CN205438540U - Control system and robot of robot - Google Patents
Control system and robot of robot Download PDFInfo
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- CN205438540U CN205438540U CN201620009645.6U CN201620009645U CN205438540U CN 205438540 U CN205438540 U CN 205438540U CN 201620009645 U CN201620009645 U CN 201620009645U CN 205438540 U CN205438540 U CN 205438540U
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Abstract
The utility model discloses a robot control system. This control system includes that the first step -by -step servo module of accuse integration, second of driving drives that the step -by -step servo module of accuse integration, third drive the step -by -step servo module of accuse integration, the fourth drives the step -by -step servo module of accuse integration, an embedded user interface controller and a power source, four are driven on the step -by -step servo mould splits of accuse integration do not is connected to the bus through the wire, embedded user interface controller passes through wire and bus connection, the power is connected with the bus and does through the bus four drive the step -by -step servo module of accuse integration with the power supply of embedded user interface controller. Adopt the utility model discloses technical scheme has removed traditional machine people's control regulator cubicle from, has simplified traditional mode of connection, has improved the reliability.
Description
Technical field
This utility model relates to control system and the robot of a kind of robot, particularly relates to control system and the robot of a kind of SCARA robot.
Background technology
Industrial machine Man's Demands is the most growing, such as automobile industry, electronic enterprises, construction machinery industry etc. have used a large amount of industrial robot automatic production line, affected by each side factor, the nearly industrial robot of 70 percent of China need nonetheless remain for import and could meet domestic demand, and domestic enterprise market share is relatively low.
SCARA (SelectiveComplianceAssemblyRobotArm, Chinese translation: select compliance and put together machines arm) is the industrial robot of the specific type of a kind of circular cylindrical coordinate type.There are 3 rotary joints in SCARA robot, and its axis is parallel to each other, and planar positions and orients.Another joint is linear joint, has been used for end piece and has been perpendicular to the motion of plane.Soon, it is best suited for plane positioning, and vertical direction carries out the operation assembled for the portable construction of this kind of robot, response.
SCARA robot all uses central type control mode at present.It is specifically that each motor is connected in the electrical control cabinet that robot is external by the wire of about 10.Produced corresponding big electric current by the central controller (generally industry control PC adds motion control card and 4 power motor drivers) in regulator cubicle to be driven controlling to the motor on robot body.Therefore, control system is complicated and huge, and the volume of switch board is the biggest with robot body volume.
Utility model content
In order to overcome defect present in prior art, this utility model relates to the control system of a kind of SCARA robot.
To achieve these goals, the utility model discloses a kind of robot control system, control integration stepping servo module is driven including first, second drives control integration stepping servo module, 3rd drives control integration stepping servo module, 4 wheel driven control integration stepping servo module, one embedded user interface controller and a power interface, described four drive control integration stepping servo module be wired to respectively in bus, described embedded user interface controller is connected with bus by wire, described power supply be connected with bus and by bus be described four drive control integrated stepping servo module and described embedded user interface controller power.
Further, this embedded user interface controller has an external interface, is used for connecting external equipment.
Further, this external equipment is personal terminal.
Further, described power supply is alternating-current power supply or DC power supply.
Further, described wire is positive negative wire and the differential communication bus of power supply.
Further, described differential bus includes but not limited to CAN, 485 buses, 422 buses etc..
Further, described interface includes but not limited to one of lower interface: Ethernet interface, WIFI interface, USB interface, serial port, bluetooth.
Further, described control system is used for SCARA robot.
Further, described control system is used for Delta robot.
This utility model also provides for a kind of SCARA robot being to be provided with described system, and including pedestal, large arm, forearm, ball spline screw mandrel and some driving control integration stepping servo module；Described forearm is hollow structure, it is provided with first and drives control integration stepping servo module, second drives control integration stepping servo module and the 3rd drives control integration stepping servo module, 4 wheel driven control integration stepping servo module is arranged in pedestal, being also equipped with embedded user interface controller and power interface in described pedestal, described four are driven control integration stepping servo module, embedded user interface controller and power interface and are connected by bus.
Further, embedded user interface controller has an external interface, is used for connecting external equipment.
Further, described external equipment is personal terminal.
Further, described bus is positive negative wire and the differential communication bus of power supply.
Further, described differential bus includes but not limited to CAN, 485 buses, one of 422 buses.
