CN202929400U - Servo control system of five-shaft fully-automatic high-speed dispensing robot - Google Patents

Abstract

The utility model relates to a servo control system of a five-shaft fully-automatic high-speed dispensing robot, in which a single-chip DSP processor is introduced into an FPGA processor to form a DSP plus FPGA based dual-core processor. The dual-core processor integrates a multi-controller system realized in original single-chip microprocessors, takes functions of a battery in the system into full consideration, and realizes synchronous control over five shafts via a single controller. A five-shaft servo system whose workload is maximum in the servo control system of the five-shaft fully-automatic high-speed dispensing robot is controlled by the FPGA processor, which fully utilizes the characteristic that data processing of the FPGA processor is fast; and functions of a man-machine interface module, a path reading module, an online output module, a data storing module, an I/O control module, an image acquiring and processing unit and the like are controlled by the DSP processor; thus, labor division is realized between the DSP processor and the FPGA processor, the DSP processor is freed from heavy workload, and the anti-interference capability is greatly enhanced.

Description

Five axle fully automatic high-speed adhesive dispensing robot servo-control systems

Technical field

The utility model relates to the technical field of adhesive dispensing robot, and particularly relevant for five axle fully automatic 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.It is the main tool of novel robotization due to robot, 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 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 pcb board binding sealing, IC sealing, PDA sealing, LCD sealing, IC, IC is bonding produce huge economic benefit and social benefit.the relatively high adhesive dispensing robot of precision need to carry out in the XYZ space of a three-dimensional on straight line, carry out gluing according to certain glue amount information on circular arc or point-to-point position, can simulate simply above-mentioned action if adopt the adhesive dispensing robot of three axles, but for some special some colloid systems, point glue position is vertical sometimes, just become sometimes Mirror Symmetry, have a certain degree sometimes, three general axle adhesive dispensing robots be can not be completed above-mentioned work, need to increase by an axle U this time makes the glue dispensing valve certain angle that can tilt satisfy the requirement of side welding, increasing in addition by an axle R makes glue dispensing valve can be rotated in the forward 180 degree or reverse rotation 180 degree again, complete the motion of one 360 degree, easy five axle adhesive dispensing robots have so just been formed.Five 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 is carried out adhesive dispensing robot according to the instruction of microprocessor and carry out the relevant action of processing component in quintuple space;

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 five axle adhesive dispensing robot servo-control systems of research and development, and as Fig. 1, long-play is found to exist a lot of safety problems, that is:

(1) at a glue initial stage, be all that the artificial sport glue dispensing valve arrives reference position, then only rely on human eye to carry out the correction of initial position, make degree of accuracy greatly reduce;

What (2) use as the power acquisition of adhesive dispensing robot is direct supply after general AC power rectification, and whole glue is moved unsuccessfully;

What (3) 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;

(4) owing to adopting stepper motor, make organism fever more serious, need sometimes to dispel the heat;

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

(6) owing to adopting stepper motor, make system generally be not suitable at high-speed cruising;

(7) owing to adopting stepper motor, make the moment less of system;

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

(9) owing to adopting stepper motor, make the mechanical noise of system's running greatly increase, be unfavorable for environmental protection;

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

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

(12) for the some glue process of five axle adhesive dispensing robots, it is synchronous that the pwm control signal of its five motors of General Requirements is wanted, due to the restriction that is subjected to the single-chip microcomputer computing power, single single-chip microcomputer servo-drive system is difficult to satisfy this condition, make adhesive dispensing robot point glue amount inconsistent, during particularly for quick walking;

(13) owing to being 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, and this makes whole some glue process to restart;

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

(15) because adhesive dispensing robot will be closed frequently and start, 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;

(16) in all some glue processes, the result of a glue not being crossed is carried out automatic Observation and compensation, makes sometimes whole curve spread inconsistent, then adopts artificial secondary to mend glue.

For satisfy at a high speed, the needs of High-efficient Production, must redesign based on monolithic processor controlled five 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 is to provide a kind of five axle fully automatic high-speed adhesive dispensing robot servo-control systems, has solved in the prior art five 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 five axle fully automatic 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 image acquisition and processing unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately current drives described processor unit by AC power or battery, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively described the second High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor are by the second control signal of described the first High-speed DC motor, the first control signal by described the second High-speed DC motor, the 3rd control signal by described third high speed direct current generator, by the 4th control signal of described the 4th High-speed DC motor with after synthesizing through the secondary signal processor by the 5th control signal of described the 5th High-speed DC motor, control the motion of adhesive dispensing robot, described processor unit also is connected to the image acquisition and processing unit.

