CN205466223U - Cartesian robot's motion control system - Google Patents
Cartesian robot's motion control system Download PDFInfo
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- CN205466223U CN205466223U CN201620114220.1U CN201620114220U CN205466223U CN 205466223 U CN205466223 U CN 205466223U CN 201620114220 U CN201620114220 U CN 201620114220U CN 205466223 U CN205466223 U CN 205466223U
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Abstract
The utility model provides a cartesian robot's motion control system, include: the current -voltage control panel of power, industrial computer, motion control card, seven AC servo motor drivers, seven AC servo motor, revolving stage control panel, touch -sensitive screen and welding machines, the power is industrial computer, motion control card, seven AC servo motor drivers, revolving stage control panel and the power supplies of current -voltage control panel, the industrial computer passes through RS232 interface visit touch -sensitive screen, transmits video signal for the touch -sensitive screen through 15 core video lines, goes on alternately through ethernet interface and motion control card, and the motion control card still is connected with seven AC servo motor drivers, being connected with seven AC servo motor of seven AC servo motor driver difference one -to -ones. Utilize the utility model discloses can control the cartesian robot of seven axles.
Description
Technical Field
The utility model relates to a robot control system technical field, more specifically relates to a motion control system of cartesian robot.
Background
The cartesian robot is 5 shaft linkage generally, and 5 shaft linkage's degree of freedom has the shortcoming, and some welding parts are comparatively complicated, especially the application when the back of space helix and part is welded, and many places can not reach, perhaps some orbit still need the rotatory cooperation of anchor clamps just can accomplish. It is now necessary to redesign a 7-axis cartesian robot.
Therefore, a motion control system corresponding to the 7-axis cartesian robot is required.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is an object of the present invention to provide a motion control system for a cartesian robot to solve the problems identified in the background art.
The utility model provides a motion control system of cartesian robot, include: the system comprises a power supply, an industrial personal computer, a motion control card, seven alternating current servo motor drivers, seven alternating current servo motors, a rotary table control panel, a touch screen and a current and voltage control panel of a welding machine; wherein,
the power supply supplies power for the industrial personal computer, the motion control card, the seven alternating current servo motor drivers, the rotary table control panel and the current-voltage control panel;
the industrial personal computer accesses the touch screen through the RS232 interface, transmits a video signal to the touch screen through a 15-core video wire, interacts with the motion control card through the Ethernet interface, and the motion control card is also connected with seven alternating current servo motor drivers;
the seven alternating current servo motor drivers are respectively connected with the seven alternating current servo motors in a one-to-one correspondence mode, and the seven alternating current servo motors are all incremental alternating current servo motors;
the turntable control board includes AC9V, +5V, DIR, CP, 0V, SGND, 1# daowei, 2# daowei, 1# qingqiu, 2# qingqiu, +24V, and +24V terminals; the AC9V terminal supplies power to the main control chip of the turntable control board; the +5V and 0V terminals are excitation power supplies of the turntable stepping motor driver pulses; the +24V terminal is an input/output interface of the turntable control board, and the SGND and the +24V terminal are IO public power supplies and are connected with a power line of the motion control card; the 1# daowei and 2# daowei terminals are output signals of the rotary table control board and are in-place signals of the 1# station and the 2# station respectively, and after the 1# station or the 2# station is in place, the interface corresponding to the 1# station or the 2# station outputs effective signals to the motion control card; the 1# qingqiu terminal and the 2# qingqiu terminal are input signals of the turntable control board, and the input signals are sent to the motion control card by the industrial personal computer and then sent to the turntable control board by the motion control card;
The current and voltage control board comprises AC9V, +24V, 8, 4, 2 and 1 interfaces, the AC9V interface supplies power for a decoding circuit of the current and voltage control board, the +24V interface is a power supply common interface of the 8 interface, the 4 interface, the 2 interface and the 1 interface, and the 8 interface, the 4 interface, the 2 interface and the 1 interface are coded input ends.
Preferably, the ac servomotor corresponding to the Z axis is a band-type ac servomotor.
