CN206515688U - The general robot coordinated control system of seven axles redundancy industrial - Google Patents
The general robot coordinated control system of seven axles redundancy industrial Download PDFInfo
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- CN206515688U CN206515688U CN201720032036.7U CN201720032036U CN206515688U CN 206515688 U CN206515688 U CN 206515688U CN 201720032036 U CN201720032036 U CN 201720032036U CN 206515688 U CN206515688 U CN 206515688U
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Abstract
The utility model provides a kind of general robot coordinated control system of seven axles redundancy industrial, including power module, industrial computer, UMAC controllers, servo-driver, motor, limit sensors, security module, PLC and teaching box；UMAC controllers are connected with servo-driver and limit sensors signal respectively, axle card is provided with the UMAC controllers, UMAC controllers send control instruction by axle card to servo-driver, and pass through feedback signal and the positional information of reception limit sensors of the axle clamping by the servo-driver；Industrial computer sends control instruction to UMAC controllers, and receives the feedback signal of servo-driver；Security module is connected with UMAC controllers and PLC signal, and UMAC controllers and PLC are connected with industrial computer signal.The general robot coordinated control system of seven axles redundancy industrial described in the utility model, is coordinated by the communication between UMAC controllers, servo-driver and industrial computer, realizes the accurate control of seven axle redundancy industrial robot motions.
Description
Technical field
The utility model belongs to industrial robot control system technical field, more particularly, to the general seven axles redundancy work of one kind
The robot coordinated control system of industry.
Background technology
Seven each axles of axle redundant robot carry out motion control by servomotor, and the coordinated operation of each axle is very crucial.
There is some difference for the dynamic fit motion and response between each axle under normal circumstances, and existing articulated robot electric-control system
Middle expandability is poor, while the interpolation function of each axle is weaker.
The content of the invention
In view of this, the utility model is directed to a kind of general robot coordinated control system of seven axles redundancy industrial, leads to
The multi-axis interpolation motion control function of motion-control module is crossed, the accurate control of control system movement locus can be realized, simultaneously
Make to realize more accurate location following and speed follower control in each axle motion process, realize the high accuracy of seven kinematic axis
Control and taken into account the motor coordination between them, it is achieved thereby that the movement locus control of response.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
The general robot coordinated control system of seven axles redundancy industrial, including power module, industrial computer, UMAC controllers, watch
Take driver, motor, limit sensors, security module, PLC and teaching box；
The power module and the industrial computer, UMAC controllers, servo-driver, motor, security module, PLC
Controller and the electrical connection of teaching box；
The UMAC controllers are connected with the servo-driver and limit sensors signal respectively, in the UMAC controllers
Provided with axle card, the UMAC controllers send control instruction by axle card to the servo-driver, and by axle clamping by this
The feedback signal of servo-driver and the positional information for receiving limit sensors；
The industrial computer is connected by network interface with the UMAC controller networks, and the industrial computer is sent out to UMAC controllers
Control instruction is sent, and receives the feedback signal of servo-driver；
The servo-driver is connected with the motor signal；
The industrial computer is connected with the teaching box signal；
The security module is connected with the UMAC controllers and PLC signal, UMAC controllers and the PLC control
Device processed is connected with the industrial computer signal.
Further, the power module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V power supply moulds
Block, 15V energy supply control modules and breaker；
Transformer is provided with the power distribution cabinet, the power output end of the power distribution cabinet passes through breaker and the separated time busbar
Input electrical connection；
The separated time busbar includes multichannel single-phase output and three-phase is exported all the way, separated time busbar single-phase output Zhong Ji roads
Electrically connected respectively with the band-type brake power module, 24V energy supply control modules and 15V energy supply control modules, the band-type brake power supply mould
Block, energy supply control module and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on the separated time busbar and all the way three-phase output output single-phase 220V alternating currents respectively
Or three-phase 220V alternating currents.
Further, all the way single-phase output of the UMAC controllers by relay or contactor by separated time busbar, 24V
Energy supply control module and 15V energy supply control modules provide power supply.
Further, the PLC by relay or contactor by separated time busbar single-phase output all the way and 24V
Energy supply control module provides power supply.
