CN202837912U - Four-axis medium-low speed full-automatic adhesive dispensing robot servo controller - Google Patents

Four-axis medium-low speed full-automatic adhesive dispensing robot servo controller Download PDF

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CN202837912U
CN202837912U CN 201220494157 CN201220494157U CN202837912U CN 202837912 U CN202837912 U CN 202837912U CN 201220494157 CN201220494157 CN 201220494157 CN 201220494157 U CN201220494157 U CN 201220494157U CN 202837912 U CN202837912 U CN 202837912U
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chip
motor
speed
motor driver
machine people
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王应海
张好明
袁丽娟
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Suzhou Industrial Park Institute of Vocational Technology
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Suzhou Industrial Park Institute of Vocational Technology
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Abstract

The utility model discloses a four-axis medium-low speed full-automatic adhesive dispensing robot servo controller, which comprises a single-chip microcomputer, a first LM629 chip, a second LM629 chip, a third LM629 chip, a fourth LM629 chip, a first motor driver, a second motor driver, a third motor driver, a fourth motor driver, a first high speed DC motor, a second high speed DC motor, a third high speed DC motor and a fourth high speed DC motor, wherein the single-chip microcomputer is connected with the multiple LM629 chips in a communication manner, the LM629 chips send control signals to the motor drivers, the motor drivers drive the high speed DC motors, and the single-chip microcomputer comprises an image collecting and processing module. According to the utility model, a dual-core processor based on the single-chip microcomputer and the LM629 chips is formed, thereby freeing the single-chip microcomputer from heavy workload, and increasing the anti-interference capacity greatly.

Description

Low speed Full-automatic spot gluing machine people servo controller in a kind of four axles
Technical field
The utility model relates to the automatic bed field, is specifically related to low speed Full-automatic spot gluing machine people servo controller in a kind of four axles.
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 mobile phone, computer casing, CD-ROM device, printer,, the manufacturing industry such as electronics industry, Toy Industry, medical equipment such as ink folder, PC plate, LCD, LED, DVD, digital still camera, switch, connector, relay, heating radiator, semiconductor require 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 research and development of " automatically dropping glue machine people " will produce huge economic benefit and social benefit to industries such as China pcb board binding envelope Rubber, IC envelope Rubber, PDA envelope Rubber, LCD envelope Rubber, IC envelope Installed, IC are bonding.The relatively high adhesive dispensing robot of precision need to carry out on the straight line on the XYZ plane of a three-dimensional, carry out gluing according to certain glue amount information on circular arc or the point-to-point position, can simulate simply above-mentioned action if adopt the adhesive dispensing robot of three axles, but the motion of general its Z axis of adhesive dispensing robot all is vertical movement, when needs have a side to weld, this problem just can't be finished, the certain angle that just need to can be tilted by the vertical angle that an other axle U can regulate glue dispensing valve this time has so just formed easy four axle adhesive dispensing robots.
Four 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 adhesive dispensing robot is carried out processing component in four-dimentional space relevant action according to the instruction of microprocessor.
2) algorithm: algorithm is the soul of adhesive dispensing robot.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.
Automatically dropping glue machine people 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.Automatically dropping glue machine people 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, and automatically dropping glue machine people's structure such as Fig. 1 of research and development, long-play find to exist a lot of safety problems, that is:
(1) at a glue initial stage, all be that the artificial sport glue dispensing valve arrives reference position, then only rely on human eye to carry out the correction of initial position, so that degree of accuracy reduces greatly.
What (2) use as automatically dropping glue machine people's power acquisition is direct supply after the general AC power rectification, and whole glue is moved unsuccessfully.
What (3) adopt as automatically dropping glue machine people's topworks is stepper motor, and the problem that often can run into pulse-losing occurs, and causes mistake is appearred in the memory of position.
(4) owing to adopting stepper motor, so that organism fever is more serious, need sometimes to dispel the heat.
(5) owing to adopting 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) owing to adopting stepper motor, so that the mechanical noise of system's running increases greatly, be unfavorable for environmental protection.
(10) owing to disturbed by the surrounding environment labile factor, singlechip controller often can occur unusually causing that automatically dropping glue machine people is out of control, and antijamming capability is relatively poor.
(11) for automatically dropping glue machine people's some glue process, the pwm control signal of its three motors of General Requirements is wanted synchronously, owing to being 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 automatically dropping glue machine people puts the glue amount is inconsistent, during particularly for quick walking.
