CN205068055U - Full -automatic welding machine ware people motion control system - Google Patents

Abstract

The utility model discloses a motion control system of a fully automatic welding robot, which has high execution efficiency and reliable operation. The utility model comprises a DSP module and an FPGA module connected by an address/data bus; the DSP module controls a drive interface circuit connected to a servo motor driver, and the drive interface circuit is connected to a main circuit; the main circuit is provided with a plurality of Motor assembly; each motor assembly includes a current detection module, a motor and a power signal detection module for detecting the power supply of the motor; the power signal detection module is connected to the DSP module and the FPGA module through a feedback line; the current detection module passes The feedback line is connected to the DSP module and the FPGA module; the FPGA module is integrated with a resolver interface; the DSP module and the FPGA module are connected to an analog signal collector; a control power supply is also included, and the control power supply is the DSP module, The drive interface circuit, the main circuit and the FPGA module provide direct current.

Description

A fully automatic welding robot motion control system

technical field

The utility model relates to a motion control system of a welding robot, which is specifically used for the welding process control of the welding robot.

Background technique

The application range of welding robots is becoming wider and wider. Welding robots contain servo motors for multiple motion directions; the precise welding of welding guns is finally realized through the drive of multiple motors; the traditional low-cost motion control system is controlled by PLC, and PLC directly passes through The connection with the servo driver realizes the motion process control; the precision of the whole control structure is low, and the efficiency is also low; for the existing perfect robot motion control system, it uses the computer control principle and high-precision sensors to realize the closed-loop control; due to its A high-performance CPU and a high-precision sensor are required to complete the process, so the final cost is high and the system is complex.

Utility model content

The technical problem to be solved by the utility model is to disclose a fully automatic welding robot motion control system, which has high execution efficiency and reliable operation, aiming at the deficiencies in the above-mentioned prior art.

In order to solve the above technical problems, the specific scheme of a fully automatic welding robot motion control system disclosed by the utility model is as follows:

A motion control system for a fully automatic welding robot, comprising a DSP module and an FPGA module connected through an address/data bus;

The DSP module control is connected with the drive interface circuit of the servo motor driver, and the drive interface circuit is connected with the main circuit; the main circuit is powered by an external input power supply; the main circuit is provided with a plurality of motor components in parallel; each motor component contains A current detection module, a motor, and a power signal detection module for detecting the power supply of the motor; the power signal detection module is connected to the DSP module and the FPGA module through a feedback line; the current detection module is connected to the DSP module and the FPGA module through a feedback line ;

The DSP module is integrated with a communication interface, and the FPGA module is integrated with a resolver interface for connecting with a resolver;

Described DSP module and FPGA module are connected with analog signal collector simultaneously;

It also includes a control power supply, which provides direct current for the DSP module, the drive interface circuit, the main circuit and the FPGA module.

Preferred embodiment of the present utility model and further improvement point are as follows:

(1) said DSP module is connected with external input and output equipment, and the digital input and output signals and analog input and output signals of external input and output equipment are delivered to the DSP module by wires; the communication interface on the said DSP module is used for and host computer connected RS232 interface; the address/data bus is connected with an expansion interface; the analog signal collector is connected with the FPGA module via the A/D converter; the feedback line that the current detection module is connected with the DSP module is provided with an A /D converter.

(2) A frequency divider is connected to the feedback line between the power signal detection module and the DSP module, and the FPGA module is connected to the frequency divider through wires.

(3) The external input power supply is a 220V AC power supply; the motor is a servo motor or a stepper motor; the number of the motor components is 2 to 6; the control power supply is integrated with a rectifier; the resolver is assembled On the shaft of a moving part driven by a motor.

Further, the external input and output device connected to the DSP module is an industrial-grade dot-matrix LCD screen provided with keys.

Further, the upper computer is a microprocessor unit using an ARM processor; the ARM processor is an ARM Cortex M3 processor; the industrial-grade dot-matrix LCD screen is a 320×240 dot-matrix industrial LCD screen.