Further, the industrial computer is provided by relay or contactor by the single-phase output all the way of the separated time busbar
Power supply.
Further, the servo-driver by relay or contactor by the single all the way of the separated time busbar output end
Mutually output and all the way three-phase output and 24V energy supply control modules offer power supply.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes fan and lighting device,
The output end of the fan and lighting device respectively with the separated time busbar is electrically connected.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes band-type brake, and the band-type brake leads to
The output end that relay or contactor are crossed with the band-type brake power module is electrically connected.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes switch, button and instruction
Lamp, the switch, button and indicator lamp are electrically connected with the 24V energy supply control modules respectively.
Further, the general robot coordinated control system of seven axles redundancy industrial also includes guard grating, the safety
Grid are electrically connected with the 24V energy supply control modules.
Further, the security module includes safety switch, limit switch alarm module, driver alarm module, urgency
Stop alarm module and hand automatic switching module, the safety switch, limit switch alarm module and driving alarm module with it is described
UMAC controller signals are connected, and the UMAC controllers are connected with the PLC signal, the urgent-stop alarm module and hand
Automatic switching module is connected with the PLC signal, the industrial computer and the UMAC controllers and PLC signal
Connection.
Relative to prior art, the general robot coordinated control system of seven axles redundancy industrial described in the utility model has
Following advantage：
(1) the general robot coordinated control system of seven axles redundancy industrial described in the utility model, by UMAC controllers,
Communication between servo-driver and industrial computer coordinates, and realizes the accurate control of seven axle redundancy industrial robot motions.
(2) the general robot coordinated control system of seven axles redundancy industrial described in the utility model, by specific button,
Indicator lamp and limit sensors, with reference to jointly controlling for UMAC controllers, PLC and industrial computer, realize seven axle redundancy works
The safety management of industry robot and virtual protection.
Brief description of the drawings
Constitute a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is the robot coordinated control system principle signal of general seven axles redundancy industrial described in the utility model embodiment
Figure；
Fig. 2 is the power module principle schematic described in the utility model embodiment；
Fig. 3 is the robot coordinated control system control principle of general seven axles redundancy industrial described in the utility model embodiment
Schematic diagram.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate
Or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 to 3, the utility model includes power module, industrial computer, UMAC controllers, servo-driver, driving
Motor, limit sensors, security module, PLC and teaching box；
Power module and industrial computer, UMAC controllers, servo-driver, motor, security module, PLC and
Teaching box is electrically connected；
UMAC controllers are connected with servo-driver and limit sensors signal respectively, and axle is provided with the UMAC controllers
Card, UMAC controllers send control instruction by axle card to servo-driver, and by axle clamping by the anti-of the servo-driver
Feedback signal and the positional information for receiving limit sensors；
Industrial computer is connected by network interface with UMAC controller networks, and the industrial computer sends control to UMAC controllers and referred to
Order, and receive the feedback signal of servo-driver；
Servo-driver is connected with motor signal；
Industrial computer is connected with teaching box signal；
Security module is connected with UMAC controllers and PLC signal, UMAC controllers and PLC and industrial computer
Signal is connected.
Power module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V energy supply control modules, 15V power supplies
Module and breaker；
Transformer is provided with power distribution cabinet, the power output end of power distribution cabinet is electrically connected by the input of breaker and separated time busbar
Connect；
Separated time busbar includes multichannel single-phase output and three-phase is exported all the way, separated time busbar single-phase output Zhong Ji roads difference
Electrically connected with band-type brake power module, 24V energy supply control modules and 15V energy supply control modules, band-type brake power module, power supply mould
Block and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on separated time busbar and all the way three-phase output output single-phase 220V alternating currents or three respectively
Phase 220V alternating currents.
All the way single-phase output of the UMAC controllers by relay or contactor by separated time busbar, 24V energy supply control modules
Power supply is provided with 15V energy supply control modules.
PLC by relay or contactor by separated time busbar single-phase output all the way and 24V energy supply control modules
Power supply is provided.
Industrial computer provides power supply by relay or contactor by the single-phase output all the way of separated time busbar.
