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 PDF

Info

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
Authority
CN
China
Prior art keywords
motion controller
control
axis motion
servomotor
robot
Prior art date
Application number
CN 201320321579
Other languages
Chinese (zh)
Inventor
肖永飞
李文广
王磊
吴昊
马士国
Original Assignee
山东省科学院自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 山东省科学院自动化研究所 filed Critical 山东省科学院自动化研究所
Priority to CN 201320321579 priority Critical patent/CN203266646U/en
Application granted granted Critical
Publication of CN203266646U publication Critical patent/CN203266646U/en

Links

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

Four-degree-of-freedom heavy duty articulated robot control system
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.
CN 201320321579 2013-06-05 2013-06-05 Heavy-duty articulated robot control system with four degrees of freedom CN203266646U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320321579 CN203266646U (en) 2013-06-05 2013-06-05 Heavy-duty articulated robot control system with four degrees of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320321579 CN203266646U (en) 2013-06-05 2013-06-05 Heavy-duty articulated robot control system with four degrees of freedom

Publications (1)

Publication Number Publication Date
CN203266646U true CN203266646U (en) 2013-11-06

Family

ID=49497129

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201320321579 CN203266646U (en) 2013-06-05 2013-06-05 Heavy-duty articulated robot control system with four degrees of freedom

Country Status (1)

Country Link
CN (1) CN203266646U (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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
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
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
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
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
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
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
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
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
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

Similar Documents

Publication Publication Date Title
CN104027218B (en) A kind of healing robot control system and method
US8260460B2 (en) Interactive robot control system and method of use
CN104647331B (en) A kind of principal and subordinate is servo-actuated teaching industrial robot system
CN102825603B (en) Network teleoperation robot system and time delay overcoming method
CN100581753C (en) Teaching method for glazing robot off-line teaching device
CN100544899C (en) A kind of open robotic system
CN203592483U (en) Four-joint robot palletizer
CN102085664B (en) Autonomous operation forestry robot intelligent control system
CN103240740A (en) Robot control system
CN101655708B (en) Intelligent vehicle carrier and control system and control method thereof
CN106426184B (en) A kind of robot control system
CN201358142Y (en) Automatic control system for telescopic crane
CN109976390A (en) A kind of robot for space remote control system based on three-dimension gesture
FR2960075A1 (en) Method for controlling an automated working cell
CN104589367B (en) Modularization robot driver based on EtherCAT and control method
CN106346480B (en) A kind of multiple degrees of freedom injection machine arm modeling method based on UG and MATLAB
CN202728394U (en) Spider robot
CN104460672B (en) Bionic hexapod robot control system and control method
CN101216711A (en) Amphibious mechanical crab step control device and control method
CN105955230A (en) Intelligent manufacturing workshop real-time monitoring method based on Unity 3D
CN104339354B (en) A kind of special motion controller hardware platform for 6DOF parallel robot
CN102310407B (en) Bionic control method and control system of mechanical arm
CN104133400B (en) Rotary grinder embedded controller based on digital bus
CN102073302A (en) Full digitalized distributed intelligent servo driver
CN1187170C (en) Hand-in-hand demonstration robot

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant