CN203266646U - Heavy-duty articulated robot control system with four degrees of freedom - Google Patents
Heavy-duty articulated robot control system with four degrees of freedom Download PDFInfo
- Publication number
- CN203266646U CN203266646U CN 201320321579 CN201320321579U CN203266646U CN 203266646 U CN203266646 U CN 203266646U CN 201320321579 CN201320321579 CN 201320321579 CN 201320321579 U CN201320321579 U CN 201320321579U CN 203266646 U CN203266646 U CN 203266646U
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Abstract
The utility model discloses a heavy-duty articulated robot control system with four degrees of freedom and the system comprises a multi-shaft motion controller, a PC, a human-computer interaction interface, a servo driver, a motor, a positioning sensor and a brake resistor, wherein the multi-shaft motion controller receives parameters of the human-computer interactive surface; the PC uploads and downloads programs via the multi-shaft motion controller and demonstrates debugging and operation of an online program of the multi-shaft motion controller; the human-computer interactive interface is communicated with the multi-shaft motion controller; the servo driver and the motor act as an executive component of a whole controlling system; the servo driver controls the motor according to an order made by the multi-shaft motion controller, collects in real time data fed back by a encoder of the motor and carries out enclosed control to motor operation; the positioning sensor limits motions of each shaft according to a route of each freedom degree of the robot; and the brake resistor secures the whole system and transforms regenerated energy of the motor into heat energy, thereby guaranteeing equipment safety. The heavy-duty articulated robot control system with four degrees of freedom is well structured with easy installation and maintenance, high reliability and excellent expansibility; and the system costs little.
Description
Technical field
The utility model relates to a kind of Industrial Robot Technology, especially a kind of four-degree-of-freedom heavy duty articulated robot control system.
Background technology
At present, four-degree-of-freedom heavy duty articulated robot is industrial inevitable outcome, it is a kind of partial function that imitates human upper limb, carry out the crawl of article and put according to pre-provisioning request, complete repetitive operation, to alleviate operating personnel's physical demands, to realizing industrial production automation, promote industrial further developing and play an important role.
Usually, four-degree-of-freedom heavy duty articulated robot mainly is comprised of two mechanical arms and a plurality of axles joints, the axle joint can directly be connected with the driving servomotor, perhaps be connected with the driving servomotor through decelerator, by controlling corresponding servomotor, can realize the movement locus of corresponding mechanical arm.
At present, the control system of external industrial robot, the scheme that adopts servo-drive part and motion control partly to be integrated, and more integrated I/O signals more.The specificity of this kind control system is strong, and requires also highly for the R ﹠ D Level of the manufacturer of robot, and its cost is high simultaneously, complex structure.
The utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, and a kind of four-degree-of-freedom heavy duty articulated robot control system is provided, and it is rational in infrastructure, installation and maintenance is convenient, reliability is high, cost is low and favorable expandability.
For achieving the above object, the utility model adopts following technical proposals:
A kind of four-degree-of-freedom heavy duty articulated robot control system comprises:
Multi-axis motion controller, motion control, the processing of I/O signal and communication interface have been gathered, the I/O signal is processed and communication interface is positioned on keyset, multi-axis motion controller is used for receiving the parameter that man-machine interface arranges, and to each servo-driver sending controling instruction, to the control of taking exercises of each axle joint of robot, simultaneously, multi-axis motion controller can Real-time Collection each limit switch of robot and the information of various signal transducers, to the monitoring running state of robot, do corresponding processing when breaking down;
PC carries out uploading and downloading of program by netting twine and multi-axis motion controller, and can be to the online program debugging of multi-axis motion controller and operation demonstration;
Human-computer interaction interface is used for and the multi-axis motion controller communication, is the mutual window of people and multi-axis motion controller, by the kinematic parameter setting of man-machine interface to whole robot system, and does a position teaching, finally reaches the result of the action of anticipation;
Control module is used for receiving the control information of multi-axis motion controller, and control signal is passed to servo-driver and electric motor units;
Servo-driver and servomotor unit are the executive components of whole control system, comprise servo-driver and servomotor unit, and the servomotor unit comprises servomotor, and servomotor is connected with machine joint people through decelerator; The instruction that servo-driver is assigned according to multi-axis motion controller is controlled servomotor, and the data of the encoder feedback of Real-time Collection servomotor, and the operation of servomotor is realized closed-loop control.
Described multi-axis motion controller can also be communicated by letter with hander.
This system can control the axle joint of each mechanical arm of robot, the trajectory planning that moves by corresponding algorithm, and the corresponding quantity of state of robot is carried out sampling and processing, robot is among the trouble-free running of high speed.
