CN205958980U - Six motion control wares of industrial robot - Google Patents
Six motion control wares of industrial robot Download PDFInfo
- Publication number
- CN205958980U CN205958980U CN201620733509.1U CN201620733509U CN205958980U CN 205958980 U CN205958980 U CN 205958980U CN 201620733509 U CN201620733509 U CN 201620733509U CN 205958980 U CN205958980 U CN 205958980U
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- China
- Prior art keywords
- interface
- industrial robot
- control system
- motion controller
- axle motion
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Abstract
The utility model relates to a motion control field, it discloses a six motion control wares of industrial robot, including FPGA the control unit, ARM main control unit unit, drive unit, ARM main control unit exzternal nodule and FPGA exzternal nodule, the ARM main control unit unit is connected respectively ARM main control unit exzternal nodule and FPGA the control unit, FPGA the control unit connects respectively FPGA exzternal nodule with drive unit. The beneficial effects of the utility model are that: has higher integrated level and control accuracy and run -in speed, accuracy nature and real -time in the time of realizing the perform tasks of robot.
Description
Technical field
The utility model is related to field of intelligent control, more particularly, to a kind of industrial robot six axle motion controller.
Background technology
During propulsion manufactures intellectuality, Accelerating The Construction intelligence chemical plant, digitlization workshop and human-machine intelligence is answered to hand over
Mutually, the application of the technology and equipment such as industrial robot.Motion controller is as the brain of industrial robot, the control to machine body
System plays decisive role.So-called motion controller refers to calculate process chip with logical block for main, with all kinds of detectors,
Sensing device is kinematic parameter monitoring element, with stepper motor, DC servo, AC servo motor etc. as power set with transmission
Unit is a kind of control device of main control object, and it can be used for current numerous industrial equipments, such as digital control system, robot
System.Kinetic control system is applied more and more extensively in modern manufacturing industry, is the electromechanics such as industrial robot, digital-control processing system
Conventional basic part in equipment.High performance motion controller always high-precision numerical control machine, high speed and super precision is automatic
Generate the focus in the fields such as line, CNC equipment, industrial robot.
Industrial robot can be used for that danger, the amount of repetition be big, the working environment of bad environments, is that people have liberated substantial amounts of labor
Power, is widely used in automobile, machining, the electric, field such as rubber plastic cement, food industry.In the industrial production, weld
The industrial robot such as connect, carry, assembling all to be adopted in a large number.As the core component of robot movement-control system, its use
The parameter such as the position of controlled part, speed, acceleration, moment and driving current, feedback signal is controlled in realizing and
Response is so as to run according to setting rule parameter.But, most motion controller executes accuracy during task relatively at present
Low.
Content of the invention
In order to solve the problems of the prior art, the utility model provides a kind of axle motion control of industrial robot six
Device, solves the problems, such as that the accuracy that in prior art, motion controller executes during task is relatively low.
The utility model provides a kind of six axle motion controllers, including control system, ARM Main Control Unit,
Driver element, ARM master controller external connection module and FPGA external connection module；Described ARM Main Control Unit connects described respectively
ARM master controller external connection module and control system；Described control system connect respectively described FPGA external connection module and
Described driver element.
As further improvement of the utility model, described driver element includes feedback circuit and at least one Motor drive
Interface circuit or at least one motor driver interface circuit；Described in described motor connection, the Motor drive of control system connects
Mouthful；Described motor driver connects the motor driver interface of described control system；Described feedback circuit connects described
The GPIO of control system.
As further improvement of the utility model, described driver element includes the first driving plate and the second driving plate, the
One driving plate is made up of a feedback circuit and multiple Motor drive interface circuit, and the second driving plate is by a feedback circuit and many
Individual motor driver interface circuit composition, the Motor drive interface circuit of the first driving plate can be directly used for driving small power electric
Machine, and other motor drivers need not be reused, the motor driver interface circuit of the second driving plate can be connected to drive greatly
The driver of power motor.
