CN202837911U - Three-axis high speed adhesive dispensing robot servo control system - Google Patents
Three-axis high speed adhesive dispensing robot servo control system Download PDFInfo
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Abstract
三轴高速点胶机器人伺服控制系统，包括电池、交流电源、第一信号处理器、第二信号处理器、处理器单元、第一高速直流电机、第二高速直流电机、第三高速直流电机以及点胶机器人，所述的第一信号处理器通过交流电源或者电池单独提供电流驱动所述的处理器单元，所述的处理器单元分别发出第一控制信号、第二控制信号和第三控制信号，所述的第一控制信号、第二控制信号和第三控制信号分别控制所述的第二高速直流电机、第一高速直流电机和第三高速直流电机，通过所述的第一高速直流电机的第二控制信号、通过所述的第二高速直流电机的第一控制信号和通过所述的第三高速直流电机的第三控制信号经过第二信号处理器合成之后，控制点胶机器人的运动。
Three-axis high-speed dispensing robot servo control system, including battery, AC power supply, first signal processor, second signal processor, processor unit, first high-speed DC motor, second high-speed DC motor, third high-speed DC motor and For the dispensing robot, the first signal processor provides current to drive the processor unit through an AC power supply or a battery alone, and the processor unit sends out the first control signal, the second control signal and the third control signal respectively , the first control signal, the second control signal and the third control signal respectively control the second high-speed DC motor, the first high-speed DC motor and the third high-speed DC motor, through the first high-speed DC motor The second control signal, the first control signal through the second high-speed DC motor and the third control signal through the third high-speed DC motor are synthesized by the second signal processor to control the movement of the dispensing robot .
Description
Technical field
The utility model relates to the technical field of adhesive dispensing robot, and particularly relevant for three axle high speed adhesive dispensing robot servo-control systems.
Background technology
In today of hi-tech fast development, traditional mode of production is increasingly backward, and novel automated production will become the new century and accept the important way of market challenges.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, and it is changing traditional production model, boosts 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.Higher adhesive dispensing robot of ratio of precision need to carry out on the straight line on the XY plane of a two dimension or gluing or point-to-point gluing is carried out in some positions according to certain rule on the circular arc, can simply finish above-mentioned action if adopt the adhesive dispensing robot of two axles, but when running into when needing that the glue amount is inconsistent to be required, the adhesive dispensing robot of two axles can't meet the demands, and just need to have this time an other axle Z axis to drive the requirement that moves up and down to finish different glue amounts of glue dispensing valve.As long as motion path with put glue glue amount input information to robot controller, the adhesive dispensing robot of three axles of above-mentioned design can be very fast finishes above-mentioned action.Three 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 three-dimensional 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 curvilinear motion;
3) microprocessor: microprocessor is the core of adhesive dispensing robot, be 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, and 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 domestic this adhesive dispensing robot of research and development is less, R ﹠ D Level is relatively backward relatively, the structured flowchart of three axle adhesive dispensing robot servo-control systems 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;
What (2) adopt as the topworks of adhesive dispensing robot is stepper motor, and the problem that often can run into pulse-losing occurs, and causes 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 adopting stepper motor, so that system generally is not suitable at high-speed cruising;
(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, and dynamic performance is bad;
What (10) relatively adopt all is the larger plug-in components of some volume ratios, so that automatically dropping glue machine people 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 three axle adhesive dispensing robots, the pwm control signal of its three motors of General Requirements is wanted synchronously, owing to be subjected to the restriction of single-chip microcomputer computing power, the 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, adhesive dispensing robot is not stored the information of glue point, and information all when running into power-down conditions will disappear, 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;
(15) owing to affected by the single-chip microcomputer computing power, whole adhesive dispensing robot there is no large problem when slow running, but when accelerating in order to improve a colloid system efficient, serious problem will appear in the cementing fruit of whole point.
For satisfy at a high speed, the needs of High-efficient Production, must redesign based on monolithic processor controlled three axle automatically dropping glue machine people control system existing, seek a kind of high speed, put the glue servo-drive system efficiently.
The utility model content
For the problems referred to above, the purpose of this utility model provides a kind of three axle high speed adhesive dispensing robot servo-control systems, has solved in the prior art three axle adhesive dispensing robot control system at a high speed and the defective of efficient poor performance.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of three axle high speed adhesive dispensing robot servo-control systems are 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, third high speed direct current generator 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, the second control signal and the 3rd control signal, described the first control signal, the second control signal and the 3rd control signal are controlled respectively described the second High-speed DC motor, the first High-speed DC motor and third high speed direct current generator, the second control signal by described the first High-speed DC motor, the first control signal by described the second High-speed DC motor and synthetic through the secondary signal processor by the 3rd control signal of described third high speed direct current generator after, the motion of control adhesive dispensing robot.
