CN206185871U - Hang industrial robot of furred ceiling articulated type and control system thereof - Google Patents
Hang industrial robot of furred ceiling articulated type and control system thereof Download PDFInfo
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- CN206185871U CN206185871U CN201620777454.4U CN201620777454U CN206185871U CN 206185871 U CN206185871 U CN 206185871U CN 201620777454 U CN201620777454 U CN 201620777454U CN 206185871 U CN206185871 U CN 206185871U
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Abstract
The utility model relates to a hang furred ceiling articulated type industrial robot's control system, including the real time control device, drive arrangement both -way communication is connected to the real time control device, and power device's control end is connected to drive arrangement's output, the real time control device for output control signal gives drive arrangement, and human - computer interaction information's the input that sets up is accomplished to calculation, analytic engine people's shift position, drive arrangement for receive the signal and the executive signal order -driven power device of the transmission of real time control device, power device for accomplish the command signal action of drive arrangement output. The utility model discloses still relate to a control system. Robot control system can realize conveniently that the integrated machine vision of robot realizes the robot control based on machine vision to further realize the high accuracy control of high speed of robot, develop some even based on machine vision anticollision function. Owing to saved robot control ware hardware, consequently the utility model discloses the robot cost has also greatly been reduced.
Description
Technical field
The utility model belongs to robot technology improvement areas, more particularly to a kind of articulated industrial machine of suspended ceilings
People and its control system.
Background technology
SCARA (Selectively Compliance Assembly Robot Arm) upside-down mounting humanoid robot, Chinese translation
For：Selection compliance puts together machines human arm, is have four industrial robots of the free degree, and it has three diameter parallels
Rotary joint, in a move in plane, also one linear joint completes vertical movement.
SCARA humanoid robots are a kind of industrial robots of the specific type for being moved by circular cylindrical coordinate and being positioned, with knot
Structure is simple, small volume, light weight, be swift in motion, the good, low cost of rigidity, positioning precision is high and installing space is small.Due to its water
It is flexible in the flat direction of motion, and the directional stiffness that moves vertically is high, is widely used in assembling work.3C industries are mainly used
It is the radial type robot of SCARA and low-load.
However, the SCARA robots for using at present are mainly upright formal dress SCARA robots, because it has specifically
Shape, determines its working range similar to a sector region.Compared to upright formal dress SCARA robots, suspended ceilings are closed
Because that can realize 360 ° of revolutions in working space, its working range is much larger than upright formal dress type SCARA machines for Jie Shi SCARA robots
People.
Either import or domestic SCARA business machines people, its robot controller are all closing, i.e. each machine
The controller of people producer is all based on different control software and hardware interfaces, for application enterprise, the machine of this closing
The function of device people's controller can not be expanded and improve, and there have that system compatibility is poor, difficult in maintenance, man-machine interface is dumb etc. to be all
Many problems, it is difficult to meet the senior application demand of modern assembling manufacturing industry.
Robot configures NI Vision Builder for Automated Inspection, realizes that visual servo is the mainstream development trend that 3C assembles industry.So
And, this closure of current business machine people's controller, it has to configure vision processing system in addition, cause system cost
Increase, reliability is reduced, and equipment volume is huge.
Utility model content
The purpose of this utility model is to provide a kind of control system, it is intended to solve above-mentioned technical problem.
The utility model is achieved in that a kind of control system, and the control system includes real-time control apparatus, drives dress
Put and power set, the real-time control apparatus connect the drive device two-way communication, the output end of the drive device connects
Connect the control end of the power set；
The real-time control apparatus, for output control signal to drive device, and calculate, the movement of analysis robot
Position, the setting input of finishing man-machine interaction information；
The drive device, power dress is driven for receiving the signal of real-time control apparatus transmission and performing signal instruction
Put；
The power set, the command signal action for completing drive device output.
Further technical scheme of the present utility model is：The control system also includes additional axis servomotor, and the axis servomotor leads to
Cross EtherCAT buses and connect the real-time control apparatus.
Further technical scheme of the present utility model is：The real-time control apparatus connect described by EtherCAT buses
Drive device.
Further technical scheme of the present utility model is：The drive device connects the power by EtherCAT buses
Device.
