CN202837913U

CN202837913U - Single-axis medium-low speed full-automatic adhesive dispensing robot servo controller

Info

Publication number: CN202837913U
Application number: CN 201220494158
Authority: CN
Inventors: 王应海; 张好明; 贡亚丽
Original assignee: Suzhou Industrial Park Institute of Vocational Technology
Current assignee: Suzhou Industrial Park Institute of Vocational Technology
Priority date: 2012-09-26
Filing date: 2012-09-26
Publication date: 2013-03-27
Anticipated expiration: 2022-09-26

Abstract

The utility model discloses a single-axis medium-low speed full-automatic adhesive dispensing robot servo controller, which comprises a single-chip microcomputer, an LM629 chip, a motor driver and a high speed DC motor, wherein the single-chip microcomputer is communicated with the LM629 chip, the LM629 chip sends a control signal to the motor driver, the motor driver controls the high speed DC motor to move, 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 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 single shaft

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 single shaft.

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.The single shaft 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, the function such as setting-out.This robot only has a power, can only do a kind of action, such as, the straight reciprocating motion on direction, perhaps rotatablely moving of a direction do not have aggregate motion.The single shaft robot generally may refer to linear motion unit.A complete single shaft adhesive dispensing robot roughly is divided into following components:

1) High-speed DC motor: carrying out the High-speed DC motor is the power source of adhesive dispensing robot, and it carries out the relevant action that adhesive dispensing robot is walked at straight line according to the instruction of microprocessor.

2) algorithm: algorithm is the soul of adhesive dispensing robot.Adhesive dispensing robot must adopt certain intelligent algorithm to arrive more in addition from any quickly and accurately, forms point-to-point motion.

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 High-speed DC motor status information etc. all needs through microprocessor processes and makes corresponding judgement.

Single shaft 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 stepping High-speed DC 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 adopt stepping High-speed DC motor, so that organism fever is more serious, need sometimes to dispel the heat.

(5) owing to adopt stepping High-speed DC motor, so that the mechanical noise of system's running increases greatly, be unfavorable for environmental protection.

(6) owing to adopt stepping High-speed DC motor, its High-speed DC 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.

(7) owing to adopt stepping High-speed DC motor, so that system generally is not suitable for producing easily vibration during high-speed motion in the higher occasion operation of speed, cause the failure of High-speed DC motor.

(8) owing to adopting stepping High-speed DC motor, so that the moment less of system.

(9) owing to controlling improperly reason, causing sometimes, stepping High-speed DC motor produces resonance.

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 automatically dropping glue machine people is out of control that antijamming capability is relatively poor.

(12) owing to be 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 frequently 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.

Therefore, need to redesign based on monolithic processor controlled single shaft adhesive dispensing robot controller existing, seek a kind of economic and practical middle low speed single shaft Full-automatic spot gluing machine people servo-drive system.

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 single shaft.

The technical solution of the utility model is, low speed Full-automatic spot gluing machine people servo controller in a kind of single shaft, comprise single-chip microcomputer, LM629 chip, motor driver and High-speed DC motor, described single-chip microcomputer is connected with the communication of described LM629 chip, described LM629 chip sends and controls signal to described motor driver, described motor driver is controlled described High-speed DC motor movement, and described single-chip microcomputer comprises image acquisition and processing module.

In preferred embodiment of the utility model, also be connected with a scrambler between described LM629 chip and the High-speed DC motor.

In preferred embodiment of the utility model, described single-chip microcomputer is connected by the data bus communication with the LM629 chip, and described LM629 chip internal comprises interface, and described interface is used for the connection data bus.

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 generating the speed motion ladder diagram of High-speed DC motor, and its area that comprises is exactly the distance that adhesive dispensing robot High-speed DC motor 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 housed, 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 single shaft, 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 the glue dispensing valve door 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 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 automatically dropping glue machine people's single shaft high speed direct current generator by LM629, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, it is short to have shortened the construction cycle, 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 High-speed DC High-speed DC motor to substitute the stepping High-speed DC 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 LM629 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 position, speed and acceleration given and light dish information output PWM modulation signal and the direction signal of LM629 according to single-chip microcomputer, can directly drive the High-speed DC 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 the relation of High-speed DC motor torque and electric current to compensate the torque of High-speed DC motor, has reduced the impact that the shake of High-speed DC motor torque 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 inside 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 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 LM629, data at first write master register, only the data of the master register work register of could further packing into after writing related command is easy to realize any control of single-axis servo motion like this.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 single shaft 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 10,100 ksps, band PGA and 8 tunnels analogy multi-way switchs;

4) ADC of real 8 500ksps, 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.

Referring to Fig. 2, comprise AC power, lithium ion battery, a plurality of signal processor, processor unit, a plurality of High-speed DC High-speed DC motor and adhesive dispensing robot, described AC power and lithium ion battery are synthetic by signal processor, drive described processor unit, described processor unit sends control signal and drives described High-speed DC High-speed DC motor, described High-speed DC High-speed DC motor-driven glue dispensing machine human motion, described processor unit is a dual core processor, comprises single-chip microcomputer and LM629 chip.