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, I/O control module and image acquisition and processing unit, wherein, dsp processor is used for controlling human-computer interface module, the path read module, online output module, data memory module, I/O control module and image acquisition and processing unit, the FPGA processor is used for controlling the servocontrol module, and carry out in real time exchanges data between dsp processor and 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, send deceleration instruction to controller.

five axle fully automatic 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 five axle fully automatic 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 five axles, giving the FPGA processor five axle servo-drive systems of workload maximum in five axle fully automatic high-speed adhesive dispensing robot servo-control systems controls, give full play to FPGA processor data processing speed characteristics faster, and human-computer interface module, the path read module, online output module, data memory module, the functions such as I/O control module and image acquisition and processing unit are given dsp processor and are controlled, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, antijamming capability strengthens greatly.

Description of drawings

Fig. 1 is the schematic diagram of five axle adhesive dispensing robot servo-control systems in prior art;

Fig. 2 is the schematic diagram of five axle fully automatic high-speed adhesive dispensing robot servo-control systems of the utility model preferred embodiment;

Fig. 3 is the block scheme of processor unit in 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 due to its computing power fast, not only be widely used in communication and process with vision signal, also be applied in gradually in 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 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 stores processor ability of data.

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, design the special IC of oneself within the shortest time, so just reduce cost, shorten the construction cycle.Realize the design of hardware circuit due to the design philosophy of FPGA processor adopting software implementation, so just make based on FPGA processor designed system and have good reusable and the property revised, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in control, and fast-developing.

As shown in Figure 2, be the schematic diagram of five axle fully automatic high-speed adhesive dispensing robot servo-control systems of the utility model preferred embodiment.In the present embodiment, five axle fully automatic high-speed adhesive dispensing robot servo-control systems comprise battery, AC power, first signal processor, secondary signal processor, processor unit, image acquisition and processing unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor 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, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively described the second High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor are by the second control signal of described the first High-speed DC motor, the first control signal by described the second High-speed DC motor, the 3rd control signal by described third high speed direct current generator, by the 4th control signal of described the 4th High-speed DC motor with after synthesizing through the secondary signal processor by the 5th control signal of described the 5th High-speed DC motor, control the motion of adhesive dispensing robot, described processor unit also is connected to the image acquisition and processing unit.

The utility model is to overcome single-chip microcomputer in prior art can not satisfy the stability of five axle adhesive dispensing robots walkings 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 both communications are mutually carried out in real time exchanges data and call.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, I/O control module and image acquisition and processing unit.Wherein, dsp processor be used for to be controlled human-computer interface module, path read module, online output module, data memory module, I/O control module and image acquisition and processing unit, and the FPGA processor is used for controlling the 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, I/O control module and image acquisition and processing unit.Wherein, the data memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.; Described image acquisition and processing unit is used for the position of collection point glue and finds the situation of trouble spot; 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 is connected modular converter and is connected with controller with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgement operating power, and power condition is fed back to battery, current module are used for adjusting 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 is regulated 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, 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, unlatching image acquisition and processing unit helps the first High-speed DC motor and the second High-speed DC electricity price to work simultaneously topworks's (comprising glue brush and glue-spreading head) is automatically moved to scrap rubber recovery place, third high speed direct current generator and the 4th High-speed DC motor are adjusted glue dispensing valve to predeterminated position and pre-determined tilt angle, then automatically opening glue dispensing valve door colloid flows out automatically, arrive starting point Deng evenly rear setting in motion, image acquisition and processing this moment unit is opened again, the aligned position of automatic calibration glue dispensing valve and starting point.adhesive dispensing robot is given the actual navigation transformation parameter that stores and the glue dot information is transferred to dsp processor in controller, dsp processor is converted into adhesive dispensing robot first High-speed DC motor under the designated movement track to these environmental parameters, the second High-speed DC motor, third high speed direct current generator, the distance that the 4th High-speed DC motor and the 5th High-speed DC motor will move, dsp processor then with the communication of FPGA processor, the FPGA processor is processed the servocontrol of five individual motor according to the current of electric that gathers and optical code disk signal, 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 and image acquisition and processing unit.Wherein the servocontrol module of workload maximum is given the control of FPGA processor, remaining comprises that master system gives dsp processor and control, so just realized the division of labor of dsp processor and FPGA processor, simultaneously also can carry out communication between both, carried out in real time exchanges data and call.