Further technical scheme of the present utility model is：The drive device includes four driver elements, each described drive
Moving cell uses a servo-driver.
Further technical scheme of the present utility model is：The power set include four power units, and each is described dynamic
Power unit uses a servomotor, each described servomotor to connect the servo-driver by EtherCAT buses.
Further technical scheme of the present utility model is：The real-time control apparatus use universal industrial control computer.
Another object of the present utility model is to provide a kind of articulated industrial robot of suspended ceilings, the industrial machine
People includes control system and upside-down mounting robot, the control system communication connection upside-down mounting robot.
The beneficial effects of the utility model are：Robot control system can conveniently realize the integrated machine vision of robot
Realize that the robot based on machine vision is controlled, controlled with the high-speed, high precision for further realizing robot, or even develop
Based on machine vision collision prevention function.Due to eliminating Robot controller hardware, therefore the present invention also greatly reduces machine
People's cost.
Brief description of the drawings
Fig. 1 is the structured flowchart of the control system that the utility model embodiment is provided.
Fig. 2 is that the suspended ceilings that the utility model embodiment is provided are articulated（SCARA）Industrial robot structure is illustrated
Figure.
Specific embodiment
Reference：The first joints of 1- 2- second joints 3- the 3rd and four joint 4- standard configuration cameras
Fig. 1,2 show a kind of control system that the utility model is provided, and the control system includes real-time control apparatus, drives
Dynamic device and power set, the real-time control apparatus connect the drive device two-way communication, the output of the drive device
The control end of the end connection power set；
The real-time control apparatus, for output control signal to drive device, and calculate, the movement of analysis robot
Position, the setting input of finishing man-machine interaction information；
The drive device, power dress is driven for receiving the signal of real-time control apparatus transmission and performing signal instruction
Put；
The power set, the command signal action for completing drive device output.
The control system also includes additional axis servomotor, and the axis servomotor connects the real-time control by EtherCAT buses
Device.
The real-time control apparatus connect the drive device by EtherCAT buses.
The drive device connects the power set by EtherCAT buses.
The drive device includes four driver elements, and each described driver element uses a servo-driver.
The power set include four power units, and each described power unit uses a servomotor, each institute
State servomotor and the servo-driver is connected by EtherCAT buses.
The real-time control apparatus use universal industrial control computer.
Another object of the present utility model is to provide a kind of articulated industrial robot of suspended ceilings, the industrial machine
People includes control system and upside-down mounting robot, the control system communication connection upside-down mounting robot.
A kind of suspended ceilings articulated type（SCARA）Industrial robot and its control system.The control of the industrial robot
System supports that the servomotor and driver and universal industrial control computer of EtherCAT buses are constituted by 4 sets, servo-drive
Device is directly connected to by EtherCAT buses and industrial control computer, and industrial control computer is provided with the real-time fortune based on PC
Dynamic control software and Windows operating system, the real time kinematics control software based on PC are used to realize the real time kinematics of robot
Control and its realization of robot control algorithm, Windows operating system are used for human-computer interaction interface and robot machine's vision
Treatment.Control upside-down mounting robot is directly gone using the universal industrial control computer for installing the real time kinematics control software based on PC
（SCARA）, eliminating the dependence to closure robot controller, i.e. the controller of each producer of robot is all based on not
Same control software and hardware interface, the function of the robot controller of this closing can not be expanded and improve, and there is system
The problems such as poor compatibility, difficult in maintenance, man-machine interface be dumb, it is difficult to meet the senior application need of modern assembling manufacturing industry
Ask.The robot control system of the application can conveniently realize the machine that the integrated realizing of Robot Vision of robot is based on machine vision
Device people controls, and is controlled with the high-speed, high precision for further realizing robot, or even develops some based on machine vision collision prevention function.
Due to eliminating Robot controller hardware, therefore the present invention also greatly reduces robot cost.