Servo-driver by relay or contactor by separated time busbar output end single-phase output all the way and three-phase all the way
Output and 24V energy supply control modules provide power supply.
The general robot coordinated control system of seven axles redundancy industrial also includes fan and lighting device, fan and lighting device
The output end with separated time busbar is electrically connected respectively.
The general robot coordinated control system of seven axles redundancy industrial also includes band-type brake, band-type brake by relay or contactor with
The output end electrical connection of band-type brake power module.
The general robot coordinated control system of seven axles redundancy industrial also includes switch, button and indicator lamp, switch, button and
Indicator lamp is electrically connected with 24V energy supply control modules respectively.
The general robot coordinated control system of seven axles redundancy industrial also includes guard grating, guard grating and 24V power supply moulds
Block is electrically connected.
Security module includes safety switch, limit switch alarm module, driver alarm module, urgent-stop alarm module and hand
Automatic switching module, safety switch, limit switch alarm module and driving alarm module are connected with UMAC controller signals, UMAC
Controller is connected with PLC signal, and urgent-stop alarm module and hand automatic switching module are connected with PLC signal, work
Control machine is connected with UMAC controllers and PLC signal.
UMAC controllers, industrial computer, servo-driver and teaching box collectively form kinetic control system, wherein UMAC controls
Device is the center of motion control, and UMAC controllers control corresponding servomotor, UMAC controls by controlling servo-driver
The I/O modules of device itself can realize corresponding security control by some limit sensors, in this kinetic control system
Pilot controller is industrial computer and teaching box.
UMAC controllers send control instruction to driver by axle card and control it to perform corresponding movement output, together
When, closed-loop control is realized by the feedback of axle clamping device driven.UMAC controllers pass through the specific interface monitor servo of axle card
The signal condition of the running status of driver and corresponding limit sensors.
Industrial computer can carry out ethernet communication by Ethernet interfaces and UMAC controllers, therefore control can be transmitted in industrial computer
Instruct and give UMAC controllers, to realize the purpose of indirect control servo-driver, while also may be used by ethernet communication industrial computer
To receive the feedback information of UMAC controllers.
Servo-driver receives the control instruction that UMAC controllers are sent, and drives corresponding servomotor, passes through coding
Device come realize particular track move.Meanwhile, the encoder data that motor is transmitted back to by driver is by corresponding interface and always
Line feeds back to UMAC controllers and industrial computer, so as to realize the accurate control of whole kinetic control system.
Security module, UMAC controllers, PLC and industrial computer constitute safety management system, including jerk, UMAC works
Make exception, malleation abnormal alarm, PLC and the super spacing alarm of IPC communication abnormalities, motor, driver to alarm, fatal follow
Error alarm, teaching machine and IPC communication abnormalities are alarmed, wherein the logic control program processing safety switch of UMAC controllers, and
UMAC controllers send UMAC operation irregularity signals to PLC, and PLC processing UMAC operation irregularities, jerk, industrial computer are different
Often, and with industrial computer processing hand automatic switchover work is coordinated.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (10)
1. the general robot coordinated control system of seven axles redundancy industrial, it is characterised in that：Including power module, industrial computer, UMAC
Controller, servo-driver, motor, limit sensors, security module, PLC and teaching box；
The power module is controlled with the industrial computer, UMAC controllers, servo-driver, motor, security module, PLC
Device and the electrical connection of teaching box；
The UMAC controllers are connected with the servo-driver and limit sensors signal respectively, are provided with the UMAC controllers
Axle card, the UMAC controllers send control instruction by axle card to the servo-driver, and by axle clamping by the servo
The feedback signal of driver and the positional information for receiving limit sensors；
The industrial computer is connected by network interface with the UMAC controller networks, and the industrial computer sends to UMAC controllers and controlled
System instruction, and receive the feedback signal of servo-driver；
The servo-driver is connected with the motor signal；
The industrial computer is connected with the teaching box signal；
The security module is connected with the UMAC controllers and PLC signal, the UMAC controllers and PLC
It is connected with the industrial computer signal.
