CN202837910U - Double-axis medium-low speed adhesive dispensing robot servo control system - Google Patents

Abstract

The utility model discloses a double-axis medium-low speed adhesive dispensing robot servo control system, which introduces an LM629 chip into a single-chip microcomputer, and forms a dual-core processor based on the single-chip microcomputer and the LM 629 chip. The dual-core processor gives sufficient consideration to the function of a battery in the system, hands over a double-axis servo system, which has the heaviest workload in the double-axis medium-low speed adhesive dispensing robot servo control system to the LM629 chip to control, brings the characteristic of high speed in data processing of the LM629 chip into full play, and hands over functions of a man-machine interface module, a path reading module, a track parameter preset module, an on-line output module, a data storage module, an I/O control module and the like to the single-chip microcomputer to control, thereby realizing the division of labor between the single-chip microcomputer and the LM629 chip, freeing the single-chip microcomputer from heavy workload, preventing the adhesive dispensing robot from being out of control, and increasing the anti-interference capacity.

Description

Low speed adhesive dispensing robot servo-control system in the diaxon

Technical field

The utility model relates to the technical field of adhesive dispensing robot, and particularly relevant for low speed adhesive dispensing robot servo-control system in the diaxon.

Background technology

In today of hi-tech fast development, traditional mode of production is increasingly backward, novel automated production will become the new century and accept the important way of market challenges, and the means of raising labour productivity are not only in robotization, and the Long-term Development Strategy of Enterprises Future is played an important role.Because robot is the main tool of novel robotization, the exploitation of industrial robot and application project thereof, robot is become immediate productivity, it is changing traditional production model, boost productivity and the adaptive faculty aspect in market is demonstrated great superiority, it is replaced the people out from the working environment of abominable danger simultaneously, carries out production strictly in line with rules and regulations, and this all is significant with social progress to promoting economic development.

Along with manufacturing industry requires more and more higher to demand and the environmental protection of robot equipment and the working environment that improves laborer, special convection cell is controlled, and fluid drop, the automatic machinery adhesive dispensing robot that is coated on product surface or interiors of products are produced immediately.Adhesive dispensing robot be mainly used in the Product Process glue, paint and other liquid Accurate Points, annotate, be coated with, put and drip to each product exact position, can be used for realizing getting ready, setting-out, round or camber.The industries such as the research and development of " adhesive dispensing robot " will encapsulate China's shoe-making industry, PCB plate binding sealing, IC sealing, PDA sealing, LCD sealing, IC, IC is bonding produce huge economic benefit and social benefit.Sometimes, adhesive dispensing robot just needs repeatedly point-blank or carries out simple straight line or circular arc gluing on the plane of a two dimension or according to certain rule point-to-point gluing is carried out in some positions, this time a diaxon adhesive dispensing robot can be very fast finish above-mentioned action.Two complete axle adhesive dispensing robots roughly are divided into following components:

1) motor: actuating motor is the power source of adhesive dispensing robot, and it carries out the relevant action that adhesive dispensing robot is walked on the plane of processing component two dimension according to the instruction of microprocessor;

2) algorithm: algorithm is the soul of adhesive dispensing robot, and adhesive dispensing robot must adopt certain intelligent algorithm could be quickly and accurately to arrive more in addition from a bit, form point-to-point, or the motion of curvilinear path;

3) microprocessor: microprocessor is the core of adhesive dispensing robot, is the brain of adhesive dispensing robot.The information that adhesive dispensing robot is all comprises glue point size, positional information, and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.