Robot described herein is a kind of upside-down mounting robot（SCARA）, its robot is by large arm, forearm, Z axis, U axles
Four parts constitute.Greatly/forearm is connected by hollow motor acceleration and deceleration mechanism into the hollow actuator of driving, the hollow actuator input of large arm
Pedestal is connect, output end connection large arm drives big arm swing；The hollow actuator input of forearm is connected to large arm end, output end
Connection forearm, so as to drive forearm rotary to move.Z axis use ball screw assembly, cooperative motion with U axles, realize the fortune up and down of Z axis
It is dynamic, and U axles rotation, Z axis and U axles all exported by ball-screw, and its motion control has coupling.The hollow knot of greatly/forearm
Structure, it is ensured that the holding wire of motor, gas circuit and power line all pass through from hole, it is ensured that circuit normal work avoids mechanical structure simultaneously
Interfered with cable, it is ensured that system reliability.Cost is considerably reduced simultaneously, the integrated machine of upside-down mounting SCARA robots
Vision, vision is a standard configuration of the robot, can meet most of sector application.Robot body structure is as shown in Figure 2.
Robot control system of the present invention, its large arm, forearm, Z axis, U axles drive sign using 4 servomotors
For the first joint 1, second joint the 2, the 3rd and four joints 3,4 joints are driven using 4 servomotors is furnished with absolute encoder
Device, 4 servo-drivers use the servo-drive system with EtherCAT buses, and robot control system controls meter using universal industrial
Calculation machine, computer installs normal Windows operating system, and the motion control of robot is come by a RTX real-time control system
Complete, RTX real-time control systems go robot system of the control with EtherCAT buses, the control system by Ethernet mouthfuls
System can also control the additional shaft of robot, it is also possible to realize the motion control to multiple robots, RTX real-time systems with
The interaction that Windows systems pass through Sharing Memory Realization variable, Windows systems can be used for the man-machine interaction of development machines people
With the image procossing of machine vision.The structure of control system is as shown in Figure 1.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (8)
1. a kind of control system, it is characterised in that：The control system includes real-time control apparatus, drive device and power set,
The real-time control apparatus connect the drive device two-way communication, and the output end of the drive device connects the power set
Control end；
The real-time control apparatus, for output control signal to drive device, and calculate, the mobile position of analysis robot
Put, the setting input of finishing man-machine interaction information；
The drive device, for receiving the signal of real-time control apparatus transmission and performing signal instruction driving power device；
The power set, the command signal action for completing drive device output.
2. control system according to claim 1, it is characterised in that the control system also includes additional axis servomotor, described
Axis servomotor connects the real-time control apparatus by EtherCAT buses.
3. control system according to claim 2, it is characterised in that the real-time control apparatus pass through EtherCAT buses
Connect the drive device.
4. control system according to claim 3, it is characterised in that the drive device is connected by EtherCAT buses
The power set.
5. control system according to claim 4, it is characterised in that the drive device includes four driver elements, often
The individual driver element uses a servo-driver.
6. control system according to claim 5, it is characterised in that the power set include four power units, often
The individual power unit uses a servomotor, each described servomotor to connect the servo by EtherCAT buses and drive
Dynamic device.
7. control system according to claim 6, it is characterised in that the real-time control apparatus are using universal industrial control
Computer.
8. the articulated industrial robot of a kind of suspended ceilings, it is characterised in that the industrial robot includes that claim 1-7 appoints
The control system and upside-down mounting robot of one, the control system communication connection upside-down mounting robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620777454.4U CN206185871U (en) | 2016-07-22 | 2016-07-22 | Hang industrial robot of furred ceiling articulated type and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620777454.4U CN206185871U (en) | 2016-07-22 | 2016-07-22 | Hang industrial robot of furred ceiling articulated type and control system thereof |
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| Publication Number | Publication Date |
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| CN206185871U true CN206185871U (en) | 2017-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620777454.4U Active CN206185871U (en) | 2016-07-22 | 2016-07-22 | Hang industrial robot of furred ceiling articulated type and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498548A (en) * | 2017-09-27 | 2017-12-22 | 麦格瑞（北京）智能科技有限公司 | A kind of SCARA robots |
-
2016
- 2016-07-22 CN CN201620777454.4U patent/CN206185871U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498548A (en) * | 2017-09-27 | 2017-12-22 | 麦格瑞（北京）智能科技有限公司 | A kind of SCARA robots |
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