In addition, the preferable structure is that the main control chip of the turntable control board is of STC89C51 model; the motion control card is an IMC3XX2E8 model; the industrial personal computer is of MXE-1300 type.
Utilize the utility model provides a motion control system of cartesian robot can control each AC servo motor's motion accurately to control the motion of each axle.
Drawings
Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description and appended claims, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 is a schematic diagram of a motion control system of a cartesian robot according to an embodiment of the present invention;
fig. 2 is a printed layout of the turntable control panel according to the embodiment of the present invention;
Fig. 3 is an equivalent circuit diagram of the current-voltage control board according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.
Fig. 1 shows the principle of the motion control system of the cartesian robot according to the embodiment of the present invention.
As shown in fig. 1, the embodiment of the utility model provides a rectangular coordinate robot's motion control system includes six parts, is power supply unit, industrial computer and touch-sensitive screen part, revolving stage control panel part, motion control part, current-voltage control panel part and exchanges servo motor drive part respectively, carries out the detailed description to these six parts below respectively.
A power supply part
The power supply supplies power for the industrial personal computer, the motion control card, the alternating current servo motor driver, the rotary table control panel and the current-voltage control panel, is 380V three-phase power, is connected with a 380V/220V isolation transformer and mainly plays a role in resisting interference and suppressing current. And the power supply of the welder is directly arranged on the power point.
Second, industrial personal computer and touch screen part
The industrial personal computer is an industrial control computer of Linghua MXE-1300 type, and is mainly responsible for the control of the whole equipment, the operation of the track and other functions. Is the core of the whole system. The industrial personal computer accesses whether the key on the touch screen is pressed down or not through the RS232 interface; the method comprises the steps of transmitting a video signal to a touch screen through a 15-core video wire, and interacting a motion control card (comprising a motion instruction, an interpolation instruction, an IO interface interaction and the like) through an Ethernet interface.
The touch screen has 2 functions, and 1, system information is displayed. 2. Complex control of system operation. The method comprises the following steps: editing, saving, deleting and calling the program; setting and modifying parameters; manual and automatic conversion; axis number switching, etc.
Third, the control panel part of the revolving stage
Fig. 2 shows a layout of the turntable control board. As shown in fig. 2, the turntable control board main control chip is a single chip microcomputer of STC89C51 type, an AC9V terminal on the left side of the single chip microcomputer supplies power to the main control chip, and +5V and 0V terminals on the right side of the single chip microcomputer are excitation power supplies of turntable stepping motor driver pulses. The DIR terminal on the right side is a direction signal for controlling the turntable motor, and the CP terminal on the right side is a motion pulse signal of the stepping motor. DIR and CP signals generated by the main control chip are transmitted to a DIR terminal and a CP terminal through a 6N137 high-speed optical coupler, and then the rotation of the turntable stepping motor is controlled. The +24V terminal on the right side is an input/output interface of the turntable control board, and the SGND and the +24V terminal on the right side are an IO public power supply and are connected with a power line of the motion control card. The 1# daowei and 2# daowei terminals on the right side are output signals of the rotary table control board and are in-place signals of 1# and 2# stations respectively, after which station is in place, which interface outputs an effective signal to the motion control card, and the industrial personal computer reads an IO terminal signal of the motion control card and knows which station is in place at present. And the terminals of the 1# qingqiu and the 2# qingqiu on the right side are input signals of the turntable control board, and the signals are sent to the motion control card by the industrial personal computer and then sent to the turntable control board by the motion control card. When the 1# qingqiu is effective, the upper computer requests the station to be switched to the 1# station, the rotary table control board outputs DIR and CP signals to control the rotary table stepping motor to rotate to the 1# station to stop, and meanwhile, a 1# station in-place signal (1# daowei) is output. 2# qingqiu is the same. When 1# qingqiu and 2# qingqiu are active at the same time, it represents a sudden stop of the turntable. In Chuangqiangout, +24V, chuangqianin, XC2#, XC1#, and 0V terminals, +24V, 0V are gun break protection signals and input power of limit switches. chuangqiangin is the input signal of the gun-shoot-through protection, chuangqiangout is the output signal of the gun-shoot-through protection. The two signals are isolated by a TP521-4 optical coupler for the purpose of interference resistance. And the gun-rushing protection output signal is sent to the motion control card and is informed to the industrial personal computer by the motion control card. XC2#, XC1# are the travel switch of revolving stage station, and when the revolving stage rotated to XC2# (2# station) switch position, the revolving stage control panel continued the equidirectional certain pulse of rotation after ordering the revolving stage motor to slow down to very low rotational speed, stopped rotating after making the revolving stage extrude the mechanical spacing of this station. The locking of the rotary table at the station is carried out by the locking force of the motor. This simplifies the mechanical positioning mechanism considerably. And sending a 2# station in-place signal after locking. XC1# is similarly available.
