CN206369959U - A kind of puma manipulator servo control system of compatible multiplex roles - Google Patents
A kind of puma manipulator servo control system of compatible multiplex roles Download PDFInfo
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- CN206369959U CN206369959U CN201621136578.0U CN201621136578U CN206369959U CN 206369959 U CN206369959 U CN 206369959U CN 201621136578 U CN201621136578 U CN 201621136578U CN 206369959 U CN206369959 U CN 206369959U
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Abstract
The utility model discloses a kind of puma manipulator servo control system of compatible multiplex roles, including manipulator control system mainboard, RTEX servomotors drive module, PWM servomotors drive circuit module, RTEX protocol interfaces servomotor, PWM interfaces servomotor, mode switch module；RTEX protocol interfaces servomotor is connected through RTEX servomotors drive module with manipulator control system mainboard；PWM interfaces servomotor is connected through PWM servomotors drive circuit module with manipulator control system mainboard, and mode switch module is used for switching of the control machinery hand control system mainboard in PWM interfaces pattern and RTEX interfaces patterns.The utility model compatibility pulse interface and RTEX network interface signals, can very easily realize that the servo motor model number of distinct interface is changed, reduction user uses difficulty, saves the system conversion time, the problems such as reducing the maintenance cost of manipulator.
Description
Technical field
The utility model is related to puma manipulator Serve Motor Control field, more particularly to a kind of intelligence of compatible multiplex roles
Manipulator servo control system.
Background technology
In modern industry field, substitute manual work with puma manipulator control system and have become mainstream applications.Currently
In the market puma manipulator servo-control system（Hereinafter referred to as arm-and-hand system）Main implementation has two kinds：1st, modulation is passed through
Pulse signal controls servomotor mode；2nd, servomotor mode is controlled by RTEX interface protocol signals.
Wherein the first modulated pulse signal control servomotor mode is changed by the frequency of modulated pulse signal
The rotating speed of servomotor, its feature is to be connected in parallel, one servomotor of set of pulses Interface Controller.This is resulted in multiaxis
The autgmentability of pulse signal is poor in electric machine control system, when user is needed with more than many 3 axles servo-drive system, it is necessary to
Increase more Pulse Width Control ports, greatly increase the PCB sizes and production cost of system control panel.Second of RJ45 net
Network interface signal control servomotor mode is to control servomotor by RJ45 interface communication protocols, and its feature is series connection
Connection, by accessing the physical address of motor servo come controlled motor servo, only needs to a RJ45 interface in the controls
Output and the input of a RJ45 interface can just realize the control of multiple motors.Even more watched using 6 axles in user
Also an input and an output port are only needed to during dress system it is achieved that the PCB saved size and cost.
Because the communication signal agreement of both control modes is different, arm-and-hand system product on Vehicles Collected from Market is caused to mix
Disorderly, there is the signal communication agreement of oneself per company, from each other can not be compatible.User is needing to change different control systems
Whole control system must be all changed during system, all connection signal wires on manipulator are required for reconnecting, increase
User's practicality difficulty, wastes enterprise's production time, increases manipulator maintenance cost.
Therefore, the prior art is defective, it is necessary to improve.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art to be watched there is provided a kind of puma manipulator of compatible multiplex roles
Take electric machine control system.
The technical solution of the utility model is as follows：
A kind of puma manipulator servo control system of compatible multiplex roles, including manipulator control system mainboard,
RTEX servomotors drive module, PWM servomotors drive circuit module, RTEX protocol interfaces servomotor, PWM interfaces are watched
Take motor, mode switch module；The RTEX protocol interfaces servomotor is manual through RTEX servomotors drive module and machinery
System board connection processed；The PWM interfaces servomotor is through PWM servomotors drive circuit module and manipulator control system master
Plate is connected, and the mode switch module connects for control machinery hand control system mainboard in PWM interfaces pattern and RTEX
The switching of mouth mode of operation.
It is preferred that the mode switch module is hand held controller, itself and manipulator control system mainboard wireless connection.
It is preferred that the manipulator control system mainboard includes a main control chip, its model TMS320F28335.
It is preferred that the RTEX servomotors drive module includes BCM5221 modules and communicates connection
MNM1221 modules.
It is preferred that the PWM servomotors drive circuit module is defeated including pwm pulse signal drive circuit, servomotor
Enter/output control circuit.
Using such scheme, the utility model compatibility pulse interface and RTEX network interface signals can be very easily
Realize that the servo motor model number of distinct interface is changed, reduction user uses difficulty, saves the system conversion time, reduces manipulator
The problems such as maintenance cost, it can easily realize single shaft, the replacing that two axles extend with multiple axes system.
Brief description of the drawings
Fig. 1 is the utility model servomotor PWM interfaces and RTEX protocol interface compatibility block diagrams；
Fig. 2 is system switching block diagram in the utility model；
Fig. 3 is the block diagram of selection PWM servomotor mode of operations；
Fig. 4 is the block diagram of selection RTEX servomotor mode of operations.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Fig. 1 is servomotor PWM interfaces and RTEX protocol interface compatibility block diagrams, compatible RTEX interfaces motor servo
Three big module sections are mainly included with PWM interfaces motor servo：Manipulator control system mainboard, the driving of RTEX motor servos
Module and PWM motor servo drive circuit modules；Wherein RTEX protocol interfaces servomotor drives mould through RTEX servomotors
Block is connected with manipulator control system mainboard；PWM interfaces servomotor is through PWM servomotors drive circuit module and manipulator
Control system mainboard is connected.When user uses the motor servo of one of which communication modes, it is only necessary to insert corresponding drive
Dynamic modular circuit just can easily realize the servo-control system that user needs.