(12) owing to being subjected to single-chip microcomputer capacity and algorithm affects, automatically dropping glue machine people does not store 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.
(13) the some colloid system Once you begin will be finished whole some glue motion, middle point without any suspending or cushioning.
(14) because automatically dropping glue machine people will brake and start frequently, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't satisfy the requirement that automatically dropping glue machine people starts fast and stops.
(15) in all some glue processes, the result who a glue is not crossed carries out automatic Observation and compensation, sometimes so that whole curve spread is inconsistent, then adopts artificial secondary to mend glue.
What (16) 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.
Therefore, need to redesign based on monolithic processor controlled four-spindle automatic adhesive dispensing robot controller existing, seek a kind of economic and practical middle low speed four axle adhesive dispensing robot servo-drive systems.
The utility model content
The purpose of this utility model is to provide a kind of adhesive dispensing robot servo controller, and it is based on low speed Full-automatic spot gluing machine people servo controller in single-chip microcomputer+LM629 four axles.
The technical solution of the utility model is, low speed Full-automatic spot gluing machine people servo controller in a kind of four axles, comprise single-chip microcomputer, the one LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, the first motor driver, the second motor driver, the 3rd motor driver, the 4th motor driver, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor, described single-chip microcomputer respectively with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip communication connect, a described LM629 chip sends and controls signal to the first motor driver, described the 2nd LM629 chip sends and controls signal to the second motor driver, described the 3rd LM629 chip sends and controls signal to the 3rd motor driver, described the 4th LM629 chip sends and controls signal to the 4th motor driver, described the first motor driver drives the first High-speed DC motor, described the second motor driver drives the second High-speed DC motor, described the 3rd motor driver drives third high speed direct current generator, described the 4th motor driver drives the 4th High-speed DC motor, and described single-chip microcomputer comprises image acquisition and processing module.
In preferred embodiment of the utility model, also be connected with the first scrambler between a described LM629 chip and the first High-speed DC motor; Also be connected with the second scrambler between described the 2nd LM629 chip and the second High-speed DC motor; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the third high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th High-speed DC motor.
In preferred embodiment of the utility model, described single-chip microcomputer is connected by the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively, a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used for the connection data bus.
In preferred embodiment of the utility model, a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal all also comprise motion ladder diagram generator, described motion ladder diagram generator is used for generating the speed motion ladder diagram of High-speed DC motor, and its area that comprises is exactly the distance that adhesive dispensing robot the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor will move respectively.
In preferred embodiment of the utility model, a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise 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, a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise 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 described the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor optical code disk is housed all, described optical code disk is used for the position signalling of output High-speed DC motor.
Described in the utility model is low speed Full-automatic spot gluing machine people servo controller in a kind of four axles, has added figure acquisition and processing unit, can help automatic kinetic control system location and find the trouble spot, and automaticity improves greatly.In the motion process, by aut.eq. the glue dispensing valve door is shifted onto initial position in the early stage, then image capturing system is opened, and helps glue dispensing valve to aim at initial position, so that initial position fix is extremely accurate.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 single-chip microcomputer+LM629 chip controller; when running into the AC power outage; lithium ion 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 lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon that causes owing to heavy-current discharge.Processed the independent servocontrol of four motors of automatically dropping glue machine people by the LM629 chip, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle short, and the program transportability ability is strong.The utility model is realized full SMD components material substantially, has realized veneer control, has not only saved control panel and has taken up room, and be conducive to alleviating of the long-pending and weight of automatically dropping glue machine human body.In order to improve arithmetic speed and precision, this automatically dropping glue machine people 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.Because this controller adopts the LM629 chip to process a large amount of data and algorithm, and single-chip microcomputer is freed from the hard work amount, has effectively prevented " race flies " of program, antijamming capability strengthens greatly.By LM629 chip output PWM modulation signal and direction signal, 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.In automatically dropping glue machine people operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, has reduced the impact that the motor torque shake is explored fast on automatically dropping glue machine people.In control, single-chip microcomputer can be adjusted according to the peripheral ruuning situation of 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.Owing to having a memory function, this be so that can transfer easily the good routing information of gluing after the automatically dropping glue machine people power down, even also secondary point glue easily after breaking down.Double-damping structure is adopted in PID control and the instruction of motion control class of LM629 chip, data at first write master register, 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.In whole some glue process, if image capturing system finds to have any position or any glue point appearance point glue problem, controller can carry out second compensation to above-mentioned position or some glue point.Because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, so that programmer can well secondary development.