Adhesive dispensing robot combines multi-subject knowledge, for the manipulative ability, team collaboration's ability and the innovation ability that promote students, the digestion of promotion student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful, the adhesive dispensing robot technology carry out the talent that can cultivate large quantities of association areas, and then promote technical development and the industrialization process of association area.But because the unit of this robot of domestic research and development is less, R ﹠ D Level is relatively backward relatively, the diaxon adhesive dispensing robot servo-control system of research and development, and such as Fig. 1, long-play is found to exist a lot of safety problems, that is:

What (1) use as the power acquisition of adhesive dispensing robot is direct supply after the general AC power rectification, and whole glue is moved unsuccessfully;

(2) be mostly stepper motor as what the topworks of adhesive dispensing robot adopted, often can run into pulse-losing and cause the motor desynchronizing phenomenon to occur, cause mistake is appearred in the memory of position;

(3) owing to adopt stepper motor, so that organism fever is more serious, need sometimes to dispel the heat;

(4) owing to adopt stepper motor, so that the mechanical noise of system's running increases greatly, be unfavorable for environmental protection;

(5) owing to adopt stepper motor, its motor body generally all is heterogeneous structure, and control circuit need to adopt a plurality of power tubes, so that control circuit is relatively complicated, and has increased the controller price;

(6) owing to adopt stepper motor, so that system generally is not suitable for producing easily vibration during high-speed motion in the higher occasion operation of speed, cause a glue failure;

(7) owing to adopting stepper motor, so that the moment less of system.

(8) owing to controlling improperly reason, causing sometimes, stepper motor produces resonance;

(9) because adhesive dispensing robot will close and start frequently, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that adhesive dispensing robot starts fast and stops;

What (10) relatively adopt all is the larger plug-in components of some volume ratios, so that the adhesive dispensing robot control system takies larger space, weight is relatively all heavier;

(11) owing to disturbed by the surrounding environment labile factor, singlechip controller often can occur unusually causing that adhesive dispensing robot is out of control that antijamming capability is relatively poor;

(12) for the some glue process of diaxon adhesive dispensing robot, the pwm control signal of two motor of General Requirements is wanted synchronously, owing to be subjected to the restriction of single-chip microcomputer computing power, single single-chip microcomputer servo-drive system is difficult to satisfy this condition, so that adhesive dispensing robot point glue amount is inconsistent, worse off cake during particularly for quick walking;

(13) owing to be subjected to single-chip microcomputer capacity and algorithm affects, the glue dot information not storage of adhesive dispensing robot to putting glue, all information will disappear when running into power-down conditions or fault and restart, this so that whole some glue process to restart;

(14) the some colloid system Once you begin will be finished whole some glue motion, middle point without any suspending or cushioning.

Therefore, need to redesign based on monolithic processor controlled diaxon adhesive dispensing robot control system existing, seek a kind of economic and practical middle low speed diaxon point glue servo-drive system.

The utility model content

For the problems referred to above, the purpose of this utility model provides low speed adhesive dispensing robot servo-control system in a kind of diaxon, has solved the out of control and relatively poor problem of antijamming capability of adhesive dispensing robot in the prior art.

For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: low speed adhesive dispensing robot servo-control system in a kind of diaxon is provided, comprise battery, AC power, the first signal processor, the secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately current drives described processor unit by AC power or battery, described processor unit sends respectively the first control signal and the second control signal, described the first control signal and the second control signal are controlled respectively described the second High-speed DC motor and the first High-speed DC motor, the second control signal by described the first High-speed DC motor and synthetic through the secondary signal processor by the first control signal of described the second High-speed DC motor after, the motion of control adhesive dispensing robot, wherein, described processor unit is a dual core processor, comprise single-chip microcomputer and LM629 chip, and carry out in real time exchanges data between single-chip microcomputer and the LM629 chip and call.

In preferred embodiment of the utility model, described processor unit also comprises master system and the kinetic control system of being located at single-chip microcomputer and LM629 chip, described master system comprises human-computer interface module, the path read module, trajectory parameters presetting module and online output module, described kinetic control system comprises diaxon servocontrol module, data memory module and I/O control module, wherein, single-chip microcomputer is used for the control human-computer interface module, the path read module, the trajectory parameters presetting module, online output module, data memory module and I/O control module, LM629 chip are used for control servocontrol module.