In the utility model, the five concrete functions of axle fully automatic high-speed adhesive dispensing robot servo-control system are achieved as follows:

1) opening power, automatic conveyor is sent to the perform region automatically to the processing component that is arranged on fixture;

2) opening power, can judge the supply voltage source at opening power moment single-chip microcomputer, 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, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor can not be worked at this moment, voltage sensor will be worked simultaneously, the double-core controller can send the low pressure alarming signal, and battery information is changed in the man-machine interface prompting;

3) start the adhesive dispensing robot automatic control program, by the USB interface incoming task of controller or from hard disk loading task;

4) unlatching image acquisition and processing unit, 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, the beginning Open valve, then adjust colloid to uniform state, then the first High-speed DC motor and the second High-speed DC motor removing topworks are to the starting point top, then open third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor make glue dispensing valve arrive preset height, pre-determined tilt angle and the anglec of rotation, then aim at initial position by image acquisition result calibration Glue dripping head, system begins to prepare some glue,

5) precisely move in order to drive five-shaft high-speed automatically dropping glue machine people, this control system is introduced the FPGA processor on the basis of High Performance DSP processor, generate the PWM ripple of five spindle motor motions 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;

6) under plastic emitting signal condition for validity, controller accesses path and the glue dot information that adhesive dispensing robot need to be walked, then be transferred to the FPGA processor, generate by the FPGA processor curve movement that adhesive dispensing robot is started working, rate curve according to Fig. 4 slowly accelerates and slowly slows down, and guarantees the adhesive dispensing robot smooth working;

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 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 on two dimensional surface, dsp processor then with the communication of FPGA processor, transmit these parameters to the FPGA processor, then the FPGA processor is automatically transferred corresponding PID in conjunction with the electric current of motor collection and optical code disk signal and peripheral transducing signal again according to these parameters and is regulated pattern, generate the PWM ripple of controlling the first High-speed DC motor and the second High-speed DC motor movement, then control the servo motion of the first High-speed DC motor and the second High-speed DC motor after 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, the angle that the angle that the 4th High-speed DC motor will tilt and the 5th High-speed DC motor will rotate, dsp processor then with the communication of FPGA processor, transmit these parameters to the FPGA processor, then the FPGA processor according to these parameters then in conjunction with third high speed direct current generator, the electric current of the 4th High-speed DC motor and the 5th High-speed DC motor and optical code disk information, and peripheral transducing signal is transferred corresponding PID adjusting pattern automatically, generate and control third high speed direct current generator, the PWM ripple of the 4th High-speed DC motor and the 5th High-speed DC motor movement, then control third high speed direct current generator after driving circuit, the servo motion of the 4th High-speed DC motor and the 5th High-speed DC motor, in this control system, the servocontrol of five spindle motors is completed simultaneously,

9) if no matter the adhesive dispensing robot controller finds X-axis in motion process, Y-axis, Z axis, U axle and R axle glue point distance is found the solution and endless loop occurred 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, third high speed direct current generator, the 4th High-speed DC motor and the 5th 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,

10) 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, the 4th High-speed DC motor and the 5th 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 FPGA processor 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, the 4th High-speed DC motor and the 5th High-speed DC motor 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, record the absolute position of motor, then be converted into the particular location of adhesive dispensing robot in quintuple space XYZUR;

12) in motion process, if having received, controller puts at a high speed the glue order, controller can be according to adhesive dispensing robot in the particular location of a glue component and the position that should exist, send corresponding position data etc. to the FPGA processor, 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 adhesive dispensing robot by the FPGA processor, the second High-speed DC motor, third high speed direct current generator, the pwm control signal that the 4th High-speed DC motor and the 5th High-speed DC motor need to upgrade, control enters the high speed dripping glue state, the speed of motor is accelerated and slows down to satisfy figure 4,

13) in a glue process, if the image acquisition and processing unit finds have the some glue of any position to go wrong, the lower current location information of storer record, then controller is according to the particular location of adhesive dispensing robot at a glue component, the FPGA processor is automatically transferred corresponding PID in conjunction with the electric current of motor and optical code disk information and peripheral transducing signal and is regulated pattern, generated the PWM ripple of controlling the first High-speed DC motor and the second High-speed DC motor movement by the FPGA processor, control glue dispensing valve and arrive problematic glue point, while third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor run to the height of setting, angle of inclination and the anglec of rotation, then adhesive dispensing robot carries out the compensation of secondary point glue to problematic some glue point, return the position of storer under depositing originally after completing, again continue original work,

14) 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, third high speed direct current generator, the 4th High-speed DC motor and the 5th any one motor of High-speed DC motor 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;

15) if read the automatic pause point on the man-machine interface in a glue process, 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;

16) adhesive dispensing robot can detect cell voltage constantly at operational process, and when low pressure appearred in system, alarm be opened and be sent to sensor can by notification controller, effectively protected battery;

17) after the some glue motion of completing whole processing component, glue dispensing valve can stop plastic emitting, then controls adhesive dispensing robot and walks out movement locus;

18) adhesive dispensing robot is according to new service part particular location, resets position zero point, waits for the work that next cycle is new.