As further improvement of the utility model, described ARM master controller external connection module edge is provided with memory interface, outer
Portion's interrupt interface, pulse input interface, line interface, keystroke interface and optocoupler input/output interface.
As further improvement of the utility model, described control system edge is provided with holder interface, ADC modulus
Translation interface, DAC digital-to-analogue conversion interface and motor drive module.
As further improvement of the utility model, described memory interface include SD memory interface, flash interface and
Sdram memory interface.
As further improvement of the utility model, described ARM Main Control Unit is additionally provided with wifi module.
As further improvement of the utility model, described line interface includes RJ45 interface, RS232 serial ports, CAN interface
And USB interface.
The beneficial effects of the utility model are：There is higher integrated level and control accuracy and interpolation rate, enable
Robot executes accuracy and real-time during task.
【Brief description】
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the utility model ARM Main Control Unit connection diagram；
Fig. 3 is the utility model control system connection diagram；
Fig. 4 is the utility model driving plate 1 connection diagram；
Fig. 5 is the utility model driving plate 2 connection diagram.
【Specific embodiment】
Explanation and specific embodiment further illustrate to the utility model below in conjunction with the accompanying drawings.
As Fig. 1, a kind of industrial robot six axle motion controller, including control system, ARM Main Control Unit,
Driver element, ARM master controller external connection module and FPGA external connection module；Described ARM Main Control Unit connects described respectively
ARM master controller external connection module and control system；Described control system connect respectively described FPGA external connection module and
Described driver element.
Described driver element includes feedback circuit and at least one motor；Control system described in described motor connection
Motor drive module；Described feedback circuit connects the GPIO of described control system.
Described driver element includes the first driving plate and the second driving plate, and the first driving plate is by a feedback circuit and multiple
Motor drive interface circuit forms, and the second driving plate is made up of a feedback circuit and multiple motor driver interface circuit, the
The Motor drive interface of one driving plate connects low-power machine, and the motor driver interface of the second driving plate connects heavy-duty motor
Driver.
Described ARM master controller external connection module edge is provided with memory interface, external interrupt interface, pulse input interface, line
Road interface, keystroke interface and optocoupler input/output interface.
Described control system edge be provided with holder interface, ADC analog-to-digital conversion interface, DAC digital-to-analogue conversion interface with
And motor drive module.
Described memory interface includes SD memory interface, flash interface and sdram memory interface.
Described ARM Main Control Unit is additionally provided with wifi module.
Described line interface includes RJ45 interface, RS232 serial ports, CAN interface and USB interface.
In one embodiment, the fortune control controller of six-axis linkage formula adopts the hardware structure of ARM+FPGA, ARM and FPGA adopts
With FSMC parallel high-speed communication interface, network interface 1 tunnel, it uses RJ45 special purpose interface, serial ports：4 tunnels（2 tunnel 232,2 tunnel 485）；
USB：1 tunnel（Exported by STM32）, USB_MINI interface, CAN：1 tunnel（Exported by STM32）, DA：8 tunnels, scope -10V ~+10V,
Resolution ratio 16bit；AD：8 tunnels, scope -10V ~+10V, resolution ratio 16bit;WIFI interface：1 road interface, using finished product WIFI mould
Block, SPI serial FLASH:STM32 external storage extends；16 tunnel light-coupled isolation inputs；16 tunnel light-coupled isolation outputs；8 tunnel timings
Pin is compared in the input capture of device and output（STM32）；2 road PWM waveform output pins（STM32）；4 tunnel external interrupt inputs are drawn
Pin（STM32）；6 passage motor drive signal, dock with driving partitioned signal（Realized by FPGA）；General I/O expansion is some；FPGA
Jtag interface both can individually download, also can by STM32 carry out configuration encryption.
Power supply：24V, is connected power supply by interface with driving plate, reserves outside 5V power interface, can work independently.
Driving plate is mainly realized stepper motor and is driven, and can directly drive 6 motors simultaneously, and No. 6 motors also can be simultaneously driven to drive
Dynamic device work.