In preferred embodiment of the utility model, described LM629 chip internal also comprises motion ladder diagram generator, described motion ladder diagram generator is used for formation speed motion ladder diagram, and its area that comprises is exactly the distance that two motors of adhesive dispensing robot will move.

In preferred embodiment of the utility model, described LM629 chip internal also comprises the motor position demoder, and described motor position demoder is used for understanding the position data of adhesive dispensing robot.

In preferred embodiment of the utility model, described LM629 chip internal also comprises closed loop PID regulator, and described closed loop PID regulator is used for regulating the driving power of adhesive dispensing robot.

In preferred embodiment of the utility model, on the described High-speed DC motor optical code disk is installed also, described optical code disk is used for the position signalling of output adhesive dispensing robot.

In preferred embodiment of the utility model, described single-chip microcomputer is the C8051F120 single-chip microcomputer of technical grade.

Low speed adhesive dispensing robot servo-control system in the diaxon of the present utility model, in order to improve arithmetic speed, guarantee stability and the reliability of low speed adhesive dispensing robot servo-control system in the diaxon, the utility model is introduced the LM629 chip in the single-chip microcomputer of monolithic, formation is based on the dual core processor of single-chip microcomputer+LM629, take into full account battery in the effect of this system, give the LM629 chip controls diaxon servo-drive system of workload maximum in the low speed adhesive dispensing robot servo-control system in the diaxon, give full play to faster characteristics of LM629 chip data processing speed, and human-computer interface module, the path read module, the trajectory parameters presetting module, online output module, the functions such as data memory module and I/O control module are given Single-chip Controlling, so just realized the division of labor of single-chip microcomputer and LM629 chip, single-chip microcomputer is freed from the hard work amount, prevent that adhesive dispensing robot is out of control, antijamming capability strengthens greatly.

Description of drawings

Fig. 1 is the schematic diagram of diaxon adhesive dispensing robot servo-control system in the prior art;

Fig. 2 is the schematic diagram of low speed adhesive dispensing robot servo-control system in the diaxon of the utility model preferred embodiment;

Fig. 3 be among Fig. 2 processor unit block scheme;

Fig. 4 is the structured flowchart of low speed adhesive dispensing robot servo-control system in the diaxon of the utility model preferred embodiment;

Fig. 5 is the speed curve movement of adhesive dispensing robot.

Embodiment

Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.

Single-chip microcomputer was born so far from late 1970s, had experienced one chip microcomputer SCM, microcontroller and three megastages of SOC (system on a chip) SOC, and the first two stage is respectively take MCS-51 and 80C51 as representative.Along with performance and the functional requirement to single-chip microcomputer in built-in field is more and more higher, single-chip microcomputer in the past is that the many-sides such as travelling speed or level of integrated system all can not satisfy new design needs, at this moment Silicon Labs company has released the C8051F series monolithic, becomes the Typical Representative of SOC.C8051F has the characteristics of upper quick-moving (complete compatible 8051 instruction set), research and development fast (developing instrument is easy-to-use, can shorten the R﹠D cycle) and instant effect (debugging method is flexible), its performance advantage imbody in the following areas:

1) at a high speed, the CIP-51 kernel of 8051 compatibilities of pipeline organization (100MIPS or 50MIPS);

2) at full speed, non-intrusion type at system debug interface (in the sheet);

3) ADC of real 12 or 10,100 ksps, band PGA and 8 tunnels analogy multi-way switchs;

4) ADC of real 8 500 ksps, band PGA and 8 tunnels analogy multi-way switchs;

5) two 12 DAC have programmable data update mode (only C8051F12x);

6) 16 x, 16 multiplication and the accumulate engine in 2 cycles;

7) but the FLASH storer of 128KK or 64KB in-system programming;

8) 8448(8K+256) ram in slice of byte;

9) the external data memory interface of addressable 64KB address space;

10) hard-wired SPI, SMBus/ I2C and two UART serial line interfaces;

11) 5 16 general bit timing devices;

12) has the programmable counter of 6 seizure/comparison modules/timer array;

13) WatchDog Timer, VDD monitor and temperature sensor in the sheet.

The LM629 chip is a special chip for precise motion control that National semiconductor produces, 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged, the repertoire of integrated digital-type sport control in a chip, so that design one fast and accurately the task of kinetic control system become easily, easily, it has following characteristic:

1) frequency of operation is 6MHz and 8MHz, and operating temperature range is-40 ℃ ~+85 ℃, uses the 5V power supply;

2) 32 bit positions, speed and acceleration storage;

3) the PWM width modulation of 8 bit resolutions output;

4) 16 programmable digital PID controllers;

5) inner trapezoidal rate generator;

6) but this chip real time modifying speed, target location and pid control parameter;

7) real-time programmable Interrupt; Differential term sampling interval able to programme;

8) the increment code wheel signal is carried out quadruple;

9) can be arranged at two kinds of duties of speed or position servo.

These characteristics so that the LM629 chip be particularly suitable in the servo-control system.

As shown in Figure 2, be the schematic diagram of low speed adhesive dispensing robot servo-control system in the diaxon of the utility model preferred embodiment.In the present embodiment, low speed adhesive dispensing robot servo-control system comprises battery, AC power, first signal processor, secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor and adhesive dispensing robot in the diaxon.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.

In the utility model, described first signal processor provides separately current drives described processor unit by AC power or battery, described processor unit sends respectively the first control signal and the second control signal, described the first control signal and the second control signal are controlled respectively described the second High-speed DC motor and the first High-speed DC motor, the second control signal by described the first High-speed DC motor and synthetic through the secondary signal processor by the first control signal of described the second High-speed DC motor after, the motion of control adhesive dispensing robot.Wherein, described processor unit is a dual core processor, comprises single-chip microcomputer and LM629 chip, and carries out in real time exchanges data between single-chip microcomputer and the LM629 chip and call.

The utility model is to overcome single single-chip microcomputer can not satisfy the stability of diaxon adhesive dispensing robot walking and the requirement of rapidity, the mode of operation of having given up the single-chip microcomputer of the monolithic that domestic adhesive dispensing robot adopts, the brand-new control model of single-chip microcomputer+LM629 chip is provided, control panel is take the LM629 chip as processing core, realize the real-time processing of digital signal, single-chip microcomputer is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of LM629 chip, and realization data communication and storage live signal are interrupted in response.

See also Fig. 3, described processor unit is a dual core processor, and it comprises single-chip microcomputer and LM629 chip, and the two mutually communication is carried out in real time exchanges data and called.Described processor unit also comprises master system and the kinetic control system of being located at single-chip microcomputer and LM629 chip, described master system comprises human-computer interface module, path read module, trajectory parameters presetting module and online output module, and described kinetic control system comprises diaxon servocontrol module, data memory module and I/O control module.Wherein, single-chip microcomputer is used for control human-computer interface module, path read module, trajectory parameters presetting module, online output module, data memory module and I/O control module, and the LM629 chip is used for control diaxon servocontrol module.

Master system comprises human-computer interface module, path read module, the default mould of trajectory parameters and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; The path read module is used for the speed that reading has preset, acceleration, the parameter settings such as position; The trajectory parameters presetting module is used for setting in advance the path locus of adhesive dispensing robot; Online output module is used for the duty of prompting adhesive dispensing robot, such as being in the adhesive dispensing robot course of work or the condition prompting that arrives at a station.

Kinetic control system comprises diaxon servocontrol module, data memory module and I/O control module.Wherein, the data memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.

Be a dual core processor for processor unit, under the power supply opening state, adhesive dispensing robot is introduced into self-locking state, then the glue dispensing valve of adhesive dispensing robot is placed on scrap rubber retracting device place, open the glue dispensing valve door then colloid automatically flow out, after evenly, begin to move to starting point, the actual navigation transformation parameter that the adhesive dispensing robot handle stores is transferred to the single-chip microcomputer in the controller, single-chip microcomputer is converted into the distance that adhesive dispensing robot the first High-speed DC motor and second High-speed DC motor under the designated movement track will move to these environmental parameters, speed and acceleration, then with the communication of LM629 chip, the LM629 chip turns the servocontrol of processing two individual motor according to these parameters, and the deal with data communication to single-chip microcomputer, continue to process follow-up running status by single-chip microcomputer.

In conjunction with above description, master system comprises the functions such as human-computer interface module, path read module, trajectory parameters presetting module, online output module; Kinetic control system comprises the functions such as diaxon servocontrol module, data memory module, I/O control module.Wherein the diaxon servocontrol module of workload maximum is given the LM629 chip controls, remaining comprises that master system gives Single-chip Controlling, so just realized the division of labor of single-chip microcomputer and LM629 chip, also can carry out communication between the two simultaneously, carried out in real time exchanges data and call.

See also Fig. 4, be the structured flowchart of low speed adhesive dispensing robot servo-control system in the diaxon of the utility model preferred embodiment.Comprise single-chip microcomputer, LM629 chip, motor driver, the first High-speed DC motor and the second High-speed DC motor, described single-chip microcomputer and the communication of LM629 chip, described LM629 chip sends and controls signal to motor driver, controls the first High-speed DC motor and the second High-speed DC motor by described motor driver.

In above-mentioned, also be connected with scrambler between described LM629 chip and the High-speed DC motor; Described single-chip microcomputer is by data bus and control bus and LM629 chip carry out communication respectively.

In the utility model, described LM629 chip internal comprises interface, motion ladder diagram generator, motor position demoder and closed loop PID regulator.Described interface is the I/O mouth, is used for connection data bus and control bus; Described motion ladder diagram generator is used for formation speed motion ladder diagram, and its area that comprises is exactly the distance that two motors of adhesive dispensing robot will move; Described motor position demoder is used for understanding the position data of adhesive dispensing robot; Described closed loop PID regulator is used for regulating the driving power of adhesive dispensing robot.

In the utility model in the diaxon the concrete function of low speed adhesive dispensing robot servo-control system be achieved as follows:

1) operating personnel are installed in processing component on the anchor clamps;

2) opening power can be judged the supply voltage source at opening power moment single-chip microcomputer, when determining to be powered battery, if cell voltage low pressure will be forbidden the LM629 chip operation, motor can not self-locking, voltage sensor will be worked simultaneously, and controller can send the low pressure alarming signal;

3) start the adhesive dispensing robot automatic control program, load task by controller 232 serial ports incoming tasks or from hard disk;

4) topworks's (comprising glue brush and glue-spreading head) is moved to the starting point top, adjust pose;

5) the plastic emitting signal is effective, delays time a time period, and wait task starts;

6) in order to drive the motion of diaxon adhesive dispensing robot, this control system has been introduced two LM629 chips, but enters real-time communication by I/O mouth and single-chip microcomputer, and it turns on and off by Single-chip Controlling;

7) for the system based on the LM629 chip, the detection of state of " hurrying " is the primary part of whole Servo System Design, after LM629 chip write order or read-write numeral, " hurrying " mode bit can be by at once set, at this moment at processor, can ignore all command data transmission, until " doing " state is reset, so before each motion, detect first this mode bit, determine whether " doing ", if " hurrying " will carry out the software reset, make system can carry out data communication;

8) for the system based on the LM629 chip, resetting also is important in a LM629 chip servos manipulate link, after resetting, check the status word of LM629 chip, if be not equal to 84H or C4H, the hardware reset failure is described, must again reset, otherwise the LM629 chip cannot works;

9) in the adhesive dispensing robot motion process, single-chip microcomputer can constantly store the distance of process or the some glue point of process, and calculate distance, speed and the acceleration that relatively next adhesive dispensing robot the first High-speed DC motor and the second High-speed DC motor will move respectively according to these range informations by single-chip microcomputer, single-chip microcomputer then with the communication of LM629 chip, transmit these parameters to the LM629 chip, then by LM629 chip formation speed motion ladder diagram, as shown in Figure 5, this trapezoidal area that comprises is exactly the distance that two motors of adhesive dispensing robot will move;

10) if automatically dropping glue machine people finds that glue point distance is found the solution and endless loop occurs and will send interrupt request to single-chip microcomputer in motion process, single-chip microcomputer can be to interrupting doing very first time response, if the interrupt response of single-chip microcomputer does not have enough time to process, the first High-speed DC motor of adhesive dispensing robot and the second High-speed DC motor prevent maloperation with the original place self-locking;

11) optical code disk that is contained on the first High-speed DC motor and the second High-speed DC motor can be exported its position signalling A and position signalling B, the position signalling A pulse of optical code disk and the every variation of B pulse logic state once, the location register in the LM629 chip can add according to the traffic direction of the first High-speed DC motor and the second High-speed DC motor 1 or subtract 1;

When 12) the position signalling A pulse of optical code disk and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to the LM629 chip, then the absolute position of record motor is converted into the particular location of automatically dropping glue machine people in a glue component;

13) single-chip microcomputer is according to the contrast of adhesive dispensing robot at particular location and the desired location of a glue component, after single-chip microcomputer calculates, send corresponding acceleration, speed and position data etc. to the ladder diagram generator of LM629 chip as with reference to value, this calculates actual acceleration, speed and position signalling that automatically dropping glue machine people need to upgrade by ladder diagram;

14) by PWM ripple signal and the motor positive and inverse signal of motion ladder diagram generator in conjunction with the closed loop PID regulator generating power drive axle needs of motor position demoder decision, be used for realizing the servocontrol of glue dispensing machine robot system the first High-speed DC motor and the second High-speed DC motor;

15) if when adhesive dispensing robot runs into unexpected outage in operational process, battery can automatically be opened and immediately adhesive dispensing robot be powered, when the flow currents of motor surpasses setting value, the interruptive command LPES of LM629 chip will send interrupt request to controller, this Time Controller can be controlled immediately the LM629 chip and quit work, thereby has effectively avoided the generation of high-rate battery discharge;

16) if in a glue process, read the automatic pause point, single-chip microcomputer can be controlled the LM629 chip and stop with the acceleration of maximum and make process automatic pause occur and store current information, until controller reads and again press START button information the LM629 chip is reworked, and transfer storage information adhesive dispensing robot can be worked on from the breakpoint;

17) in motion process, pulsation appears if detect the torque of motor, and controller meeting auto-compensation has reduced motor torque to an impact of glue process;

18) adhesive dispensing robot can detect cell voltage constantly at operational process, and when low pressure appearred in system, sensor meeting notification controller was opened and sent alarm, has effectively protected battery;

19) after the some glue motion of finishing whole processing component, glue dispensing valve can stop plastic emitting, and movement locus is walked out in time-delay;

20) adhesive dispensing robot resets position zero point, waits for the task in next cycle.

The beneficial effect that low speed adhesive dispensing robot servo-control system has in the utility model diaxon is:

1: in motion process, taken into full account the effect of battery in this system, constantly all the running status of adhesive dispensing robot is being monitored and computing based on single-chip microcomputer+LM629 controller, when running into the AC power outage, battery can provide the energy immediately, avoided the failure of some colloid system servo-drive system motion, and provide in the process of power supply at battery, the moment is observed the electric current of battery and protects, avoided the generation of large electric current, so fundamentally solved large electric current to the impact of battery, avoided the generation of the lithium ion battery overaging phenomenon that causes owing to heavy-current discharge;

2: process the independent servocontrol of two motors of adhesive dispensing robot by the LM629 chip, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of single-chip microcomputer operation, it is short to have shortened the construction cycle, and the program transportability ability is strong;

3: substantially realize full SMD components material, realized veneer control, not only saved control panel and taken up room, and be conducive to alleviating of adhesive dispensing robot volume and weight;