The beneficial effect that the utility model five axle fully automatic high-speed adhesive dispensing robot servo-control systems have is:

1: added figure acquisition and processing unit, can help automatic kinetic control system location and find the trouble spot, automaticity improves greatly;

2: owing to adopting high performance dsp processor and FPGA processor, the system processing speed of making increases greatly, requirement that can fine satisfied some colloid system rapidity;

3: in motion process, by aut.eq., the glue dispensing valve door is shifted onto initial position in the early stage, then the image acquisition and processing unit is opened, and helps the glue dispensing valve door to aim at initial position, makes initial position fix extremely accurate;

4: in motion process, taken into full account the effect of battery in this system, constantly all the running status of adhesive dispensing robot is being monitored and computing based on 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, constantly the electric current of battery is observed and protected, 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 due to heavy-current discharge,

5: the independent servocontrol of being processed five motors of adhesive dispensing robot by the FPGA processor, make control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of single-chip microcomputer operation in the prior art, shortened the construction cycle short, and the program transportability ability is strong;

6: 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;

7: 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, makes operational precision greatly improve;

8: process a large amount of data and algorithm because this controller adopts the FPGA processor, dsp processor is freed from the hard work amount, prevented that effectively adhesive dispensing robot is out of control, antijamming capability strengthens greatly;

9: because the control signal of No. five 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, make the debugging of system simple, and realized the servo-controlled synchronism of diaxon;

10: 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, the impact of motor torque shake on the adhesive dispensing robot dynamic property when having reduced quick walking;

11: in control, multiple PID adjusting pattern that the FPGA processor is inner integrated, can ruuning situation peripheral according to robot automatically adjust its inner pid parameter, realize that easily segmentation P, PD, PID control and nonlinear PID controller, make system have certain self-adaptation;

12: owing to having memory function, this can transfer the good routing information of gluing after making the adhesive dispensing robot power down easily, even also secondary point glue easily after breaking down;

13: in whole some glue process, if image acquisition and processing unit discovery has any position or any glue point appearance point glue problem, controller can carry out second compensation to above-mentioned position or some glue point;

14: owing to adopting the higher High-speed DC motor of efficient, make the energy utilization rate of system higher, be conducive to energy savings.

The above is only embodiment of the present utility model; not thereby limit the scope of the claims 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 scope of patent protection of the present utility model.

Claims (7)

1. an axle fully automatic high-speed adhesive dispensing robot servo-control system, is characterized in that, comprises battery, AC power, the first signal processor, the secondary signal processor, processor unit, the image acquisition and processing unit, the first High-speed DC motor, the second High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor, the 5th High-speed DC motor and adhesive dispensing robot, described first signal processor provides separately current drives described processor unit by AC power or battery, and described processor unit sends respectively the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal, described the first control signal, the second control signal, the 3rd control signal, the 4th control signal and the 5th control signal are controlled respectively described the second High-speed DC motor, the first High-speed DC motor, third high speed direct current generator, the 4th High-speed DC motor and the 5th High-speed DC motor are by the second control signal of described the first High-speed DC motor, the first control signal by described the second High-speed DC motor, the 3rd control signal by described third high speed direct current generator, by the 4th control signal of described the 4th High-speed DC motor with after synthesizing through the secondary signal processor by the 5th control signal of described the 5th High-speed DC motor, control the motion of adhesive dispensing robot, described processor unit also is connected to the image acquisition and processing unit.

2. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 1, it is characterized in that, 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, I/O control module and image acquisition and processing unit, wherein, dsp processor is used for controlling human-computer interface module, the path read module, online output module, data memory module, I/O control module and image acquisition and processing unit, the FPGA processor is used for controlling the servocontrol module, and carry out in real time exchanges data between dsp processor and FPGA processor and call.

3. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 2, is characterized in that, described servocontrol module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.

4. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 2, it is characterized in that, described servocontrol module also comprises coder module, described coder module is for detection of the actual speed of adhesive dispensing robot, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.

5. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 2, it is characterized in that, 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.

6. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 4, it is characterized in that, 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.

7. five axle fully automatic high-speed adhesive dispensing robot servo-control systems according to claim 2, it is characterized in that, described servocontrol module also comprises displacement module, 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, send deceleration instruction to controller.

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