Description of drawings
Fig. 1 is the schematic diagram of existing monolithic processor controlled diaxon adhesive dispensing robot servo controller;
Fig. 2 is the schematic diagram of the utility model one preferred embodiment;
Fig. 3 is the block scheme of processor unit among Fig. 2;
Fig. 4 is the block diagram of the utility model one preferred embodiment;
Fig. 5 is speed curve diagram of the present utility model;
Fig. 6 is fundamental diagram of the present utility model.
Embodiment
The below is described in detail preferred embodiment of the present utility model, 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 10,100ksps, 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) 16x16 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.
LM629 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 LM629 be particularly suitable in the servo control.
As shown in Figure 2, comprise AC power, lithium ion battery, a plurality of signal processors, processor unit, a plurality of High-speed DC motors and adhesive dispensing robot, described AC power and lithium ion battery are synthetic by signal processor, drive described processor unit, described processor unit sends a plurality of control signals and drives respectively described a plurality of High-speed DC motor, the control signal of High-speed DC motor is synthetic through signal processor, thereby drive the motion of adhesive dispensing robot, described signal processor comprises first signal processor and secondary signal processor, described control signal comprises the first control signal, the second control signal, the 3rd control signal and the 4th control signal, described High-speed DC motor comprises the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor, described processor unit is a dual core processor, comprises single-chip microcomputer and LM629 chip.
As shown in Figure 3, processor unit 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 four axle servocontrol modules, data memory module, I/O control module and image acquisition and processing module, wherein, the Single-chip Controlling human-computer interface module, the path read module, the trajectory parameters presetting module, online output module, data memory module, I/O control module and image acquisition and processing module, LM629 chip controls four axle servocontrol modules, and carry out in real time exchanges data between single-chip microcomputer and the LM629 chip and call.
As shown in Figure 4, comprise single-chip microcomputer, the one LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, the first motor driver, the second motor driver, the 3rd motor driver, the 4th motor driver, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor, described single-chip microcomputer respectively with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip communication connect, a described LM629 chip sends and controls signal to the first motor driver, described the 2nd LM629 chip sends and controls signal to the second motor driver, described the 3rd LM629 chip sends and controls signal to the 3rd motor driver, described the 4th LM629 chip sends and controls signal to the 4th motor driver, described the first motor driver drives the first High-speed DC motor, described the second motor driver drives the second High-speed DC motor, described the 3rd motor driver drives third high speed direct current generator, described the 4th motor driver drives the 4th High-speed DC motor, and described single-chip microcomputer comprises image acquisition and processing module.Also be connected with the first scrambler between a described LM629 chip and the first High-speed DC motor; Also be connected with the second scrambler between described the 2nd LM629 chip and the second High-speed DC motor; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the third high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th High-speed DC motor.Described single-chip microcomputer is connected by the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used for the connection data bus.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal all also comprise motion ladder diagram generator, described motion ladder diagram generator is used for generating the speed motion ladder diagram of High-speed DC motor, as shown in Figure 5, its area that comprises is exactly the distance that adhesive dispensing robot the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor will move respectively.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise the motor position demoder, and described motor position demoder is used for understanding the position data of adhesive dispensing robot.A described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator is used for regulating the driving power of adhesive dispensing robot.On described the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor optical code disk is housed all, described optical code disk is used for the position signalling of output High-speed DC motor.
For the single-chip microcomputer of the utility model design+LM629 controller, as shown in Figure 6, X-axis, Y-axis, Z axis and U axle be corresponding the first High-speed DC motor respectively, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor, under the power supply opening state, automatically dropping glue machine people is introduced into self-locking state, the first High-speed DC motor and the second High-speed DC motor are worked simultaneously topworks's (comprising glue brush and glue-spreading head) are automatically moved to scrap rubber recovery place, the 4th High-speed DC motor is adjusted first the angle that its Glue dripping head tilts, third high speed direct current generator is adjusted glue dispensing valve to predeterminated position, then automatically opening glue dispensing valve door colloid flows out automatically, move to starting point Deng evenly rear automated movement topworks, this moment, image capturing system was opened, the aligned position of automatic calibration Glue dripping head and starting point.The Actual path parameter that automatically dropping glue machine people handle stores and glue dot information are transferred to the single-chip microcomputer in the controller, single-chip microcomputer is converted into these path parameters distance, speed and the acceleration of automatically dropping glue machine people the first High-speed DC motor, the second High-speed DC motor and confidential operation of third high speed direct current under the designated movement track, single-chip microcomputer then with the communication of LM629 chip, then processed the servocontrol of three individual motor according to these parameters by the LM629 chip, and the deal with data communication to single-chip microcomputer, continue to process follow-up running status by single-chip microcomputer.