Further, described interface includes but not limited to one of lower interface: Ethernet interface, WIFI interface, USB interface, serial port, bluetooth.
Compared with prior art, this utility model takes SCARA robot control system and robot, eliminates the control regulator cubicle of tradition SCARA robot, and the most all control modules, all with polygon control survey, greatly simplify traditional wired mode, substantially increase reliability；More convenient and quick so that SCARA robot has opening, develop and the cost safeguarded is substantially reduced.
Accompanying drawing explanation
Can be further understood by following utility model detailed description and institute's accompanying drawings with spirit about advantage of the present utility model.
Fig. 1 is control system of the present utility model；
Fig. 2 is the control system that this utility model connects external equipment；
Fig. 3 is robot architecture of the present utility model figure.
Detailed description of the invention
Describe specific embodiment of the utility model below in conjunction with the accompanying drawings in detail.
nullA kind of control system of SCARA robot，This control system is dcs (DCS,DistributedControlSystem) comprise embedded user interface controller and some driving controls integration stepping servo module，Control integration stepping servo module 1 is driven including first、Second drives control integration stepping servo module 2、3rd drives control integration stepping servo module 3、4 wheel driven control integration stepping servo module 4、One embedded user interface controller 8 and a power supply 7，Described four are driven control integration stepping servo module and are connected in bus 5 by wire 6 respectively，Described embedded user interface controller 8 is connected with bus 5 by wire 6，Described power supply 7 be connected with bus 5 and by bus be described four drive control integrated stepping servo module and described embedded user interface controller 8 power，Described power interface is connected with bus by external power supply and is described four by bus and drives the integrated stepping servo module of control and described embedded user interface controller is powered，Described wire 6 is positive negative wire and the differential communication bus of power supply.Wherein, described differential communication bus includes but not limited to CAN (controller local area network, ControllerAreaNetwork) bus, 485 buses, 422 buses etc..
As shown in Figure 2, this control system also includes an external equipment, described external equipment is connected to embedded user interface controller 8 by external interface (not shown), described external equipment can be personal terminal 9, wherein, described personal terminal includes PC, mobile phone, panel computers etc. can run the equipment of software, the SCARA robot that control system is controlled by described personal terminal by described embedded user interface controller is programmed or debugs, the robot controlled with maintenance.Wherein, the interfaces such as the interactive interface between personal terminal and embedded user interface controller includes but not limited to lower interface: Ethernet interface, WIFI interface, USB interface, serial port, bluetooth.Described embedded user interface controller can use the most general ARM9 plate, or the ARM development board with type, such as A8, and the series panel such as A9, A15, or it is X86 development board, such as 586 plates, CORE plate, Atom plate etc..
For ease of the versatility of control system, the external power supply 7 of use can be with alternating current or unidirectional current.
Described control system may be used for SCARA robot or Delta (also known as spider or parallel connection) robot.
In conjunction with Fig. 3, the SCARA robot using this utility model control system is described in detail.A kind of four axle SCARA humanoid robots, including pedestal 31, pedestal 31 cylinder side is furnished with electrical communications panel 34, pedestal is provided with power interface 312.It is arranged on relatively turnable large arm 32 above pedestal 31, pedestal 31 is equiped with 4 wheel driven control integration stepping servo module 39 corresponding to the fixing end of large arm 32, the power output shaft of 4 wheel driven control integration stepping servo module 39 is connected with the fixing end of large arm 32, and it is used for controlling large arm 32 and horizontally rotates for the center of circle with pedestal 31 connecting shaft with large arm 32.Forearm 33 is hollow structure, is installed in the other end of large arm 32, internal equipped with first drive control integration stepping servo module 36, second drive control integration stepping servo module 37, the 3rd step drives the control integration device such as stepping servo module 38, ball spline screw mandrel 310.The fixing end of forearm 33 is equiped with the 3rd and drives control integration stepping servo module 38,3rd drives the control integration power output shaft of stepping servo module 38 is connected with the free end of large arm 32, and the 3rd drives control integration stepping servo module 38 horizontally rotates for the center of circle with large arm 32 connecting shaft with forearm 33 for controlling forearm 33.The other end of forearm 33 can be equiped with ball spline screw mandrel 310 relative motion.Forearm 33 is provided with first corresponding to ball spline screw mandrel 310 and drives control integration stepping servo module 36 and second and drive control integration stepping servo module 37, first drives control integration stepping servo module 36 controls the up and down motion of ball spline screw mandrel key screw mandrel 310, and second drives control integration stepping servo module 37 controls the rotary motion of ball spline screw mandrel 310.Described four are driven and are connected by wire 311 between control integration stepping servo module.Not shown in the embedded user interface controller 35 connection figure with wire 311.