Four, motion control part
The motion control card is an IMC3XX2E8 axis motion control card and has various interpolation control, positioning control, speed control, acceleration and deceleration, 2-time motion smoothing processing and rich IO interface error alarm signal access functions. For an ac servo motor drive, the motion control card essentially provides direction and motion pulse signals (CP +, CP-motion pulse signal, DIR +, DIR-direction signal) while monitoring its alarm signal (ALM). After the system is powered on, the coordinate (mechanical coordinate system) of the last shutdown needs to be retrieved, the consistency of the software coordinate system operated each time is ensured, and the system can be used without reprogramming, so that the system has a function of returning the mechanical origin to zero.
After zeroing is pressed on the interface, the sequence of the number of the zeroing axes is as follows: the Z axis is zeroed (for safety of the zeroing process) and then the X, Y, C, S, J1, J2 axes are simultaneously zeroed. The zeroing process is illustrated with an X-axis zeroing. The X axis moves fast in one direction to search an X origin switch signal, after the signal is obtained, the motor reverses slowly immediately, and the motion control card searches a Z pulse (only one Z signal in one circle of an alternating current servo motor encoder, the precision is 1/2500 degrees) signal of the motor. When the signal is found to be valid, the AC servo motor is immediately stopped, and the system sets the point as the origin of the X-axis coordinate system. If the origin switch signal is not found when the X axis moves to the extreme position, the AC servo motor will reverse and continuously search for the origin signal. The other axes are in the same way.
In the process of movement, the speed of each shaft can be adjusted in time no matter what state.
Fifth, the current and voltage control board part
In the actual field welding process, each welding seam has different requirements on the requirements of welding current and voltage. The general use is standard digital welding machine, and the welding current voltage of digital welding machine only need through set for with RS232 or RS485 communication can, and the circuit is simple to realize conveniently. However, the price of the digital welding machine is expensive, and the market price of 315 welding machines is 8000-12000 yuan. If the ordinary electronic pulse welder is selected, although the price is lower (between 3200-4500 yuan), the current voltage is manually set by a potentiometer, which is not beneficial to the requirement of control. The potentiometer control must input signals which are analog signals, and the computer output signals are digital signals, so that the digital signals are changed into analog signals to be output for the application of a common welding machine to meet the requirements. Fig. 3 shows the principle of the current-voltage control board of the present invention. The current-voltage control board is a 16-subdivision current-voltage control board and is provided with a main control chip, and the main control chip is a single chip microcomputer of 89C51 type and is used for host response. The signals A and B are 8421 code input selection signals, three selection signals are output through a decoding circuit, and different optical coupler loops are selected respectively (the purpose of using the optical couplers is anti-interference, and a welding machine is a strong interference source). At the output end of the optical coupler, every two cross directions are butted to form a group of analog switches (each analog switch is like a mechanical switch), so that one voltage division output of a series resistance loop formed by R1, R2, R3 and R4 is selected. The whole circuit acts as a potentiometer.
Two current and voltage control boards are installed in a common electronic pulse welding machine to replace two potentiometers of current and voltage respectively, so that the welding machine is changed into a digital welding machine. The method is very reliable and applicable in practical application.
Sixth, AC servo motor driving part
The seven alternating current servo motors are all incremental alternating current servo motors, the seven alternating current servo motors are correspondingly arranged at the positions of the seven shafts one by one, each alternating current servo motor is connected with an alternating current servo motor driver, and the alternating current servo motor drivers are Taiwan iG series drivers. Controlling the motion of 7 axes. All control pulse signals of the alternating current servo motors come from the motion control card, and the industrial personal computer calculates required motion trajectory data and then sends the data to the motion control card for execution.
It should be noted that, in order that the mechanical mechanism does not slide down by itself after the Z-axis is powered off, the ac servo motor provided in the Z-axis is a band-type ac servo motor.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. A motion control system for a cartesian robot, comprising: the system comprises a power supply, an industrial personal computer, a motion control card, seven alternating current servo motor drivers, seven alternating current servo motors, a rotary table control panel, a touch screen and a current and voltage control panel of a welding machine; wherein,
the power supply supplies power to the industrial personal computer, the motion control card, the seven alternating current servo motor drivers, the rotary table control panel and the current and voltage control panel;
the industrial personal computer accesses the touch screen through an RS232 interface, transmits a video signal to the touch screen through a 15-core video wire, interacts with the motion control card through an Ethernet interface, and is also connected with the seven alternating current servo motor drivers;
the seven alternating current servo motor drivers are respectively connected with the seven alternating current servo motors in a one-to-one correspondence mode, and the seven alternating current servo motors are incremental alternating current servo motors;
the turntable control board includes AC9V, +5V, DIR, CP, 0V, SGND, 1# daowei, 2# daowei, 1# qingqiu, 2# qingqiu, +24V, and +24V terminals; the AC9V terminal supplies power to a main control chip of the turntable control board; the +5V terminal and the 0V terminal are excitation power supplies of the turntable stepping motor driver pulse; the +24V terminal is an input/output interface of the turntable control board, and the SGND and +24V terminals are IO public power supplies and are connected with a power line of the motion control card; the 1# daowei terminal and the 2# daowei terminal are output signals of the rotary table control board and are in-place signals of 1# station and 2# station respectively, and after the 1# station or the 2# station is in place, an effective signal is output to the motion control card by an interface corresponding to the 1# station or the 2# station; the 1# qingqiu terminal and the 2# qingqiu terminal are input signals of the turntable control board, and the input signals are sent to the motion control card by the industrial personal computer and then sent to the turntable control board by the motion control card;
The current and voltage control board comprises AC9V, +24V, 8, 4, 2 and 1 interfaces, the AC9V interface supplies power for a decoding circuit of the current and voltage control board, the +24V interface is a power supply common interface of the 8 interface, the 4 interface, the 2 interface and the 1 interface, and the 8 interface, the 4 interface, the 2 interface and the 1 interface are coded input ends.
2. The motion control system of a cartesian robot according to claim 1, wherein,
the alternating current servo motor corresponding to the Z axis is a band-type alternating current servo motor.
3. The motion control system of a cartesian robot according to claim 2, wherein,
the main control chip of the turntable control board is of STC89C51 model;
the motion control card is of an IMC3XX2E8 model;
the industrial personal computer is of an MXE-1300 model.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620114220.1U CN205466223U (en) | 2016-02-03 | 2016-02-03 | Cartesian robot's motion control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620114220.1U CN205466223U (en) | 2016-02-03 | 2016-02-03 | Cartesian robot's motion control system |
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| CN205466223U true CN205466223U (en) | 2016-08-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643628A (en) * | 2016-02-03 | 2016-06-08 | 重庆飞宙机械自动化设备有限公司 | Motion control system of Cartesian-coordinate robot |
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- 2016-02-03 CN CN201620114220.1U patent/CN205466223U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643628A (en) * | 2016-02-03 | 2016-06-08 | 重庆飞宙机械自动化设备有限公司 | Motion control system of Cartesian-coordinate robot |
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Granted publication date: 20160817 Effective date of abandoning: 20170825 |