Concrete function is achieved as follows:
1) opening power, automatic conveyor is sent to the perform region automatically to the processing component that is installed on the anchor clamps.
2) can judge the supply voltage source at opening power moment single-chip microcomputer, when determining to be storage battery power supply, if cell voltage low pressure, to forbid the LM629 chip operation, motor can not self-locking, and voltage sensor will be worked simultaneously, and controller can send the low pressure alarming signal.
3) the people's automatic control program that starts the machine loads task by controller 232 serial ports incoming tasks or from hard disk.
4) open image collecting device, help the first High-speed DC motor and the second High-speed DC motor to work simultaneously topworks's (comprise glue brush and glue-spreading head) is moved to scrap rubber to reclaim out, then open Z axis and automatically adjust glue dispensing valve arrival desired location, the beginning Open valve, adjust colloid to uniform state, then moving type actuating mechanism is to the starting point top, this moment, image capturing system was opened again, then pass through the image acquisition result so that Glue dripping head is aimed at initial position, system begins to prepare some glue.
5) under plastic emitting signal condition for validity, controller is prepared to open the LM629 chip, and adhesive dispensing robot is started working.
6) move in order to drive the four-spindle automatic adhesive dispensing robot, this control system has been introduced four LM629 chips, the port address that takies in order to reduce data bus, third high speed direct current generator adopts identical data bus with the 4th High-speed DC motor, adopt mode step by step to start third high speed direct current generator and the 4th High-speed DC motor by different orders, finish the vertical range of glue dispensing valve and the setting at angle of inclination.
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 automatically dropping glue machine people motion process, single-chip microcomputer can constantly store the distance of process or the some glue point of process, and the distance of calculating and determining to move next glue point automatically dropping glue machine people the first High-speed DC motor and the second High-speed DC motor according to these range informations, speed and acceleration, single-chip microcomputer then with the communication of LM629 chip, transmit these parameters to the LM629 chip, then generated respectively the speed motion ladder diagram of the first High-speed DC motor and the second High-speed DC motor by the LM629 chip, this trapezoidal area that comprises is exactly the distance that automatically dropping glue machine people the first High-speed DC motor and the second High-speed DC motor will move.
10) at automatically dropping glue machine people the first High-speed DC motor and the second High-speed DC motor on two dimensional surface in the motion process, the angle that single-chip microcomputer tilts according to glue point needs, make the LM629 chip operation of control the 4th High-speed DC motor, the distance that single-chip microcomputer need to move the glue dispensing valve angle of inclination, speed and acceleration are given the LM629 chip, then the LM629 chip generates U spindle motor speed motion ladder diagram, this trapezoidal area that comprises is exactly automatically dropping glue machine people the 4th High-speed DC motor and the angle that will move, then the 4th High-speed DC motor self-locking, the angle that keeps glue dispensing valve to tilt, the LM629 chip status that the U axle is set is " doing ", make it not carry out data communication with bus, reach the purpose that discharges data bus.Then the LM629 chip of Z axis " is hurried " and reset, so that its can with the data bus communication, controller is transferred to the LM629 chip to distance, speed, the acceleration signal of the motion of the third high of commit point glue point glue amount size speed direct current generator, then by LM629 chip formation speed motion ladder diagram, this trapezoidal area that comprises is exactly automatically dropping glue machine people third high speed direct current generator and the distance that will move.
11) if no matter automatically dropping glue machine people controller finds X-axis in motion process, Y-axis, Z axis or U axle glue point distance is found the solution and endless loop occurred and will send interrupt request to single-chip microcomputer, 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 automatically dropping glue machine people, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor are with the original place self-locking, and storage current information, after the pending fault eliminating, again transfer a glue information during secondary opening, continue to carry out uncompleted task.