This system hardware is mainly by man-machine interface, multi-axis motion controller, control module, servo-driver and electric motor units.Wherein, man-machine interface is used for and the multi-axis motion controller communication, is the mutual window of people and motion controller, can arrange the kinematic parameter of whole robot system etc. by man-machine interface, and carry out a position teaching, finally reaches the result of the action of anticipation; Multi-axis motion controller is the core of whole control system, the software program of the whole control system of its internal operation, it receives the parameter that man-machine interface arranges, according to existing program to each servo-driver sending controling instruction, motion control is carried out in each axle joint to robot, simultaneously, multi-axis motion controller also has the I/O processing capacity, can Real-time Collection each limit switch of robot and the information of various signal transducers, running status to robot is monitored, and processes accordingly when breaking down;
Servo-driver and servomotor unit are the executive components of whole control system, and its instruction of assigning according to multi-axis motion controller is controlled motor, and the data of the encoder feedback of Real-time Collection motor, and the operation of motor is realized closed-loop control.
The utlity model has the advantages such as practical, operation high efficiency smooth, control successful.The above-mentioned hardware that is whole control system forms.
Multi-axis motion controller is take the CPU of Intel standard x 86 frameworks and chipset as system processor, adopt High Performance DSP and FPGA as the motion control coprocessor, control program is converted to the execution instruction to be issued in each servo-driver and executing agency, according to different motion requirements, can adopt different motion control arithmetics, the movement position control module is used for realizing movement position control.
The beneficial effects of the utility model are, the control system of this four-degree-of-freedom heavy duty articulated robot can be utilized on the market, and existing product makes up and builds, can realize that complicated robot motion controls, owing to building this system's alternative and convertibility, both reduce the fault rate of robot, also reduced the investment in research and development of manufacturer.
The utility model can be realized the quick carrying of 100～250Kg heavy goods and by specifying the buttress type to pile up, have rational in infrastructure, fitting operation convenient, it is simple to safeguard, cost is low and high reliability, controls respond well.
Its concrete advantage is as follows:
1) whole control system is by Modular structure, and different demands is selected different hardware devices, is convenient to flexible expansion;
2) I/O of whole control system, analog quantity and motion control are integrated on a motion controller, and mutual between convenient various signals is beneficial to software program for monitoring and the processing of various signals, and the real-time of whole system is improved;
3) application controls of heavy-load robot, motion control and automation equipment control integration have reduced the construction cycle in identical platform;
4) install, operation and maintenance is all simpler.
Description of drawings
Fig. 1 is the utility model control system schematic diagram.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Figure 1, the core of whole control system is multi-axis motion controller, and PC carries out uploading and downloading of program with it by netting twine, and can reach by PC it is carried out on-line debugging and operation demonstration.After debugging was completed, multi-axis motion controller can move alone, and can check by human-computer interaction interface the state of operational factor and operation.When at different field demands, can be selected between both by hander and human-computer interaction interface.
The motion controller set functions such as motion control, the processing of I/O signal, communication interface.Wherein the switching of the various postures of robot mainly is responsible in motion control, various movement instructions is converted to control signal sends to each servo-driver, and each servo-driver is controlled the running of motor again according to corresponding feedback.The I/O signal is processed and communication interface is positioned on keyset, multi-axis motion controller is used for receiving the parameter that man-machine interface arranges, and to each servo-driver sending controling instruction, to the control of taking exercises of each axle joint of robot, simultaneously, multi-axis motion controller can Real-time Collection each limit switch of robot and the information of various signal transducers, to the monitoring running state of robot, does corresponding processing when breaking down;
PC carries out uploading and downloading of program by netting twine and multi-axis motion controller, and can be to the online program debugging of multi-axis motion controller and operation demonstration;
Human-computer interaction interface is used for and the multi-axis motion controller communication, is the mutual window of people and multi-axis motion controller, by the kinematic parameter setting of man-machine interface to whole robot system, and does a position teaching, finally reaches the result of the action of anticipation;
Control module is used for receiving the control information of multi-axis motion controller, and control signal is passed to servo-driver and electric motor units;
Servo-driver and servomotor unit are the executive components of whole control system, comprise servo-driver and servomotor unit, and the servomotor unit comprises servomotor, and servomotor is connected with machine joint people through decelerator; The instruction that servo-driver is assigned according to multi-axis motion controller is controlled servomotor, and the data of the encoder feedback of Real-time Collection servomotor, and the operation of servomotor is realized closed-loop control.
Multi-axis motion controller can also be communicated by letter with hander.