Above content be with reference to specific preferred embodiment further detailed description of the utility model it is impossible to
Identification is of the present utility model to be embodied as being confined to these explanations.Ordinary skill for the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should regard
For belonging to protection domain of the present utility model.
Claims (8)
1. a kind of industrial robot six axle motion controller it is characterised in that：Including control system, ARM master controller list
Unit, driver element, ARM master controller external connection module and FPGA external connection module；Described ARM Main Control Unit connects institute respectively
State ARM master controller external connection module and control system；Described control system connects described FPGA external connection module respectively
With described driver element.
2. industrial robot six axle motion controller according to claim 1 it is characterised in that：Described driver element includes
Feedback circuit and at least one motor；The motor drive module of control system described in described motor connection；Described feedback electricity
Road connects the GPIO of described control system.
3. industrial robot six axle motion controller according to claim 1 it is characterised in that：Described driver element includes
First driving plate and the second driving plate, the first driving plate is made up of a feedback circuit and multiple Motor drive interface circuit, the
Two driving plates are made up of a feedback circuit and multiple motor driver interface circuit, and the Motor drive interface of the first driving plate is even
Connect low-power machine, the motor driver interface of the second driving plate connects heavy-duty motor driver.
4. industrial robot six axle motion controller according to claim 1 it is characterised in that：Described ARM master controller
It is defeated that external connection module edge is provided with memory interface, external interrupt interface, pulse input interface, line interface, keystroke interface and optocoupler
Enter output interface.
5. industrial robot six axle motion controller according to claim 1 it is characterised in that：Described control system
Edge is provided with holder interface, ADC analog-to-digital conversion interface, DAC digital-to-analogue conversion interface and motor drive module.
6. industrial robot six axle motion controller according to claim 4 it is characterised in that：Described memory interface includes
SD memory interface, flash interface and sdram memory interface.
7. industrial robot six axle motion controller according to claim 1 it is characterised in that：Described ARM master controller
Unit is additionally provided with wifi module.
8. industrial robot six axle motion controller according to claim 4 it is characterised in that：Described line interface includes
RJ45 interface, RS232 serial ports, CAN interface and USB interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620733509.1U CN205958980U (en) | 2016-07-13 | 2016-07-13 | Six motion control wares of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620733509.1U CN205958980U (en) | 2016-07-13 | 2016-07-13 | Six motion control wares of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205958980U true CN205958980U (en) | 2017-02-15 |
Family
ID=57971611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620733509.1U Expired - Fee Related CN205958980U (en) | 2016-07-13 | 2016-07-13 | Six motion control wares of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205958980U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN108762128A (en) * | 2018-04-13 | 2018-11-06 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN108828999A (en) * | 2018-06-19 | 2018-11-16 | 南京恩瑞特实业有限公司 | The generalization radar servo system of " building block system " combination can be achieved |
| CN112162532A (en) * | 2020-09-15 | 2021-01-01 | 北京机电工程研究所 | Motion control system suitable for multi-degree-of-freedom platform |
| CN112526908A (en) * | 2020-12-02 | 2021-03-19 | 昆山鑫润利自动化科技有限公司 | A commonality PCB designs motion control system for tool production |
-
2016
- 2016-07-13 CN CN201620733509.1U patent/CN205958980U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN108762128A (en) * | 2018-04-13 | 2018-11-06 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN108762128B (en) * | 2018-04-13 | 2021-09-07 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN108828999A (en) * | 2018-06-19 | 2018-11-16 | 南京恩瑞特实业有限公司 | The generalization radar servo system of " building block system " combination can be achieved |
| CN112162532A (en) * | 2020-09-15 | 2021-01-01 | 北京机电工程研究所 | Motion control system suitable for multi-degree-of-freedom platform |
| CN112526908A (en) * | 2020-12-02 | 2021-03-19 | 昆山鑫润利自动化科技有限公司 | A commonality PCB designs motion control system for tool production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170215 Termination date: 20170713 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |