CN202735721U - Robot motion control integration system - Google Patents
Robot motion control integration system Download PDFInfo
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- CN202735721U CN202735721U CN 201220386112 CN201220386112U CN202735721U CN 202735721 U CN202735721 U CN 202735721U CN 201220386112 CN201220386112 CN 201220386112 CN 201220386112 U CN201220386112 U CN 201220386112U CN 202735721 U CN202735721 U CN 202735721U
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- motion controller
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Abstract
The utility model provides a robot motion control integration system, comprising: a PLC (Programmable Logic Controller); a motion controller in bidirectional communication connection with the PLC; and a servo driver in bidirectional communication connection with the motion controller and in driving connection with a robot, wherein, the PLC, the motion controller, and the servo driver are all integrated in a CPU (Central Processing Unit). The robot motion control transmission system of the utility model effectively combines the PLC with the motion controller, and enables the PLC and the motion controller to complement with each other, thereby not only realizing high-efficiency and accurate control to the robot, but also adopting a standardization programming language and achieving a simple and fast operation interface; in addition, the robot motion control integration system of the utility model is highly integrated in the CPU, information transmission becomes faster and more accurate, thereby greatly reducing signal delay and reducing signal loss.
Description
Technical field
The utility model relates to a kind of robot motion's control integration system.
Background technology
In the automatic production line of industrial robot, often adopt programmable logic controller (PLC) (PLC) to realize control to industrial robot.The programming language of programmable logic controller (PLC) Application standard and simple and convenient operation interface have attracted users, but being out of one's domain aspect motion control.
Industrial robot generally adopts 4-6 axle to connect by mode in parallel and/or series connection.Therefore, the motion process of industrial robot is generally very complicated.For this reason, can consider to adopt motion controller (Motion Controller) to realize industrial robot compound movement process is carried out efficient and accurate control, but the programming language of now robot control is special program language and the environment of its manufacturer's customization often, and the user need to could utilize this type of programming language to control industrial robot by special training.The user has to expend the plenty of time for this reason and energy is grasped this type of programming language, and this just greatly reduces user satisfaction.
The utility model content
The utility model provides a kind of robot motion's control integration system, is intended to PLC and motion controller are effectively made up, and the two can be learnt from other's strong points to offset one's weaknesses each other.
Particularly, the utility model provides a kind of robot motion's control integration system, comprising: programmable logic controller (PLC); Motion controller, this motion controller is connected with the programmable logic controller (PLC) two-way communication; Servo-driver, this servo-driver is connected with the motion controller two-way communication, and this servo driver drives is connected to robot; Wherein, programmable logic controller (PLC), motion controller, servo-driver all are integrated in the CPU (central processing unit).
More preferably, the communication media that adopts between programmable logic controller (PLC) and motion controller is the internal storage of sharing.
More preferably, the communication media that adopts between motion controller and servo-driver is the internal storage of sharing.
Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.In addition, robot motion's control integration system height of the present utility model is integrated among the CPU, and information transmits will be more quick accurate, greatly reduce signal delay and reduce the loss of signal.
Description of drawings
Fig. 1 illustrates the system architecture schematic diagram that adopts PLC and motion controller robot to be carried out motion control according to combination of the present utility model.
Embodiment
The utility model is soft engine-operated in same CPU (central processing unit) (CPU) module with the soft control engine of PLC and motion controller, and provide shared drive as the communication media between them, thereby form general control system robot is carried out motion control.Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.
It should be noted that CPU mentioned above is not limited to particular type, can be the CPU in the common desktop computer, also can be the CPU on the notebook, even can be that the user is according to the CPU of self-demand custom-made.
Hereinafter, will describe concrete technical scheme of the present utility model in detail.
Fig. 1 illustrates the system architecture schematic diagram that adopts PLC and motion controller robot to be carried out motion control according to combination of the present utility model.As shown in Figure 1, PLC consists of two-way communication with motion controller and is connected, and subsequently, motion controller then carries out two-way communication with servo-driver and is connected, and servo driver drives is connected to robot.
As shown in Figure 1, PLC, motion controller, servo-driver all are integrated among the CPU, and PLC can analyze and the defined programmable logic controller (PLC) language of executive basis IEC61131-3 standard.Preferably, the communication media that adopts between PLC and motion controller can be the internal storage of sharing, this just make between PLC and the motion controller communicate by letter more convenient.Similarly, the communication media that adopts between motion controller and servo-driver also can be the internal storage of sharing.