Fig. 2 is that system switches block diagram, there is system operating mode selection on the hand held controller of user, can be with control system
Mainboard is in PWM interfaces pattern and the switching action of RTEX interfaces patterns.
Fig. 3 is the block diagram of selection PWM servomotor mode of operations, and the single-shaft mechanical arm equipment of simple type is used in user
During operation, it is only necessary to access PWM servomotor drive modules one servomotor of Interface Controller.If user needs to make
With two axis robot equipment operations, then one PWM servomotor drive modules Interface Controller second of access in parallel again is only needed to
Servomotor.This manipulator control system board software default is operated in PWM servomotor drive patterns, so upper
PWM servomotors can be directly controlled to drive after electricity work.
Single shaft or two axis robot equipment operation workflows are as follows：
（1）, insertion PWM servomotors drive circuit module is to system control mainboard；
（2）, give servomotor input/output port provide 24V supply voltages, and connect servomotor PWM letter
Number, motor positive and inverse control input signal, the output signal of encoded servo device, the enable control of alarm output signal and servomotor
Input signal processed；
（3）, main control chip TMS320F28335 first send servomotor and enable signal, allow servomotor to enter work
Operation mode；
（4）, main control chip TMS320F28335 export single-ended PWM signals；
（5）, the PWM pulse signal driving circuits single-ended PWM signals that export main control chip TMS320F28335 turn
Changing difference PWM signals into directly controls servomotor to work；
（6）, after servomotor work, it will feedback output speed, torque, the status information such as direction, via encoded servo
Device output signal feeds back to motor servo input control circuit, finally feeds back to main control chip TMS320F2835；
（7）, main control chip TMS320F2835 read servomotor operating condition, it is defeated according to the data point reuse read
The PWM signals gone out, PWM motor servos are precisely controlled so as to reach.
Fig. 4 is the block diagram of selection RTEX servomotor mode of operations, is even expanded using 3 more complicated axles, 6 axles in user
When opening up more robotic device operations, the servomotor of RTEX protocol interfaces can be used.What user can use as needed
Manipulator quantity, is directly connected in series most 32 Serve Motor Controls.
Workflow is as follows：
（1）, insertion RTEX servomotors drive module is to control system mainboard；
（2）, connection motor servo RTEX input, output interface to RTEX servomotor drive modules；
（3）, RTEX servo-driven modules are detected that RTEX equipment detection letter will be exported after RTEX interface signals
Number give main control chip；
（4）, main control chip determined RTEX equipment access after, master control system will enter RTEX mode of operations, such as
Fruit main control chip does not detect RTEX equipment access signal, and acquiescence is entered Impulsive control mode by master control system；
（5）, main control chip by the SDRAM signaling interfaces and MNM1221 chip communications of simulation, send request connection
Servomotor signal；
（6）, MNM1221 chips and BCM5221 chips communicated by ethernet physical layer interface protocol；
（7）, BCM5221 send log-in signal give RTEX interface motor servos；
（8）, motor servo receive after online signal, return an on-line working signal to BCM5221；
（9）, BCM5221 chips pass the on-line working signal of return back main control chip by MNM1221
TMS320F28335；
（10）, main control chip be properly received servo return on-line working signal after, system successful connection.
Preferred embodiment of the present utility model is these are only, the utility model is not limited to, it is all in this practicality
Any modifications, equivalent substitutions and improvements made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (5)
1. a kind of puma manipulator servo control system of compatible multiplex roles, including manipulator control system mainboard, RTEX
Servomotor drive module, PWM servomotors drive circuit module, RTEX protocol interfaces servomotor, PWM interfaces servo electricity
Machine, mode switch module；The RTEX protocol interfaces servomotor is through RTEX servomotors drive module and manipulator control system
Mainboard of uniting is connected；The PWM interfaces servomotor connects through PWM servomotors drive circuit module and manipulator control system mainboard
Connect, the mode switch module is used for control machinery hand control system mainboard in PWM interfaces pattern and RTEX interface works
The switching of operation mode.
2. the puma manipulator servo control system of compatible multiplex roles according to claim 1, it is characterised in that institute
Mode switch module is stated for hand held controller, itself and manipulator control system mainboard wireless connection.
3. the puma manipulator servo control system of compatible multiplex roles according to claim 1, it is characterised in that institute
State manipulator control system mainboard and include a main control chip, its model TMS320F28335.
4. the puma manipulator servo control system of the compatible multiplex roles according to Claims 2 or 3, its feature exists
In the RTEX servomotors drive module includes BCM5221 modules and communicates the MNM1221 modules of connection.
5. the puma manipulator servo control system of the compatible multiplex roles according to Claims 2 or 3, its feature exists
In the PWM servomotors drive circuit module includes pwm pulse signal drive circuit, servomotor input/output control electricity
Road.
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| CN201621136578.0U CN206369959U (en) | 2016-10-19 | 2016-10-19 | A kind of puma manipulator servo control system of compatible multiplex roles |
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| CN201621136578.0U CN206369959U (en) | 2016-10-19 | 2016-10-19 | A kind of puma manipulator servo control system of compatible multiplex roles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019113726A1 (en) * | 2017-12-11 | 2019-06-20 | 深圳配天智能技术研究院有限公司 | Motion controller and motion control method |
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2016
- 2016-10-19 CN CN201621136578.0U patent/CN206369959U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019113726A1 (en) * | 2017-12-11 | 2019-06-20 | 深圳配天智能技术研究院有限公司 | Motion controller and motion control method |
| CN110832410A (en) * | 2017-12-11 | 2020-02-21 | 深圳配天智能技术研究院有限公司 | Motion controller and motion control method |
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