtaining the adjustment parameters, the servo motor carries out corresponding parameter adjustment through the current regulator and the inverter.
In a preferable scheme, the servo motor performs speed regulation through a speed regulator; the speed reducer performs position adjustment through a position adjuster.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the high-precision double-encoder full-closed-loop control system for the heavy industrial robot, the main control system, the input system, the display system and the execution system are mutually matched, the design of double encoders is adopted, and the incremental encoder and the absolute encoder are respectively installed on the servo motor and the accelerator, so that the position error and the speed error during processing are reduced, the processing precision of the robot is greatly improved, the development of enterprises is promoted, and the production requirements of the enterprises are met.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
fig. 1 is a schematic diagram of a high-precision double-encoder full closed-loop control system of a heavy industrial robot according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention; all other embodiments obtained by persons skilled in the art based on the embodiments of the present invention without any inventive work belong to the protection scope of the present invention
The invention is described below with reference to the accompanying drawings.
Fig. 1 shows a high-precision double-encoder full closed-loop control system for a heavy industrial robot, which comprises a main control system, an input system, a display system and an execution system;
the input system, the display system and the execution system are all connected with the main control system and provide data input, modification, storage and other operations for the main control system;
the main control system is used for receiving external input signals and corresponding execution actions and carrying out real-time feedback; the main control system is connected with a plurality of execution systems and respectively controls each execution system independently; the main control system is the core of the whole control, and all the systems are collected and centralized controlled to be the brain of the whole system;
the input system receives an externally input signal and sends the externally input signal to the main control system, the input system is a computer or a PLC singlechip, and the input system can input production data parameters according to production requirements and provides required parameters for the main control system;
the display system displays information input into the main control system and information fed back by the main control system, is a computer display screen or a television screen or a liquid crystal display, and is used for visually displaying input and output information so as to facilitate observation of an operator;
the execution system receives an execution signal sent by the main control system and then makes a corresponding execution action; the execution system is a six-axis robot; the six-axis robot comprises six movable shafts; each movable shaft comprises a servo driver, a servo motor, a speed reducer and a movable joint; the servo driver, the servo motor, the speed reducer and the movable joint are connected in series; the servo driver is connected with and controls the servo motor, the servo motor and the movable joint; the servo driver receives a control signal of the main control system and drives according to the signal; the servo motor is provided with an incremental encoder and performs speed feedback to the main control system; an absolute value encoder is arranged on the speed reducer and feeds back the position to the main control system; after receiving speed feedback and position feedback of the servo motor and the speed reducer, the main control system performs corresponding data adjustment by combining built-in data of the main control system; the main control system sends the adjusted parameters to the servo motor and the speed reducer; the servo motor and the speed reducer perform speed regulation and position regulation according to the obtained regulation parameters, and the servo motor performs speed regulation through the speed regulator; the speed reducer performs position adjustment through a position adjuster.
In order to further monitor the current of the servo motor, a Hall sensor is also arranged on the servo motor and feeds the current back to the main control system; after receiving the current feedback of the servo motor, the main control system performs corresponding data adjustment by combining with data built in the main control system; the main control system sends the adjusted parameters to the servo motor; and after obtaining the adjustment parameters, the servo motor carries out corresponding parameter adjustment through the current regulator and the inverter.
According to the high-precision double-encoder full-closed-loop control system for the heavy industrial robot, the main control system, the input system, the display system and the execution system are mutually matched, the design of double encoders is adopted, and the incremental encoder and the absolute encoder are respectively installed on the servo motor and the accelerator, so that the position error and the speed error during processing are reduced, the processing precision of the robot is greatly improved, the development of enterprises is promoted, and the production requirements of the enterprises are met.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (7)
1. The utility model provides a heavy industrial robot high accuracy dual encoder full cut-off loop control system which characterized in that: the system comprises a main control system, an input system, a display system and an execution system;
the input system, the display system and the execution system are all connected with the main control system;
the main control system is used for receiving external input signals and corresponding execution actions and carrying out real-time feedback;
the input system receives an externally input signal and sends the externally input signal to the main control system;
the display system displays the information input into the main control system and the information fed back by the main control system;
and the execution system receives the execution signal sent by the main control system and then performs corresponding execution action.
2. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 1, wherein: the main control system is connected with a plurality of execution systems and respectively controls each execution system independently.
3. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 1, wherein: the input system is a computer or a PLC singlechip.
4. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 1, wherein: the display system is a computer display screen or a television screen or a liquid crystal display.
5. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 1, wherein: the execution system is a six-axis robot; the six-axis robot comprises six movable shafts; each movable shaft comprises a servo driver, a servo motor, a speed reducer and a movable joint; the servo driver, the servo motor, the speed reducer and the movable joint are connected in series; the servo driver is connected with the control servo motor, the servo motor and the movable joint; the servo driver receives a control signal of the main control system and drives according to the signal; the servo motor is provided with an incremental encoder and performs speed feedback to the main control system; an absolute value encoder is arranged on the speed reducer and feeds back the position of the speed reducer to the main control system; after receiving the speed feedback and the position feedback of the servo motor and the speed reducer, the main control system performs corresponding data adjustment by combining built-in data of the main control system; the main control system sends the adjusted parameters to a servo motor and a speed reducer; and the servo motor and the speed reducer carry out speed regulation and position regulation according to the obtained regulation parameters.
6. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 5, wherein: the servo motor is also provided with a Hall sensor and feeds current back to the main control system; after receiving the current feedback of the servo motor, the main control system performs corresponding data adjustment by combining with data built in the main control system; the main control system sends the adjusted parameters to the servo motor; and after obtaining the adjustment parameters, the servo motor performs corresponding parameter adjustment through the current regulator and the inverter.
7. The high-precision dual-encoder full-closed-loop control system of the heavy industrial robot as claimed in claim 5, wherein: the servo motor adjusts the speed through a speed adjuster; the speed reducer performs position adjustment through a position adjuster.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210665385.8A CN114986509A (en) | 2022-06-14 | 2022-06-14 | Heavy industrial robot high accuracy dual encoder full cut-off loop control system |
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| CN202210665385.8A CN114986509A (en) | 2022-06-14 | 2022-06-14 | Heavy industrial robot high accuracy dual encoder full cut-off loop control system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100191374A1 (en) * | 2009-01-27 | 2010-07-29 | Jason Tsai | Secondary position feedback control of a robot |
| CN204366962U (en) * | 2014-12-02 | 2015-06-03 | 南京熊猫电子股份有限公司 | Six axle heavy-load robot control systems |
| CN105881533A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Industrial robot |
| CN111070237A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Integrated joint and integrated joint multi-sensor control system and method |
| CN113510695A (en) * | 2021-04-19 | 2021-10-19 | 珞石（北京）科技有限公司 | Robot joint position control method |
-
2022
- 2022-06-14 CN CN202210665385.8A patent/CN114986509A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100191374A1 (en) * | 2009-01-27 | 2010-07-29 | Jason Tsai | Secondary position feedback control of a robot |
| CN204366962U (en) * | 2014-12-02 | 2015-06-03 | 南京熊猫电子股份有限公司 | Six axle heavy-load robot control systems |
| CN105881533A (en) * | 2014-12-30 | 2016-08-24 | 赵楠 | Industrial robot |
| CN111070237A (en) * | 2019-12-27 | 2020-04-28 | 深圳市越疆科技有限公司 | Integrated joint and integrated joint multi-sensor control system and method |
| CN113510695A (en) * | 2021-04-19 | 2021-10-19 | 珞石（北京）科技有限公司 | Robot joint position control method |
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