Carry as mentioned, PLC, motion controller, servo-driver all are integrated among the CPU, so their information of can directly carrying out each other transmits, and do not need specially to connect by system bus.Therefore, the information between the above-mentioned three transmits will be more quick accurate, if carry out causing more or less delay and/or cause the loss of signal because signal transmits by system bus.
Because the existence of PLC, the user can carry out control operation easily by the standardization programming language on operation interface, send steering order by CPU to servo-driver.Owing to comprising motion controller among the CPU, just can guarantee that thus CPU carries out efficient and accurate control to servo-driver.Above mention, industrial robot generally adopts 4-6 axle to connect by mode in parallel and/or series connection.Therefore, when the user carried out control operation and sends steering order, motion controller can resolve into this motion control instruction the various movement instructions of the kinematic axis in the robot, thereby realized the efficient accurate motion control to robot.
Servo-driver drives robot according to this steering order after receiving from the instruction of CPU immediately, and especially, the motor on the control makes robot accurately move according to user's intention thus.For example, servo-driver can be according to from the instruction of CPU the motor of robot being carried out speed ring, position ring, the control of moment ring.
Above mention, between PLC and the motion controller, and between motion controller and the servo-driver, all carry out two-way communication and connect.This just means, the moving situation of robot also can feed back to the user by operation interface via servo-driver, motion controller, makes thus the user adjust in real time the machine human motion according to the robot motion's situation that feeds back to.
Because the utility model effectively makes up PLC and motion controller, and the two is learnt from other's strong points to offset one's weaknesses mutually, both realized the efficient and accurate control to robot, can adopt again standardization programming language and operation interface simple and efficient.In addition, robot motion's control integration system height of the present utility model is integrated among the CPU, and information transmits will be more quick accurate, greatly reduce signal delay and reduce the loss of signal.
Those skilled in the art will also be appreciated that protection domain of the present utility model is not limited in above-described embodiment, and all drop in the scope of the present utility model equivalents of the present utility model.
Claims (3)
1. robot motion's control integration system is characterized in that, comprising:
Programmable logic controller (PLC);
Motion controller, this motion controller is connected with the programmable logic controller (PLC) two-way communication;
Servo-driver, this servo-driver is connected with the motion controller two-way communication, and this servo driver drives is connected to robot;
Wherein, programmable logic controller (PLC), motion controller, servo-driver all are integrated in the CPU (central processing unit).
2. robot motion's control integration according to claim 1 system is characterized in that, the communication media that adopts between programmable logic controller (PLC) and motion controller is the internal storage of sharing.
3. robot motion's control integration according to claim 1 system is characterized in that, the communication media that adopts between motion controller and servo-driver is the internal storage of sharing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220386112 CN202735721U (en) | 2012-08-01 | 2012-08-01 | Robot motion control integration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220386112 CN202735721U (en) | 2012-08-01 | 2012-08-01 | Robot motion control integration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202735721U true CN202735721U (en) | 2013-02-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220386112 Expired - Lifetime CN202735721U (en) | 2012-08-01 | 2012-08-01 | Robot motion control integration system |
Country Status (1)
| Country | Link |
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| CN (1) | CN202735721U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774175A (en) * | 2015-11-19 | 2017-05-31 | 发那科株式会社 | The numerical control device of the external signal of input and output servo control portion at high speed |
| CN107479506A (en) * | 2017-09-04 | 2017-12-15 | 深圳市超时空机器人有限公司 | A kind of numerical control device based on robot, system and processing method |
-
2012
- 2012-08-01 CN CN 201220386112 patent/CN202735721U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774175A (en) * | 2015-11-19 | 2017-05-31 | 发那科株式会社 | The numerical control device of the external signal of input and output servo control portion at high speed |
| CN107479506A (en) * | 2017-09-04 | 2017-12-15 | 深圳市超时空机器人有限公司 | A kind of numerical control device based on robot, system and processing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180523 Address after: Baden, Switzerland Patentee after: ABB Switzerland Co.,Ltd. Address before: Zurich Patentee before: ABB TECHNOLOGY Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130213 |
|
| CX01 | Expiry of patent term |