CN205620786U

CN205620786U - Robot motion control ware

Info

Publication number: CN205620786U
Application number: CN201620335903.XU
Authority: CN
Inventors: 曾志
Original assignee: Yueqing Yuanpu Electric Co Ltd
Current assignee: Yueqing Yuanpu Electric Co Ltd
Priority date: 2016-04-20
Filing date: 2016-04-20
Publication date: 2016-10-05
Anticipated expiration: 2026-04-20

Abstract

The utility model discloses a robot motion control ware, including DSP module and PC, the output of PC and PCPLUS bus module's input electric connection, PCPLUS bus module's the output and the input electric connection of two port RAM module, the output of two port RAM module and the input electric connection of DSP module, the output of DSP module is respectively with run -in operation module with add speed reduction control module's input electric connection, run -in operation module and add speed reduction control module's output and position control module's input electric connection, position control module's the output and the input electric connection of two port RAM module. This experiment is novel, behind the system start -up, calculates on the industry PC motion control instruction and parameter transmit the two port RAM module of motion control ware to through PCPLUS bus module in, supplies the PC to read, and intelligent degree is high, and the sport efficiency is high, and the system response is fast.

Description

A kind of robot motion controller

Technical field

This utility model relates to motion Controller Design technical field, is specially a kind of robot motor control Device.

Background technology

One motion controller is in order to generate the feedback loop of tracing point desired output and make position, and many is controlled Device processed can also close a speed ring, a driver or amplifier and be used for motion controller in inside Control signal be converted to the curtage signal of more power, the most advanced intellectuality drives permissible Closed in itself position ring and speed ring, to obtain more precise control, executor such as a hydraulic pump, gas Cylinder, linear actuator or motor in order to export motion, feedback transducer such as a photoelectric encoder, rotation Change the Location-to-Location controller in order to feed back executor such as depressor or Hall effect equipment, with realize and The Guan Bi of position control ring, robot controller response speed traditionally is slow, and precision is low.

Summary of the invention

The purpose of this utility model is to provide a kind of robot motion controller to solve above-mentioned background technology The problem of middle proposition.

For achieving the above object, the following technical scheme of this utility model offer: a kind of robot motor control Device, including controlling shell, broadcasting a yard device, DSP module and PC, described control shell is provided with terminals Mouthful, USB interface and power interface, and Wiring port is uniformly distributed, described in broadcast a yard device and inlay and be arranged on control On shell, the outfan of described PC is electrically connected with the input of PCPLUS bus module, described The outfan of PCPLUS bus module is electrically connected with the input of dual port RAM module, described dual port RAM The input of the outfan of module and DSP module is electrically connected with, the outfan of described DSP module respectively with The input of interpolation operation module and feed speed control module is electrically connected with, described interpolation operation module and adding The outfan of deceleration control module is electrically connected with the input of position control module, described position control mould The outfan of block is electrically connected with the input of dual port RAM module, the outfan of described dual port RAM module Being electrically connected with the input of FPA module, the outfan of described FPA module is defeated with translation control circuit Enter end to be electrically connected with, the outfan of described translation control circuit and the input of digital input-output interface module End is electrically connected with, and the outfan of described digital input-output interface module is electric with the input of I/O interface card Property connect, the input of the outfan of described I/O interface card and servosystem is electrically connected with, described servo The outfan of system is electrically connected with the input of motor control module and position coder, and described position is compiled The outfan of code device is electrically connected with the input of dual port RAM module, the output of described motor control module End is electrically connected with the input of motor.

Preferably, the side of described control shell is provided with grid thermovent.

Preferably, described I/O interface card is provided with A/D interface and I/O interface, and is uniformly distributed.

Preferably, described motor is arranged on robot motion joint.

Preferably, described DSP module internally installed have interpolation operation module, feed speed control module and Position control module.

Compared with prior art, the beneficial effects of the utility model are: this utility model, after system start-up, Industrial PC Computer calculates motion control instruction and parameter and is transferred to motion by PCPLUS bus module In the dual port RAM module of controller, DSP module obtains the instruction from PC from dual port RAM module, Interpolation operation module and feed speed control module within Qi Donging carry out interpolation operation and speed controlling, computing Result is saved in dual port RAM module by position control module transmission and preserves, and FPA module is from twoport RAM module reads interpolation operation result, the motor that position control instruction is transferred in servosystem is controlled Module, controls the action in relative motion joint in robot, and position coder goes to read motion result simultaneously, Being saved in dual port RAM module, read for PC, intelligence degree is high, and sport efficiency is high, and system is anti- Should be fast.

Accompanying drawing explanation

Fig. 1 is the control figure of this utility model a kind of robot motion controller；

Fig. 2 is the front view of this utility model a kind of robot motion controller；

Fig. 3 is the side view of this utility model a kind of robot motion controller.

In figure: 1-controls shell；2-Wiring port；3-USB interface；4-power interface；5-broadcasts a yard device； 6-grid thermovent；7-interpolation operation module；8-feed speed control module；9-position control module；10-DSP Module；11-PC machine；12-PC104PLUS bus module；13-dual port RAM module；14-FPA module； 15-translates control circuit；16-digital input-output interface module；17-I/O interface card；18-servosystem； 19-motor control module；20-motor；21-position coder.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, to the technology in this utility model embodiment Scheme is clearly and completely described, it is clear that described embodiment is only this utility model one Divide embodiment rather than whole embodiments.Based on the embodiment in this utility model, this area is common The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into this The scope of utility model protection.

Refer to Fig. 1-3, a kind of embodiment that this utility model provides: a kind of robot motion controller, Including controlling shell 1, broadcasting yard device 5, DSP module 10 and PC 11, control shell 1 and be provided with wiring Port 2, USB interface 3 and power interface 4, and Wiring port 2 is uniformly distributed, and broadcasts yard device 5 and inlays peace Being contained on control shell 1, the side controlling shell 1 is provided with grid thermovent 6, the outfan of PC 11 It is electrically connected with the input of PC104PLUS bus module 12, the output of PC104PLUS bus module 12 End is electrically connected with the input of dual port RAM module 13, the outfan of dual port RAM module 13 and DSP The input of module 10 is electrically connected with, the outfan of DSP module 10 respectively with interpolation operation module 7 and adding The input electric connection of deceleration control module 8, interpolation operation module 7 and feed speed control module 8 Outfan is electrically connected with the input of position control module 9, and the outfan of position control module 9 is with double The input of mouth RAM module 13 is electrically connected with, the outfan of dual port RAM module 13 and FPA module 14 Input be electrically connected with, the outfan of FPA module 14 with translate control circuit 15 input electrically connect Connecing, the outfan of translation control circuit 15 electrically connects with the input of digital input-output interface module 16 Connecing, the outfan of digital input-output interface module 16 is electrically connected with the input of I/O interface card 17, The input of the outfan of I/O interface card 17 and servosystem 18 is electrically connected with, servosystem 18 defeated Go out the input electric connection of end and motor control module 19 and position coder 21, position coder 21 The input of outfan and dual port RAM module 13 be electrically connected with, the outfan of motor control module 19 Being electrically connected with the input of motor 20, I/O interface card 17 is provided with A/D interface and I/O interface, and Being uniformly distributed, motor 20 is arranged on robot relative motion joint, and the internally installed of DSP module 10 has Interpolation operation module 7, feed speed control module 8 and position control module 9.

Specifically used mode: this utility model, after system start-up, calculates fortune in Industrial PC Computer 11 Dynamic control instruction and parameter are transferred to the dual port RAM mould of motion controller by PCPLUS bus module 12 In block 13, DSP module 10 obtains the instruction from PC 11 from dual port RAM module 13, starts Internal interpolation operation module 7 and feed speed control module 8 carry out interpolation operation and speed controlling, computing Result is saved in dual port RAM module 13 by position control module 9 transmission and preserves, FPA module 14 From dual port RAM module 13, read interpolation operation result, position control instruction is transferred to servosystem 18 Interior motor control module 19, controls relative motion joint motor 20 in robot, so that its action, Position coder 21 goes to read motion result simultaneously, is saved in dual port RAM module 13, for PC 11 Read.

It is obvious to a person skilled in the art that this utility model is not limited to above-mentioned one exemplary embodiment Details, and in the case of without departing substantially from spirit or essential attributes of the present utility model, it is possible to other Concrete form realizes this utility model.Which point therefore, no matter from the point of view of, embodiment all should be regarded as Exemplary, and be nonrestrictive, scope of the present utility model by claims rather than on State bright restriction, it is intended that all changes that will fall in the implication of equivalency and scope of claim Change and include in this utility model.Any reference in claim should be considered as restriction involved Claim.

Claims

1. a robot motion controller, including controlling shell (1), broadcasting a yard device (5), DSP module And PC (11) (10), it is characterised in that: described control shell (1) be provided with Wiring port (2), USB interface (3) and power interface (4), and Wiring port (2) is uniformly distributed, described in broadcast a yard device (5) Inlay and be arranged in control shell (1), the outfan of described PC (11) and PC104PLUS bus The input of module (12) is electrically connected with, the outfan of described PC104PLUS bus module (12) with The input of dual port RAM module (13) is electrically connected with, the outfan of described dual port RAM module (13) Be electrically connected with the input of DSP module (10), the outfan of described DSP module (10) respectively with The input of interpolation operation module (7) and feed speed control module (8) is electrically connected with, and described interpolation is transported Calculate the outfan of module (7) and feed speed control module (8) and the input of position control module (9) It is electrically connected with, the outfan of described position control module (9) and the input of dual port RAM module (13) Being electrically connected with, the outfan of described dual port RAM module (13) is electric with the input of FPA module (14) Property connect, the outfan of described FPA module (14) with translate control circuit (15) input electrical Connect, the outfan of described translation control circuit (15) and digital input-output interface module (16) Input is electrically connected with, the outfan of described digital input-output interface module (16) and I/O interface card (17) input is electrically connected with, the outfan of described I/O interface card (17) and servosystem (18) Input be electrically connected with, the outfan of described servosystem (18) and motor control module (19) and The input of position coder (21) is electrically connected with, and the outfan of described position coder (21) is with double The input of mouthful RAM module (13) is electrically connected with, the outfan of described motor control module (19) with The input of motor (20) is electrically connected with.

A kind of robot motion controller the most according to claim 1, it is characterised in that: described control The side of shell processed (1) is provided with grid thermovent (6).

A kind of robot motion controller the most according to claim 1, it is characterised in that: described I/O Interface card (17) is provided with A/D interface and I/O interface, and is uniformly distributed.

A kind of robot motion controller the most according to claim 1, it is characterised in that: described electricity Machine (20) is arranged on the movable joint of robot.

A kind of robot motion controller the most according to claim 1, it is characterised in that: described DSP The internally installed of module (10) has interpolation operation module (7), feed speed control module (8) and position control Molding block (9).