When the free degree of robot increases, can select as required corresponding motion controller, and expand corresponding servo-driver, the expansion on hardware is convenient and simple, just for the different robot frees degree, changes different running software programs.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (2)
1. a four-degree-of-freedom heavy duty articulated robot control system, is characterized in that, comprising:
Multi-axis motion controller, motion control, the processing of I/O signal and communication interface have been gathered, the I/O signal is processed and communication interface is positioned on keyset, multi-axis motion controller is used for receiving the parameter that man-machine interface arranges, and to each servo-driver sending controling instruction, to the control of taking exercises of each axle joint of robot, simultaneously, multi-axis motion controller can Real-time Collection each limit switch of robot and the information of various signal transducers, to the monitoring running state of robot, do corresponding processing when breaking down;
PC carries out uploading and downloading of program by netting twine and multi-axis motion controller, and can be to the online program debugging of multi-axis motion controller and operation demonstration;
Human-computer interaction interface is used for and the multi-axis motion controller communication, is the mutual window of people and multi-axis motion controller, by the kinematic parameter setting of man-machine interface to whole robot system, and does a position teaching, finally reaches the result of the action of anticipation;
Control module is used for receiving the control information of multi-axis motion controller, and control signal is passed to servo-driver and electric motor units;
Servo-driver and servomotor unit are the executive components of whole control system, comprise servo-driver and servomotor unit, and the servomotor unit comprises servomotor, and servomotor is connected with machine joint people through decelerator; The instruction that servo-driver is assigned according to multi-axis motion controller is controlled servomotor, and the data of the encoder feedback of Real-time Collection servomotor, and the operation of servomotor is realized closed-loop control.
2. control system as claimed in claim 1, is characterized in that, described multi-axis motion controller can also be communicated by letter with hander.
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| CN 201320321579 CN203266646U (en) | 2013-06-05 | 2013-06-05 | Heavy-duty articulated robot control system with four degrees of freedom |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103586868A (en) * | 2013-11-13 | 2014-02-19 | 中广核检测技术有限公司 | Handheld control device for robot for checking reactor pressure vessel |
| CN104669272A (en) * | 2015-03-19 | 2015-06-03 | 广州科然机电有限公司 | Robot |
| CN105345817A (en) * | 2015-12-10 | 2016-02-24 | 南京熊猫电子股份有限公司 | Processing method for internal warning signal of robot |
| CN105364926A (en) * | 2015-11-20 | 2016-03-02 | 上海新时达电气股份有限公司 | Multi-shaft robot driving and controlling integrated control system |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN105818145A (en) * | 2016-03-31 | 2016-08-03 | 张锐 | Distributed control system and method for humanoid robot |
| CN106087262A (en) * | 2016-06-24 | 2016-11-09 | 芜湖固高自动化技术有限公司 | The research and development method of robot sewing system and operational approach and system |
| CN106313057A (en) * | 2016-09-30 | 2017-01-11 | 武汉菲仕运动控制系统有限公司 | Control system for palletizing robot and realization method of control system |
| CN106313096A (en) * | 2016-06-22 | 2017-01-11 | 台州学院 | Precision hydraulically-driven joint for robot based on closed-loop control |
| CN106647614A (en) * | 2017-03-13 | 2017-05-10 | 安徽朗巴智能科技有限公司 | PLC-based (programmable logic controller-based) spraying robot control system |
| CN107848110A (en) * | 2015-12-31 | 2018-03-27 | 深圳配天智能技术研究院有限公司 | Robot control system and its driver malfunction determination methods |
| CN108459518A (en) * | 2017-02-22 | 2018-08-28 | 上海西门子医疗器械有限公司 | Kinetic control system and method and Medical Devices |
| CN108983691A (en) * | 2017-06-05 | 2018-12-11 | 北京镁伽机器人科技有限公司 | Printed circuit board, robot, control parts of motion, system and method |
| CN109109014A (en) * | 2018-08-21 | 2019-01-01 | 北京芯合科技有限公司 | A kind of control system and method for variable-arm long industrial robot |
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
| CN109428320A (en) * | 2017-09-04 | 2019-03-05 | 中国科学院微电子研究所 | A kind of motor control protection system |
| CN109491301A (en) * | 2019-01-23 | 2019-03-19 | 东莞固高自动化技术有限公司 | Industry internet intelligent controller based on edge calculations architectural framework |
| CN110515358A (en) * | 2019-08-26 | 2019-11-29 | 杭州芯控智能科技有限公司 | Automatic production line concurrent control system and control method based on integrated controller |
| CN111360814A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Cooperative robot control system and method |
| CN113093723A (en) * | 2021-02-20 | 2021-07-09 | 中科龙人高新技术有限公司 | Multi-axis motion linkage controller for intelligent mobile robot |
| CN113820980A (en) * | 2021-09-15 | 2021-12-21 | 中国人民解放军空军军医大学 | Animal centrifuge control system of multi-rotating-arm multi-freedom-degree experiment platform |
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2013
- 2013-06-05 CN CN 201320321579 patent/CN203266646U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586868B (en) * | 2013-11-13 | 2016-03-30 | 中广核检测技术有限公司 | For the hand-held control device of the robot that reactor pressure vessel checks |
| CN103586868A (en) * | 2013-11-13 | 2014-02-19 | 中广核检测技术有限公司 | Handheld control device for robot for checking reactor pressure vessel |
| CN104669272A (en) * | 2015-03-19 | 2015-06-03 | 广州科然机电有限公司 | Robot |
| CN105364926A (en) * | 2015-11-20 | 2016-03-02 | 上海新时达电气股份有限公司 | Multi-shaft robot driving and controlling integrated control system |
| CN105345817A (en) * | 2015-12-10 | 2016-02-24 | 南京熊猫电子股份有限公司 | Processing method for internal warning signal of robot |
| CN107848110B (en) * | 2015-12-31 | 2021-06-08 | 深圳配天智能技术研究院有限公司 | Robot control system and driver fault judgment method thereof |
| CN107848110A (en) * | 2015-12-31 | 2018-03-27 | 深圳配天智能技术研究院有限公司 | Robot control system and its driver malfunction determination methods |
| CN105818145A (en) * | 2016-03-31 | 2016-08-03 | 张锐 | Distributed control system and method for humanoid robot |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN106313096A (en) * | 2016-06-22 | 2017-01-11 | 台州学院 | Precision hydraulically-driven joint for robot based on closed-loop control |
| CN106087262A (en) * | 2016-06-24 | 2016-11-09 | 芜湖固高自动化技术有限公司 | The research and development method of robot sewing system and operational approach and system |
| CN106087262B (en) * | 2016-06-24 | 2019-01-18 | 芜湖固高自动化技术有限公司 | The research and development method of robot sewing system and its operating method and system |
| CN106313057A (en) * | 2016-09-30 | 2017-01-11 | 武汉菲仕运动控制系统有限公司 | Control system for palletizing robot and realization method of control system |
| CN108459518A (en) * | 2017-02-22 | 2018-08-28 | 上海西门子医疗器械有限公司 | Kinetic control system and method and Medical Devices |
| CN106647614A (en) * | 2017-03-13 | 2017-05-10 | 安徽朗巴智能科技有限公司 | PLC-based (programmable logic controller-based) spraying robot control system |
| CN108983691B (en) * | 2017-06-05 | 2020-02-28 | 北京镁伽机器人科技有限公司 | Printed circuit board, robot, motion control component, system and method |
| CN108983691A (en) * | 2017-06-05 | 2018-12-11 | 北京镁伽机器人科技有限公司 | Printed circuit board, robot, control parts of motion, system and method |
| CN109428320A (en) * | 2017-09-04 | 2019-03-05 | 中国科学院微电子研究所 | A kind of motor control protection system |
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
| CN109109014A (en) * | 2018-08-21 | 2019-01-01 | 北京芯合科技有限公司 | A kind of control system and method for variable-arm long industrial robot |
| CN111360814A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Cooperative robot control system and method |
| CN109491301A (en) * | 2019-01-23 | 2019-03-19 | 东莞固高自动化技术有限公司 | Industry internet intelligent controller based on edge calculations architectural framework |
| CN110515358A (en) * | 2019-08-26 | 2019-11-29 | 杭州芯控智能科技有限公司 | Automatic production line concurrent control system and control method based on integrated controller |
| CN110515358B (en) * | 2019-08-26 | 2021-07-20 | 杭州芯控智能科技有限公司 | Control method of automatic production line parallel control system based on integrated controller |
| CN113093723A (en) * | 2021-02-20 | 2021-07-09 | 中科龙人高新技术有限公司 | Multi-axis motion linkage controller for intelligent mobile robot |
| CN113820980A (en) * | 2021-09-15 | 2021-12-21 | 中国人民解放军空军军医大学 | Animal centrifuge control system of multi-rotating-arm multi-freedom-degree experiment platform |
| CN113820980B (en) * | 2021-09-15 | 2024-02-23 | 中国人民解放军空军军医大学 | Multi-rotating-arm multi-degree-of-freedom experimental platform animal centrifuge control system |
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Granted publication date: 20131106 |