Those of ordinary skill in the art should know, described robot control system can be to select compliance to put together machines arm SCARA robot control system, can also be parallel robot control system.
Simply preferred embodiment of the present utility model described in this specification, above example is only in order to illustrate the technical solution of the utility model rather than to restriction of the present utility model.All those skilled in the art according to design of the present utility model by the available technical scheme of logical analysis, reasoning, or a limited experiment, all should be within the scope of this utility model.
Claims (14)
1. a robot control system, it is characterized in that, control integration stepping servo module is driven including one first, one second drives control integration stepping servo module, one the 3rd drives control integration stepping servo module, one 4 wheel driven control integration stepping servo module, one embedded user interface controller and a power interface, described four drive control integration stepping servo module be wired to respectively in a bus, described embedded user interface controller is connected with bus by wire, described power interface is connected with bus by external power supply and is described four by bus and drives the integrated stepping servo module of control and described embedded user interface controller is powered.
2. robot control system as claimed in claim 1, it is characterised in that described embedded user interface controller has an external interface, is used for connecting external equipment.
3. robot control system as claimed in claim 2, its spy is, described external equipment is personal terminal.
4. robot control system as claimed in claim 1, it is characterised in that described wire is positive negative wire and the differential communication bus of power supply.
5. robot control system as claimed in claim 4, it is characterised in that described differential communication bus includes CAN, 485 buses, one of 422 buses.
6. robot control system as claimed in claim 2, it is characterised in that described interface includes with one of lower interface: Ethernet interface, WIFI interface, USB interface, serial port.
7. robot control system as claimed in claim 1, it is characterised in that described robot control system puts together machines arm SCARA robot control system for selecting compliance.
8. robot control system as claimed in claim 1, it is characterised in that described robot control system is parallel robot control system.
9. a robot, it is characterised in that include that pedestal, large arm, forearm, ball spline screw mandrel and some driving control integration stepping servo module；Described forearm is hollow structure, it is provided with first and drives control integration stepping servo module, second drives control integration stepping servo module and the 3rd drives control integration stepping servo module, 4 wheel driven control integration stepping servo module is arranged in pedestal, being also equipped with embedded user interface controller and power interface in described pedestal, described four are driven control integration stepping servo module, embedded user interface controller and power interface and are connected by bus.
10. robot as claimed in claim 9, it is characterised in that described embedded user interface controller has an external interface, is used for connecting external equipment.
11. robots as claimed in claim 10, it is characterised in that described external equipment is personal terminal.
12. robots as claimed in claim 9, it is characterised in that described bus is positive negative wire and the differential communication bus of power supply.
13. robots as claimed in claim 12, it is characterised in that described differential communication bus includes CAN, 485 buses, one of 422 buses.
14. robots as claimed in claim 10, it is characterised in that described interface includes with one of lower interface: Ethernet interface, WIFI interface, USB interface, serial port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620009645.6U CN205438540U (en) | 2016-01-06 | 2016-01-06 | Control system and robot of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620009645.6U CN205438540U (en) | 2016-01-06 | 2016-01-06 | Control system and robot of robot |
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| CN205438540U true CN205438540U (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620009645.6U Active CN205438540U (en) | 2016-01-06 | 2016-01-06 | Control system and robot of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160390A (en) * | 2017-05-16 | 2017-09-15 | 中国科学院沈阳自动化研究所 | It is a kind of to control integral control system for the robot that cooperates |
| WO2019192220A1 (en) * | 2018-04-04 | 2019-10-10 | 固高科技(深圳)有限公司 | Robot system |
-
2016
- 2016-01-06 CN CN201620009645.6U patent/CN205438540U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160390A (en) * | 2017-05-16 | 2017-09-15 | 中国科学院沈阳自动化研究所 | It is a kind of to control integral control system for the robot that cooperates |
| CN107160390B (en) * | 2017-05-16 | 2020-05-19 | 中国科学院沈阳自动化研究所 | Driving and controlling integrated control system for cooperative robot and preparation method thereof |
| WO2019192220A1 (en) * | 2018-04-04 | 2019-10-10 | 固高科技(深圳)有限公司 | Robot system |
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