As shown in Figure 3, 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 the single-axis servo control module, 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 single-axis servo control module, 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, LM629 chip, motor driver and High-speed DC motor, described single-chip microcomputer is connected with the communication of described LM629 chip, described LM629 chip sends and controls signal to described motor driver, described motor driver is controlled described High-speed DC motor movement, and described single-chip microcomputer comprises image acquisition and processing module.Also be connected with a scrambler between described LM629 chip and the High-speed DC motor.Described single-chip microcomputer is connected by the data bus communication with the LM629 chip.Described LM629 chip internal comprises interface, and described interface is used for the connection data bus.Described LM629 chip internal also comprises motion ladder diagram generator, the speed motion ladder diagram that described motion ladder diagram generator be used for to generate the High-speed DC motor as shown in Figure 5, its area that comprises is exactly the distance that adhesive dispensing robot High-speed DC motor will move.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.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.On the described High-speed DC motor optical code disk is housed, 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 chip controller, as shown in Figure 6, the corresponding High-speed DC motor of X-axis, under the power supply opening state, automatically dropping glue machine people is introduced into self-locking state, the High-speed DC machine operation is automatically moved to scrap rubber recovery place with topworks's (comprising glue brush and glue-spreading head), then automatically opening glue dispensing valve door colloid flows out automatically, after evenly, topworks is moved to starting point, this moment, image capturing system was opened, the aligned position of automatic calibration glue-spreading head and starting point.The Actual path transformation parameter that automatically dropping glue machine people handle stores is to the single-chip microcomputer in the controller, single-chip microcomputer is converted into the automatically dropping glue machine people distance that the High-speed DC motor will move under the designated movement track, speed and acceleration to these environmental parameters, then single-chip microcomputer is connected with the communication of LM629 chip, then by the servocontrol of LM629 chip according to these parameter conversion processing High-speed DC motors, and the deal with data communication connected to single-chip microcomputer, continue to process follow-up running status by single-chip microcomputer.

Concrete function of the present utility model 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, the High-speed DC motor can not be worked, 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) the High-speed DC machine operation moves to scrap rubber with topworks's (comprise glue brush and glue-spreading head) and reclaims out, the beginning Open valve, then adjust colloid to uniform state, then automated movement topworks is to some glue starting point top, this moment, image capturing system was opened, then aim at initial position by image acquisition calibration of the output results Glue dripping head, system begins to prepare some glue.

5) under plastic emitting signal condition for validity, the time-delay certain hour makes adhesive dispensing robot prepare to start working.

6) automatically move in order to drive single shaft automatically dropping glue machine people, this control system has been introduced the LM629 chip, but entering real-time communication by I/O mouth and single-chip microcomputer is connected, 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 and connect.

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 calculate distance, speed and the acceleration of the confidential operation of relatively next glue point automatically dropping glue machine people's single shaft high speed direct current according to these range informations, then single-chip microcomputer is connected with the communication of LM629 chip, transmit these parameters to the LM629 chip, then generated respectively the speed motion ladder diagram of High-speed DC motor by the LM629 chip, this trapezoidal area that comprises is exactly the distance that automatically dropping glue machine people High-speed DC motor 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, automatically dropping glue machine people's High-speed DC motor prevents system misoperation with the original place self-locking.

11) optical code disk that is contained on the 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 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 register, then the absolute position of record High-speed DC motor is converted into the particular location of automatically dropping glue machine people in a glue component.

13) 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, calculate and send corresponding acceleration, speed and position data etc. give the ladder diagram generator of LM629 chip as the reference value, calculate automatically dropping glue machine people by ladder diagram and arrive the actual acceleration that the renewal point needs, speed and position signalling, then control the High-speed DC motor and carry out the compensation of secondary point glue, then getting back to the position of storer under depositing originally, again continue original work.

14) in whole some glue process, by PWM ripple signal and the High-speed DC motor positive and inverse signal of ladder diagram generator in conjunction with the Digital PID Controller generating power drive axle needs of High-speed DC motor position decoding decision, be used for realizing the servocontrol of automatically dropping glue machine robot system High-speed DC motor.

15) 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 High-speed DC 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, not only effectively avoided the generation of high-rate battery discharge, and preserved some glue data, so that fixing a breakdown to receive, controller can continue to move its remaining work after restarting order.

16) added automatic pause point on the man-machine interface for convenient some glue work system, 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 automatic pause point.

17) 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.

18) 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.

19) 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.

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

1. low speed Full-automatic spot gluing machine people servo controller in the single shaft, comprise single-chip microcomputer, LM629 chip, motor driver and High-speed DC motor, it is characterized in that: described single-chip microcomputer is connected with the communication of described LM629 chip, described LM629 chip sends and controls signal to described motor driver, described motor driver is controlled described High-speed DC motor movement, and described single-chip microcomputer comprises image acquisition and processing module.

2. low speed Full-automatic spot gluing machine people servo controller in the single shaft according to claim 1 is characterized in that: also be connected with a scrambler between described LM629 chip and the High-speed DC motor.

3. low speed Full-automatic spot gluing machine people servo controller in the single shaft according to claim 1, it is characterized in that: described single-chip microcomputer is connected by the data bus communication with the LM629 chip, described LM629 chip internal comprises interface, and described interface is used for the connection data bus.

4. low speed Full-automatic spot gluing machine people servo controller in the single shaft 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 generating the speed motion ladder diagram of High-speed DC motor, and its area that comprises is exactly the distance that adhesive dispensing robot High-speed DC motor will move.

5. low speed Full-automatic spot gluing machine people servo controller in the single shaft according to claim 1, it 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.

6. low speed Full-automatic spot gluing machine people servo controller in the single shaft according to claim 1, it is characterized in that: described LM629 chip internal also comprises closed loop PID regulator, 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 the single shaft according to claim 1 is characterized in that: on the described High-speed DC motor optical code disk is housed, described optical code disk is used for the position signalling of output High-speed DC motor.