CN207676152U

CN207676152U - The automatic manipulator control system for applying solder machine

Info

Publication number: CN207676152U
Application number: CN201721470247.5U
Authority: CN
Inventors: 李振声
Original assignee: Zhaoqing Gaoyao District Jintian Electric Heating Co Ltd
Current assignee: Zhaoqing Gaoyao District Jintian Electric Heating Co Ltd
Priority date: 2017-11-07
Filing date: 2017-11-07
Publication date: 2018-07-31
Anticipated expiration: 2027-11-07

Abstract

The utility model discloses the automatic manipulator control systems for applying solder machine, including three freedom degree manipulator, motor and electric machine control system, motor is controlling three freedom degree manipulator, innovative point is that the design of electric machine control system, the electric machine control system include CPU processor, FPGA, pwm signal circuit, serial interface, CAN module, DB9 serial port, clock module, WIFI module and power module；The CPU processor passes sequentially through the FPGA, pwm signal circuit and the motor and is electrically connected, to be responsible for the control to motor；The serial interface, CAN module, DB9 serial port, clock module, WIFI module are electrically connected with the CPU processor；The power module is used to provide working power to electric machine control system.Using CPU processor and FPGA two-bed system architecture designs, system vulnerable caused by solving the problems, such as single use CPU processor to cause CPU processor Work overload effectively ensures the quality of system, extends the service life of system.

Description

The automatic manipulator control system for applying solder machine

Technical field

The utility model discloses a kind of manipulator control systems, specifically apply the manipulator control system of solder machine automatically System.

Background technology

Field one of of the manipulator as robot research, no matter it is more next in the effect that industry is still played in other industries It is bigger.With the fast development of China's economic, country is increasing to the supporting dynamics of the developmental research of manipulator, to manipulator The input of exploitation also begins to be skyrocketed through.With the development of internet, China proposes《Made in China 2025》" internet work Industry " has more welcome the fast development of three freedom degree manipulator.

The core of three freedom degree manipulator is controller, at present on the market the controller design of three freedom degree manipulator compared with It is simple, mostly uses microcontroller design, although cost is simple, performance is unreliable, and function is effective, and there is also ask for extension Topic.

Utility model content

The purpose of the utility model is to overcome the technical problem present on, the automatic manipulator for applying solder machine is provided Control system..

To achieve the above object, the utility model adopts the following technical scheme：

The automatic manipulator control system for applying solder machine., including three freedom degree manipulator, motor and motor control system System, for motor to control three freedom degree manipulator, innovative point is the design of electric machine control system, the electric machine control system packet Include CPU processor, FPGA, pwm signal circuit, serial interface, CAN modules, DB9 serial port, clock module, WIFI module and electricity Source module；The CPU processor passes sequentially through the FPGA, pwm signal circuit and the motor and is electrically connected, to responsible pair The control of motor；The serial interface, CAN module, DB9 serial port, clock module, WIFI module are electric with the CPU processor Property connection；The power module is used to provide working power to electric machine control system.

Further, the CPU processor uses LPC2119 chips.

Further, the FPGA uses EP2C5Q208C8N chips.

Further, the serial interface is RS232 interface.

Further, the CAN module uses PCA82C250 chips.

Further, the electric machine control system further includes control panel, and the control panel passes through serial interface and institute State CPU electric connections.

The utility model has the beneficial effects that：Using CPU processor and FPGA two-bed system architecture designs, solve single Using CPU processor to cause CPU processor Work overload caused by system vulnerable the problem of, effectively ensure The quality of system extends the service life of system.

Description of the drawings

Fig. 1：The internal circuit configuration block diagram of the utility model embodiment one.

Fig. 2：The circuit diagram of serial interface.

Fig. 3：The circuit diagram of CAN module.

Fig. 4：The internal circuit configuration block diagram of the utility model embodiment two.

Specific implementation mode

Below in conjunction with the accompanying drawings and the utility model is described in detail in embodiment.

Embodiment one：

As shown in Figure 1, applying the manipulator control system of solder machine automatically., including three freedom degree manipulator, motor and electricity Machine control system, three freedom degree manipulator include three steering engines, a chassis and two connecting rods, a paw composition.Motor is used To control three freedom degree manipulator, electric machine control system includes CPU processor, FPGA, pwm signal circuit, serial interface, CAN Module, DB9 serial port, clock module, WIFI modules and power module；The pwm signal circuit that CPU processor is exported by FPGA It is electrically connected with motor, realizes the control to motor.

The control core of its system of CPU processor, one end are responsible for communicating with FPGA, and one end is communicated with interaction end, is entire The central hub of system.It uses LPC2119 chips, LPC2119 chips be based on one support real-time simulation and it is embedded with 16 ARM7TDMI-S CPU of track, and with the high speed flash storage of 128kB insertions, have small-sized 64 by LPC2119 Foot encapsulation, extremely low power consumption, multiple 32 bit timing devices, 10,4 tunnel ADC, the 2 road channels CAN, PWM, 46 GPIO and up to 9 A external interrupt pin, the built-in serial communication interface of wide scope, therefore be very suitable for communication gate, protocol converter with And other various types of applications.

FPGA is used to share the leading portion work of CPU processor, and electricity is directly controlled by the FPGA pwm signal circuits exported Machine, to mitigate the live load of CPU processor, and FPGA up to exports 4 road pwm signal circuits, uses EP2C5Q208C8N chips, it possesses 4,608 LEs to the chip, and on piece RAM amounts to 119,808bits), 13 18 × 18 are hard Part multiplier, 2 high-performance PLL and up to 142 User Defined IO.Provided on plate large capacity SDRAM and The storage units such as Flash ROM.

As shown in Fig. 2, serial interface is electrically connected with CPU, serial interface is RS232 interface, and RS232 interfaces are standards Interface, can be with the external equipment connection communication of standard by the interface.RS232 uses MAX232 chips.It can certainly adopt With its standard interface, such as RS422 and RS485 interfaces.

As shown in figure 3, CAN module uses PCA82C250 chips as transceiver, CPU processor is electrically connected, effect It is conveniently to be extended to this system, for example can be attached by CAN module and subsystem, passes through the communication of CAN module Advantage is very convenient extension subsystem, and supports to extend multiple subsystems.

DB9 serial port is electrically connected with CPU, for connecting control terminal, such as PC machine, can be debugged to system, is surveyed The situation etc. of test system operation.

Claims

1. apply the manipulator control system of solder machine automatically, including three freedom degree manipulator and motor, motor is controlling three Free degree manipulator, it is characterised in that：Further include electric machine control system, the electric machine control system include CPU processor, FPGA, pwm signal circuit, serial interface, CAN module, DB9 serial port, clock module, WIFI module and power module；The CPU Processor passes sequentially through the FPGA, pwm signal circuit and the motor and is electrically connected, to be responsible for the control to motor；Institute Serial interface, CAN module, DB9 serial port, clock module, WIFI module is stated to be electrically connected with the CPU processor；The electricity Source module is used to provide working power to electric machine control system.

2. manipulator control system according to claim 1, it is characterised in that：The CPU processor uses LPC2119 cores Piece.

3. manipulator control system according to claim 1, it is characterised in that：The FPGA uses EP2C5Q208C8N cores Piece.

4. manipulator control system according to claim 1, it is characterised in that：The serial interface is RS232 interface.

5. manipulator control system according to claim 1, it is characterised in that：The CAN module uses PCA82C250 cores Piece.

6. manipulator control system according to claim 1, it is characterised in that：The electric machine control system further includes control Panel, the control panel are electrically connected by serial interface and the CPU processor.