The beneficial effects of the utility model are:

The utility model discloses a fully automatic welding robot motion control system, which adopts a DSP plus FPGA dual-chip control mode, and can transfer data processing such as high-speed processing signals and bus communication to DSP and FPGA respectively, and rationally utilize the advantages of both. Disadvantages, to achieve high-efficiency operation; at the same time, because it does not require high-performance CPU and other microprocessors, its construction cost is low;

The DSP module of the utility model controls the drive interface circuit connected with the servo motor driver, and the drive interface circuit is connected with the main circuit; the main circuit of the utility model is provided with a plurality of motor components in parallel; it is used to realize motion control in different directions; the utility model In the utility model, each motor assembly includes a current detection module, a motor, and a power signal detection module for detecting the power supply of the motor; the current detection module is used to detect the parameters of the input current provided by the main circuit for the motor, and the power signal detection module is used for To determine the parameters of the motor's operating power supply, the final feedback signal is fed back to the DSP and FPGA at the same time;

The DSP module of the utility model is integrated with a communication interface, which can communicate with the host computer; the FPGA module is integrated with a resolver interface for connecting with the resolver, and the resolver can detect moving parts The movement process, and finally the closed-loop control can be realized after the signal is fed back; we connect the DSP module and the FPGA module with an analog signal collector at the same time; efficient;

The utility model also includes a control power supply. The control power supply provides DC power for the DSP module, the drive interface circuit, the main circuit and the FPGA module. We separate the strong and weak electricity through the control power supply, which has a reasonable structure and is safer and more reliable.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a specific embodiment of the present invention.

Explanation of reference signs:

1-Digital input and output signal, 2-Analog input and output signal, 3-DSP module, 4-Drive interface circuit, 5-Main circuit, 6-Current detection module, 7-Motor, 8-Extended interface, 9-A/D Converter, 10-power signal detection module, 11-A/D converter, 12-FPGA module, 13-resolver interface, 14-frequency divider, 15-control power supply, 16-communication interface, 17-analog signal acquisition device, 18-data/address bus.

detailed description

Describe the specific implementation of the utility model below in conjunction with accompanying drawing and embodiment:

As shown in Figure 1, it shows a specific embodiment of the present utility model, specifically,

As shown in the figure, a fully automatic welding robot motion control system includes a DSP module 3 and an FPGA module 12 connected through an address/data bus 18;

As shown in the figure, the DSP module control is connected with the drive interface circuit 4 of the servo motor driver, and the drive interface circuit 4 is connected with the main circuit 5; the main circuit 5 is powered by an external input power supply; Each motor assembly; each motor assembly includes a current detection module 6, a motor 7 and a power signal detection module 10 for detecting the motor power supply; the power signal detection module 10 is connected to the DSP module 3 and the FPGA module 12 by a feedback line ; The current detection module is connected to the DSP module 3 and the FPGA module 12 through a feedback line;

As shown in the figure, the DSP module is integrated with a communication interface 16, and the FPGA module 12 is integrated with a resolver interface 13 for connecting with a resolver;

As shown in the figure, described DSP module 3 and FPGA module 12 are connected with analog signal collector 17 simultaneously;

As shown in the figure, it also includes a control power supply 15, which provides DC power for the DSP module, the drive interface circuit, the main circuit and the FPGA module.

Preferably, as shown in the figure: the DSP module is connected with an external input and output device, and the digital input and output signal 1 and the analog input and output signal 2 of the external input and output device are transmitted to the DSP module through wires; the communication on the DSP module The interface is the RS232 interface used to be connected with the host computer; the address/data bus is connected with an expansion interface 8; the analog signal collector is connected with the FPGA module via the A/D converter 11; the current detection module 6 is connected with the FPGA module. An A/D converter 9 is provided on the feedback line connected to the DSP module. In this embodiment, we can realize the input of welding trajectory and parameters through external input and output devices, so as to realize the final trajectory control; we have more expansion interfaces, which can be connected to external teaching equipment, host computer, etc., to achieve more and more Perfect function.