In preferred embodiment of the utility model, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, path read module and online output module, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, the path read module, online output module, data memory module and I/O control module, the FPGA processor is used for control servocontrol module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
In preferred embodiment of the utility model, described processor unit further is connected with the output terminal of High-speed DC motor.
In preferred embodiment of the utility model, described servocontrol module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.
In preferred embodiment of the utility model, described servocontrol module also comprises coder module, and described coder module judges whether to meet rate request for detection of the actual speed of adhesive dispensing robot, whether too fast or excessively slow, and send control signal.
In preferred embodiment of the utility model, described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that adhesive dispensing robot needs.
In preferred embodiment of the utility model, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection adhesive dispensing robot actual speed, the speed module is regulated the adhesive dispensing robot actual speed according to the result that coder module detects.
In preferred embodiment of the utility model, described servocontrol module also comprises displacement module, and whether described displacement module arrives set displacement for detection of adhesive dispensing robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Three axle high speed adhesive dispensing robot servo-control systems of the present utility model, in order to improve arithmetic speed, guarantee stability and the reliability of three axle high speed adhesive dispensing robot servo-control systems, the utility model is introduced the FPGA processor in the dsp processor of monolithic, formation is based on the dual core processor of DSP+FPGA, this processor is concentrated design to the multi controller systems of original chip microcontroller, and take into full account battery in the effect of this system, realize the function of Single Controller synchro control three axles, give the control of FPGA processor three axle servo-drive systems of workload maximum in the three axle high speed adhesive dispensing robot servo-control systems, give full play to faster characteristics of FPGA processor data processing speed, and human-computer interface module, the path read module, online output module, the functions such as data memory module and I/O control module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, and antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the schematic diagram of three axle adhesive dispensing robot servo-control systems in the prior art;
Fig. 2 is the schematic diagram of three axle high speed adhesive dispensing robot servo-control systems of the utility model preferred embodiment;
Fig. 3 is the block scheme of processor unit among Fig. 2;
Fig. 4 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.
Development and maturation along with microelectric technique and computing machine integrated chip manufacturing technology, digital signal processing chip (DSP) is because its computing power fast, not only be widely used in communication and process with vision signal, also be applied in gradually in the various senior control system.TMS320F2812 is the fixed point 32 bit DSP processors on the C2000 platform released of American TI company, is suitable for Industry Control, and Electric Machine Control etc. are of many uses.The operation clock also can reach 150MHz soon, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and the IO mouth is abundant, and is enough concerning the general application of user, two serial ports.AD conversion etc. with 0 ~ 3.3v of 12.In-chip FLASH with 128k in the sheet * 16, the SRAM of 18K * 16, general application system can not wanted outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the data storage processing power.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just so that have good reusable and the property revised based on FPGA processor designed system, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in the control, and fast-developing.
As shown in Figure 2, be the schematic diagram of three axle high speed adhesive dispensing robot servo-control systems of the utility model preferred embodiment.In the present embodiment, three axle high speed adhesive dispensing robot servo-control systems comprise battery, AC power, first signal processor, secondary signal processor, processor unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and adhesive dispensing robot.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, the second control signal and the 3rd control signal, described the first control signal, the second control signal and the 3rd control signal are controlled respectively described the second High-speed DC motor, the first High-speed DC motor and third high speed direct current generator, the second control signal by described the first High-speed DC motor, the first control signal by described the second High-speed DC motor and synthetic through the secondary signal processor by the 3rd control signal of described third high speed direct current generator after, the motion of control adhesive dispensing robot.
The utility model is to overcome single-chip microcomputer in the prior art can not satisfy the stability of three axle adhesive dispensing robots walking and the requirement of rapidity, the mode of operation of having given up the single-chip microcomputer that domestic adhesive dispensing robot adopts, the brand-new control model of DSP+FPGA processor is provided, control panel is take the FPGA processor as processing core, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, the signal processing algorithm and the response that realize part are interrupted, and realize data communication and storage live signal.
See also Fig. 3, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, 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 dsp processor and FPGA processor, described master system comprises human-computer interface module, path read module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, dsp processor is used for control human-computer interface module, path read module, online output module, data memory module and I/O control module, and the FPGA processor is used for control servocontrol module.
Master system comprises human-computer interface module, path read module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; The path read module is used for reading the speed that has preset, acceleration, the parameter settings such as position; 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 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.; The servocontrol module further comprises modular converter, coder module, current module, speed module and displacement module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of the actual speed of adhesive dispensing robot, too fast or excessively slow, and sends control signal.
Described current module and battery are connected modular converter and are connected with controller.Modular converter is judged operating power according to the electric current of battery and controller, and power condition is fed back to battery, and the output power that current module is used for the adjustment battery reaches the scope that adhesive dispensing robot needs.
Described speed module is connected with the coder module communication, and to detect the adhesive dispensing robot actual speed too fast or excessively slow when coder module, the actual speed that the result that the speed module detects according to coder module regulates adhesive dispensing robot.
Described displacement module detects adhesive dispensing robot and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
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, adhesive dispensing robot is the Actual path parameter that stores and put the glue communication to the dsp processor in the controller, dsp processor is converted into adhesive dispensing robot first High-speed DC motor under the designated movement track to these kinematic parameters, the distance of the second High-speed DC motor and the confidential operation of third high speed direct current, then with the communication of FPGA processor, the FPGA processor turns the servocontrol of processing three individual motor in conjunction with the signal of the electric current of motor feedback and optical code disk again according to these parameters, and the deal with data communication to dsp processor, continue to process follow-up running status by dsp processor.
In conjunction with above description, master system comprises the functions such as human-computer interface module, path read module, online output module; Kinetic control system comprises the functions such as servocontrol module, data memory module, I/O control module.Wherein the servocontrol module of workload maximum is given the control of FPGA processor, remaining comprises that master system gives dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carried out in real time exchanges data and call.
The concrete function of three axle high speed adhesive dispensing robot servo-control systems is achieved as follows in the utility model:
1) operating personnel are installed in processing component on the anchor clamps;
2) opening power, can judge the supply voltage source at opening power moment dsp processor, when determining to be powered battery, if cell voltage low pressure, the PWM ripple output of FPGA processor will be blocked, the first High-speed DC motor and the second High-speed DC motor voltage sensor of can not working simultaneously will work this moment, and the double-core controller can send the low pressure alarming signal, man-machine interface prompting replacing battery;
3) the people's automatic control program that starts the machine loads task by the USB interface incoming task of controller or from hard disk;
4) topworks's (comprising glue brush and glue-spreading head) is moved to the starting point top, adjust initialized location;
5) the plastic emitting signal is effective, time-delay;
6) move in order to drive three axle automatically dropping glue machine people, this control system is introduced the FPGA processor, generate the PWM ripple of three spindle motors motion by it, but enter real-time communication by I/O mouth and dsp processor, controlled output and the blockade of its PWM waveform by dsp processor;
7) in the adhesive dispensing robot motion process, dsp processor can constantly store the distance of process or the some glue point of process, and determine distance or the track that on two dimensional surface, will move next working point adhesive dispensing robot diaxon the first High-speed DC motor and the second High-speed DC motor according to these range informations, dsp processor then with the communication of FPGA processor, transmit these parameters to the FPGA processor, then the FPGA processor is automatically transferred PID in conjunction with the electric current of motor collection and optical code disk signal and peripheral sensor signal again according to these parameters and is regulated pattern, automatically generate the PWM ripple of control the first High-speed DC motor and the second High-speed DC motor movement, then the servo motion of control motor behind driving circuit;
8) adhesive dispensing robot is in X and Y two dimensional surface motion process, dsp processor can be determined according to the glue dot information distance of the confidential operation of third high speed direct current, dsp processor then with the communication of FPGA processor, transmit these parameters to the FPGA processor, then then the FPGA processor is automatically transferred corresponding PID in conjunction with the electric current of third high speed direct current electricity price and optical disc information and peripheral transducing signal according to these parameters and is regulated pattern, generate the PWM ripple of control third high speed direct current generator motion, then the servo motion of control motor behind driving circuit;
9) if adhesive dispensing robot find in motion process that glue point distance is found the solution and endless loop occurs and will send interrupt request to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to process, the first High-speed DC motor of automatically dropping glue machine people, the second High-speed DC motor and third high speed direct current generator are with the original place self-locking, wait for that the workman fixes a breakdown
10) optical code disk that is contained on the first High-speed DC motor, the second High-speed DC motor and the third high speed direct current generator 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 FPGA can add according to the traffic direction of the first High-speed DC motor, the second High-speed DC motor and third high speed direct current generator 1 or subtract 1;
When 11) the position signalling A pulse of optical code disk and B pulse and Z pulse are low level simultaneously, just produce a position signalling to the FPGA processor, then the absolute position of record motor is converted into the particular location of adhesive dispensing robot in three-dimensional planar XYZ;
12) in motion process, controller can be according to adhesive dispensing robot in the particular location of a glue component and the position that should arrive, send the FPGA processor to process, the FPGA processor is automatically transferred corresponding PID according to peripheral transducing signal and is regulated pattern, calculated the first High-speed DC motor of automatically dropping glue machine people by the FPGA processor, the pwm control signal that the second High-speed DC motor and third high speed direct current generator need to upgrade, determine the first High-speed DC motor, the speed that the second High-speed DC motor and third high speed direct current generator need to upgrade, speed is accelerated and slows down to satisfy figure 4;
13) if when adhesive dispensing robot runs into unexpected outage in operational process, battery can automatically be opened and immediately adhesive dispensing robot be powered, the first High-speed DC motor, the second High-speed DC motor and any one motor of third high speed direct current generator are when electric current surpasses setting value in motion process, controller can be controlled immediately the FPGA processor and quit work, thereby has effectively avoided the generation of high-rate battery discharge;
14) if in a glue process, read the automatic pause point on the man-machine interface, the FPGA processor can be controlled the first High-speed DC motor, the second High-speed DC motor and third high speed direct current generator with the acceleration parking of maximum, make process automatic pause occur and store current information, until controller reads and again press START button information the FPGA processor is reworked, and transfer storage information adhesive dispensing robot can be worked on from the automatic pause point;
15) 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;
16) 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;
17) 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;
18) adhesive dispensing robot resets position zero point, waits for next cycle.