2. the general robot coordinated control system of seven axles redundancy industrial according to claim 1, it is characterised in that：The electricity
Source module includes power distribution cabinet, separated time busbar, band-type brake power module, 24V energy supply control modules, 15V energy supply control modules and open circuit
Device；
It is provided with transformer in the power distribution cabinet, the power output end of the power distribution cabinet is defeated by breaker and the separated time busbar
Enter end electrical connection；
The separated time busbar includes multichannel single-phase output and three-phase is exported all the way, separated time busbar single-phase output Zhong Ji roads difference
Electrically connected with the band-type brake power module, 24V energy supply control modules and 15V energy supply control modules, the band-type brake power module, electricity
Source control module and 15V energy supply control modules export 24V, 24V and 15V direct current respectively；
Remaining multichannel single-phase output on the separated time busbar and all the way three-phase output output single-phase 220V alternating currents or three respectively
Phase 220V alternating currents.
3. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described
UMAC controllers are by relay or contactor by the single-phase output all the way of separated time busbar, 24V energy supply control modules and 15V power supplys
Control module provides power supply.
4. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described
PLC provides power supply by relay or contactor by the single-phase output all the way and 24V energy supply control modules of separated time busbar.
5. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：The work
Control machine provides power supply by relay or contactor by the single-phase output all the way of the separated time busbar.
6. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：It is described to watch
Take driver by relay or contactor by the separated time busbar output end single-phase output all the way and all the way three-phase output with
And 24V energy supply control modules provide power supply.
7. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
Fan and lighting device, the output end of the fan and lighting device respectively with the separated time busbar are electrically connected.
8. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
Switch, button and indicator lamp, the switch, button and indicator lamp are electrically connected with the 24V energy supply control modules respectively.
9. the general robot coordinated control system of seven axles redundancy industrial according to claim 2, it is characterised in that：Also include
Guard grating, the guard grating is electrically connected with the 24V energy supply control modules.
10. the general robot coordinated control system of seven axles redundancy industrial according to claim 1, it is characterised in that：It is described
Security module includes safety switch, limit switch alarm module, driver alarm module, urgent-stop alarm module and hand and automatically switched
Module, the safety switch, limit switch alarm module and driving alarm module are connected with the UMAC controller signals, described
UMAC controllers are connected with the PLC signal, and the urgent-stop alarm module and hand automatic switching module are controlled with the PLC
Device signal connection processed, the industrial computer is connected with the UMAC controllers and PLC signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720032036.7U CN206515688U (en) | 2017-01-10 | 2017-01-10 | The general robot coordinated control system of seven axles redundancy industrial |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720032036.7U CN206515688U (en) | 2017-01-10 | 2017-01-10 | The general robot coordinated control system of seven axles redundancy industrial |
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| CN206515688U true CN206515688U (en) | 2017-09-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707972A (en) * | 2017-01-10 | 2017-05-24 | 清华大学天津高端装备研究院 | Universal seven-axis redundant industrial robot coordinated control system |
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
| CN108398085A (en) * | 2018-03-03 | 2018-08-14 | 北京工业大学 | Electrical control system for laser tracking measurement |
-
2017
- 2017-01-10 CN CN201720032036.7U patent/CN206515688U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707972A (en) * | 2017-01-10 | 2017-05-24 | 清华大学天津高端装备研究院 | Universal seven-axis redundant industrial robot coordinated control system |
| CN108398085A (en) * | 2018-03-03 | 2018-08-14 | 北京工业大学 | Electrical control system for laser tracking measurement |
| CN108398085B (en) * | 2018-03-03 | 2019-10-29 | 北京工业大学 | Electrical control system for laser tracking measurement |
| CN108185914A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | cleaning robot control system and control method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180302 Address after: 300300 Tianjin Huaming street Dongli Huaming Road No. 36 Building No. 2 Patentee after: Qingyan co creation robot (Tianjin) Co., Ltd. Address before: 300300 Dongli Lake Resort, Dongli District, Tianjin Co-patentee before: Tsinghua University Patentee before: TSINGHUA UNIVERSITY TIANJIN HIGH-END EQUIPMENT RESEARCH INSTITUTE |