Preferably, as shown in the figure: a frequency divider 14 is connected to the feedback line between the power signal detection module 10 and the DSP module, and the FPGA module is connected to the frequency divider 14 through wires. The frequency divider can connect multiple expansion function components, and finally allow DSP and FPGA to directly control the braking device and so on.

Preferably, as shown in the figure: the external input power supply is a 220V AC power supply; the motor is a servo motor or a stepping motor; the number of the motor components is 2 to 6; the control power supply is integrated with a rectifier; The resolver is assembled on the shaft of the motor-driven moving part.

As an improvement of the above preferred embodiment: the external input and output device connected to the DSP module is an industrial-grade dot-matrix liquid crystal screen provided with keys.

As an improvement of the above-mentioned preferred embodiment: the host computer is a microprocessor unit using an ARM processor; the ARM processor is an ARM CortexM3 processor; the industrial-grade dot-matrix LCD screen is a 320×240 dot-matrix industrial LCD screen .

The preferred embodiment of the utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned embodiment. Various changes are made, and these changes involve related technologies well known to those skilled in the art, and these all fall within the protection scope of the utility model patent.

Many other changes and modifications can be made without departing from the spirit and scope of the present invention. It should be understood that the invention is not limited to specific embodiments, and the scope of the invention is defined by the appended claims.

Claims (6)

1. a Full-automatic welding machine people kinetic control system, is characterized in that: comprise the DSP module and FPGA module that are connected by address/data bus;

Described DSP module control linkage has the driving interface circuit of motor servo driver, drives interface circuit to be connected with main circuit; Main circuit is powered by external input power; Described main circuit has been arranged in parallel multiple electric machine assembly; Each electric machine assembly all comprises current detection module, motor and the power supply signal detection module for detecting feeding electric motors power supply; Described power supply signal detection module is connected to DSP module and FPGA module by feedback line; Described current detection module is connected to DSP module and FPGA module by feedback line;

Integratedly in described DSP module be provided with communication interface, in described FPGA module integrated be provided with for revolve become that device is connected revolve change interface;

Described DSP module and FPGA module are connected with analog signal collector simultaneously;

Also comprise control power supply, control power supply is described DSP module, drives interface circuit, main circuit and FPGA module to provide direct current.

2. a kind of Full-automatic welding machine people kinetic control system as claimed in claim 1, it is characterized in that: described DSP module is connected with outside input-output device, the digital IO signal of outside input-output device and analog input output signal are passed to DSP module by wire; Communication interface in described DSP module is the RS232 interface for being connected with host computer; Described address/data bus is connected with expansion interface; Described analog signal collector is connected with FPGA module via A/D converter; The feedback line that described current detection module is connected with DSP module is provided with A/D converter.

3. a kind of Full-automatic welding machine people kinetic control system as claimed in claim 1, is characterized in that: the feedback line between described power supply signal detection module and DSP module is connected with frequency divider, and described FPGA module is connected to described frequency divider by wire.

4. a kind of Full-automatic welding machine people kinetic control system as claimed in claim 1, is characterized in that: described external input power is 220V AC power; Described motor is servomotor or stepper motor; The quantity of described electric machine assembly is 2 ~ 6; Described control power supply is integrated with rectifier; The described change device that revolves is assembled in the rotating shaft of motor-driven moving component.

5. a kind of Full-automatic welding machine people kinetic control system as claimed in claim 2, is characterized in that: the outside input-output device that described DSP module connects is the technical grade lattice lcd screen being provided with button.

6. a kind of Full-automatic welding machine people kinetic control system as claimed in claim 5, is characterized in that: described host computer is the microprocessor unit adopting arm processor; Described arm processor is ARMCortexM3 processor; Described technical grade lattice lcd screen is 320 × 240 dot matrix industry liquid crystal displays.