The beneficial effect that the utility model three axle high speed adhesive dispensing robot servo-control systems have is:
1: owing to adopt high performance dsp processor, so that system's processing speed increases greatly, requirement that can fine satisfied high speed point colloid system rapidity;
2: in motion process, taken into full account the effect of battery in this system, constantly all automatically dropping glue machine people's running status is being monitored and computing based on DSP+FPGA double-core controller, when running into the AC power outage, battery can provide the energy immediately, avoided the failure of automatically dropping glue 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 battery overaging phenomenon that causes owing to heavy-current discharge;
3: process the independent servocontrol of three motors of adhesive dispensing robot by the FPGA processor, 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;
4: 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;
5: 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 also is improved to some extent;
6: because this controller adopts the FPGA processor to process a large amount of data and algorithm, dsp processor is freed from the hard work amount, prevented that effectively adhesive dispensing robot is out of control, antijamming capability strengthens greatly;
7: because the control signal of No. three motors is to export by the FPGA processor, can export simultaneously PWM modulation signal and direction signal by the FPGA processor like this, can direct-driving motor by driving circuit, not only alleviated the burden of dsp processor, simplify interface circuit, and saved dsp processor internal composition position, speed control program, and the trouble of various pid algorithms, so that the debugging of system is simple, and realized the servo-controlled synchronism of three axles;
8: in the adhesive dispensing robot operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, and the motor torque shake is on the impact of adhesive dispensing robot dynamic property when having reduced quick walking;
9: in control, multiple PID adjusting pattern that the FPGA processor is inner integrated, can automatically adjust its inner pid parameter according to the peripheral ruuning situation of robot, easily realize segmentation P, PD, PID control and nonlinear PID controller, make system have certain self-adaptation;
10: owing to have a memory function, this be so that can transfer easily the good routing information of gluing after the adhesive dispensing robot power down, even also secondary point glue easily after breaking down;
11: in whole some glue process, added the breakpoint setting, be conducive to like this in automatic 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)
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220494156 CN202837911U (en) | 2012-09-26 | 2012-09-26 | Three-axis high speed adhesive dispensing robot servo control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220494156 CN202837911U (en) | 2012-09-26 | 2012-09-26 | Three-axis high speed adhesive dispensing robot servo control system |
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| CN202837911U true CN202837911U (en) | 2013-03-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223670A (en) * | 2013-04-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system for five-degree-of-freedom medium-speed tin soldering robot |
| CN103231377A (en) * | 2013-04-15 | 2013-08-07 | 苏州工业园区职业技术学院 | Dual-core three-freedom-degree high-speed tin soldering robot servo controller and control method |
| CN103273491A (en) * | 2013-04-15 | 2013-09-04 | 苏州工业园区职业技术学院 | Dual-core, three degree-of-freedom and medium-speed tin soldering robot servo controller and method |
-
2012
- 2012-09-26 CN CN 201220494156 patent/CN202837911U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223670A (en) * | 2013-04-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system for five-degree-of-freedom medium-speed tin soldering robot |
| CN103231377A (en) * | 2013-04-15 | 2013-08-07 | 苏州工业园区职业技术学院 | Dual-core three-freedom-degree high-speed tin soldering robot servo controller and control method |
| CN103273491A (en) * | 2013-04-15 | 2013-09-04 | 苏州工业园区职业技术学院 | Dual-core, three degree-of-freedom and medium-speed tin soldering robot servo controller and method |
| CN103273491B (en) * | 2013-04-15 | 2015-11-18 | 苏州工业园区职业技术学院 | Double-core three-degree-of-freeintermediate intermediate soldering robot servo control device and method |
| CN103231377B (en) * | 2013-04-15 | 2016-05-11 | 苏州工业园区职业技术学院 | Double-core Three Degree Of Freedom high speed soldering robot servo control device and method |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20130926 |