4: in order to improve arithmetic speed and precision, this adhesive dispensing robot has adopted the High-speed DC motor to substitute the stepper motor of commonly using in the legacy system, so that operational precision improves greatly, efficient is also relatively high;

5: owing to adopt direct current generator, so that speed adjustable range is wider, contrast of regulating speed is steady;

6: because this controller adopts the LM629 chip to process a large amount of data and algorithm, single-chip microcomputer is freed from the hard work amount, prevented that effectively adhesive dispensing robot is out of control, antijamming capability strengthens greatly;

7: by position, speed and acceleration given and optical code disk information output PWM modulation signal and the direction signal of LM629 chip according to single-chip microcomputer, can direct-driving motor by driving circuit, not only alleviated the burden of single-chip microcomputer, simplified interface circuit, and single-chip microcomputer internal composition position, speed control program have been saved, and the trouble of various pid algorithms, so that the debugging of system is simple;

8: in control, single-chip microcomputer can be adjusted according to the peripheral ruuning situation of adhesive dispensing robot the pid parameter of LM629 chip internal in good time, realizes segmentation P, PD, PID control and nonlinear PID controller, the switching of speed when making system satisfy middle slow running;

9: owing to have a memory function, this so that after the adhesive dispensing robot power down or when running into fault and restarting system can transfer easily the good routing information of gluing, then can finish uncompleted task from trouble spot secondary point glue easily;

Double-damping structure is adopted in PID control and the instruction of motion control class of 10:LM629 chip, data at first write master register by single-chip microcomputer, the data of the master register work register of could further packing into after writing related command only, be easy to like this to realize the diaxon servo motion synchronously;

11: because the single-chip microcomputer that adopts is the C8051F120 single-chip microcomputer of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, so that programmer can well secondary development;

12: in whole some glue process, added the breakpoint setting, be conducive to like this in motion process, estimate and put the good position of glue, found in advance a some glue problem.

The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.

Claims (7)

1. low speed adhesive dispensing robot servo-control system in the diaxon, it is characterized in that, comprise battery, AC power, the first signal processor, the secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately current drives described processor unit by AC power or battery, described processor unit sends respectively the first control signal and the second control signal, described the first control signal and the second control signal are controlled respectively described the second High-speed DC motor and the first High-speed DC motor, the second control signal by described the first High-speed DC motor and synthetic through the secondary signal processor by the first control signal of described the second High-speed DC motor after, the motion of control adhesive dispensing robot, wherein, described processor unit is a dual core processor, comprise single-chip microcomputer and LM629 chip, and carry out in real time exchanges data between single-chip microcomputer and the LM629 chip and call.

2. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1, it is characterized in that, described processor unit also comprises master system and the kinetic control system of being located at single-chip microcomputer and LM629 chip, described master system comprises human-computer interface module, the path read module, trajectory parameters presetting module and online output module, described kinetic control system comprises diaxon servocontrol module, data memory module and I/O control module, wherein, single-chip microcomputer is used for the control human-computer interface module, the path read module, the trajectory parameters presetting module, online output module, data memory module and I/O control module, LM629 chip are used for control servocontrol module.

3. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1, it is characterized in that, described LM629 chip internal also comprises motion ladder diagram generator, described motion ladder diagram generator is used for formation speed motion ladder diagram, and its area that comprises is exactly the distance that two motors of adhesive dispensing robot will move.

4. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1 is characterized in that, described LM629 chip internal also comprises the motor position demoder, and described motor position demoder is used for understanding the position data of adhesive dispensing robot.

5. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1 is characterized in that, described LM629 chip internal also comprises closed loop PID regulator, and described closed loop PID regulator is used for regulating the driving power of adhesive dispensing robot.

6. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1 is characterized in that, on the described High-speed DC motor optical code disk is installed also, and described optical code disk is used for the position signalling of output adhesive dispensing robot.

7. low speed adhesive dispensing robot servo-control system in the diaxon according to claim 1 is characterized in that, described single-chip microcomputer is the C8051F120 single-chip microcomputer of technical grade.

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