12) optical code disk that is contained on the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th 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, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor 1 or subtract 1;
When 13) position signalling A pulse, B pulse and the Z pulse of optical code disk are low level simultaneously, just produce an INDEX signal to the LM629 chip register, then the absolute position of record motor is converted into the particular location of automatically dropping glue machine people in the XYZU four-dimentional space.
14) single-chip microcomputer is according to the particular location of automatically dropping glue machine people in the XYZU four-dimentional space, send ladder diagram generator that corresponding acceleration, speed and position data etc. give the LM629 chip as with reference to value, this calculates the fast direct current generator of the first High-speed DC motor, the second High-speed DC motor, third high and the 4th High-speed DC motor actual acceleration, speed and position signalling that automatically dropping glue machine people need to upgrade by ladder diagram.
15) in a glue process, if image capturing system finds have the some glue of any position to go wrong, the lower current location information of storer record, then single-chip microcomputer is according to the particular location of automatically dropping glue machine people at a glue component, send corresponding acceleration, speed and position data etc. give the ladder diagram generator of LM629 chip as the reference value, this calculates automatically dropping glue machine people and arrives the actual acceleration that the renewal point needs by ladder diagram, speed and position signalling, then control the first High-speed DC motor, after the second High-speed DC motor arrives intended target, open image capturing system, open first the 4th High-speed DC motor and regulate the angle of inclination of glue dispensing valve, then carry out the compensation of secondary point glue by third high speed direct current generator, return the original angle of inclination of glue dispensing valve and Z axis predetermined altitude after some glue is complete, get back to the position of storer under depositing originally, again continue original work.
16) if when automatically dropping glue machine people runs into unexpected outage in operational process, accumulator 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 control immediately the LM629 chip quit work and access under current some glue information, in the generation of effectively having avoided high-rate battery discharge, also preserve some glue data, also can after controller is fixed a breakdown, receive its remaining work of the follow-up reforwarding row of order of restarting.
17) if in a glue process, read the automatic pause point that man-machine interface is inputted, single-chip microcomputer can be controlled the LM629 chip and stop with the acceleration of maximum X motor, Y motor and Z motor are suspended in the set-point, and store current coordinate 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 automatic pause point.
18) automatically dropping glue machine people 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 lithium ion battery.
19) after the some glue motion of finishing whole processing component, glue dispensing valve can stop plastic emitting, then controls adhesive dispensing robot and walks out movement locus.
20) adhesive dispensing robot is according to new service part particular location, resets position zero point, waits for the work that next cycle is new.
In sum, the utility model is to overcome single single-chip microcomputer can not satisfy stability that automatically dropping glue machine People's Bank of China walks and the requirement of rapidity, given up the single single-chip microcomputer mode of operation that domestic automatically dropping glue machine people adopts, absorbing under the prerequisite of external advanced control thought, autonomous utility model based on the brand-new control model of single-chip microcomputer+LM629 chip.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.
Described in the utility model is low speed Full-automatic spot gluing machine people servo controller in a kind of four axles, has added figure acquisition and processing unit, can help automatic kinetic control system location and find the trouble spot, and automaticity improves greatly.In the motion process, by aut.eq. the glue dispensing valve door is shifted onto initial position in the early stage, then image capturing system is opened, and helps glue dispensing valve to aim at initial position, so that initial position fix is extremely accurate.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 single-chip microcomputer+LM629 chip controller; when running into the AC power outage; lithium ion 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 lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon that causes owing to heavy-current discharge.Processed the independent servocontrol of four motors of automatically dropping glue machine people by the LM629 chip, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle short, and the program transportability ability is strong.The utility model is realized full SMD components material substantially, has realized veneer control, has not only saved control panel and has taken up room, and be conducive to alleviating of the long-pending and weight of automatically dropping glue machine human body.In order to improve arithmetic speed and precision, this automatically dropping glue machine people 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.Because this controller adopts the LM629 chip to process a large amount of data and algorithm, and single-chip microcomputer is freed from the hard work amount, has effectively prevented " race flies " of program, antijamming capability strengthens greatly.By LM629 chip output PWM modulation signal and direction signal, 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.In automatically dropping glue machine people operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, has reduced the impact that the motor torque shake is explored fast on automatically dropping glue machine people.In control, single-chip microcomputer can be adjusted according to the peripheral ruuning situation of 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.Owing to having a memory function, this be so that can transfer easily the good routing information of gluing after the automatically dropping glue machine people power down, even also secondary point glue easily after breaking down.Double-damping structure is adopted in PID control and the instruction of motion control class of LM629 chip, data at first write master register, 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.In whole some glue process, if image capturing system finds to have any position or any glue point appearance point glue problem, controller can carry out second compensation to above-mentioned position or some glue point.Because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, so that programmer can well secondary development.
The above only is embodiment of the present utility model; but protection domain of the present utility model is not limited to this; any those of ordinary skill in the art are in the disclosed technical scope of the utility model; variation or the replacement that can expect without creative work all should be encompassed within the protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain that claims were limited.

Claims (7)

1. low speed Full-automatic spot gluing machine people servo controller in the axle, comprise single-chip microcomputer, the one LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip, the 4th LM629 chip, the first motor driver, the second motor driver, the 3rd motor driver, the 4th motor driver, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor, it is characterized in that: described single-chip microcomputer respectively with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip communication connect, a described LM629 chip sends and controls signal to the first motor driver, described the 2nd LM629 chip sends and controls signal to the second motor driver, described the 3rd LM629 chip sends and controls signal to the 3rd motor driver, described the 4th LM629 chip sends and controls signal to the 4th motor driver, described the first motor driver drives the first High-speed DC motor, described the second motor driver drives the second High-speed DC motor, described the 3rd motor driver drives third high speed direct current generator, described the 4th motor driver drives the 4th High-speed DC motor, and described single-chip microcomputer comprises image acquisition and processing module.
2. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1 is characterized in that: also be connected with the first scrambler between a described LM629 chip and the first High-speed DC motor; Also be connected with the second scrambler between described the 2nd LM629 chip and the second High-speed DC motor; Also be connected with the 3rd scrambler between described the 3rd LM629 chip and the third high speed direct current generator; Also be connected with the 4th scrambler between described the 4th LM629 chip and the 4th High-speed DC motor.
3. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1, it is characterized in that: described single-chip microcomputer is connected by the data bus communication with a LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip respectively, a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal include interface, and described interface is used for the connection data bus.
4. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1, it is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal all also comprise motion ladder diagram generator, described motion ladder diagram generator is used for generating the speed motion ladder diagram of High-speed DC motor, and its area that comprises is exactly the distance that adhesive dispensing robot the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor will move respectively.
5. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1, it is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise the motor position demoder, and described motor position demoder is used for understanding the position data of adhesive dispensing robot.
6. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1, it is characterized in that: a described LM629 chip, the 2nd LM629 chip, the 3rd LM629 chip and the 4th LM629 chip internal also comprise closed loop PID regulator, and described closed loop PID regulator is used for regulating the driving power of adhesive dispensing robot.
7. low speed Full-automatic spot gluing machine people servo controller in four axles according to claim 1, it is characterized in that: on described the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator and the 4th High-speed DC motor optical code disk is housed all, described optical code disk is used for the position signalling of output High-speed DC motor.
CN 201220494157 2012-09-26 2012-09-26 Four-axis medium-low speed full-automatic adhesive dispensing robot servo controller Expired - Fee Related CN202837912U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103252782A (en) * 2013-05-08 2013-08-21 苏州工业园区职业技术学院 Dual-core two-freedom-degree intermediate-speed full-automatic tin soldering robot servo controller
CN106074043A (en) * 2016-07-28 2016-11-09 江苏若博机器人科技有限公司 A kind of double-core Two-wheeled is freely lifted the electric hospital bed controller of high speed robot
CN106137620A (en) * 2016-07-28 2016-11-23 江苏若博机器人科技有限公司 A kind of wireless double-core two-wheel is freely lifted the machine high speed electric hospital bed controller of device people

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103252782A (en) * 2013-05-08 2013-08-21 苏州工业园区职业技术学院 Dual-core two-freedom-degree intermediate-speed full-automatic tin soldering robot servo controller
CN106074043A (en) * 2016-07-28 2016-11-09 江苏若博机器人科技有限公司 A kind of double-core Two-wheeled is freely lifted the electric hospital bed controller of high speed robot
CN106137620A (en) * 2016-07-28 2016-11-23 江苏若博机器人科技有限公司 A kind of wireless double-core two-wheel is freely lifted the machine high speed electric hospital bed controller of device people

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