CN208304122U - A kind of welding robot control system based on bus - Google Patents
A kind of welding robot control system based on bus Download PDFInfo
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- CN208304122U CN208304122U CN201820771364.3U CN201820771364U CN208304122U CN 208304122 U CN208304122 U CN 208304122U CN 201820771364 U CN201820771364 U CN 201820771364U CN 208304122 U CN208304122 U CN 208304122U
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Abstract
The welding robot control system based on bus that the utility model discloses a kind of, including insertion type multiple-shaft motion controller and teaching machine, the insertion type multiple-shaft motion controller is connect by bus with 7 servo-drivers, 7 servo-drivers pass through cable respectively and connect with 7 servo motors, wherein 5 servo motors are connected by each joint of speed reducer and welding robot；1 servo motor is connect through speed reducer with the pedestal for placing welding robot；1 servo motor is connect through speed reducer with positioner；The teaching machine is connect with insertion type multiple-shaft motion controller；Insertion type multiple-shaft motion controller is communicated by I/O module and analog module and welding machine；Emergency stop button is provided on the teaching machine, the emergency stop button is connect by cable with welding robot, and the utility model has control highly reliable, butt welding machine device people real time monitoring, failure can stop immediately, reduce error rate, have a good application prospect advantage.
Description
Technical field
The utility model relates to a kind of welding robot control system more particularly to a kind of welding robots based on bus
Control system.
Background technique
With the development of industrial robot field the relevant technologies, welding robot, especially arc welding robot have become
One of the important equipment of industry manufacture, realizes the independent research and industrialization of welding robot, to promotion China's industrial robot
Technical level play great function, while being conducive to improve the application field of industrial robot, promote related industry development.
In general, welding robot is mostly 6DOF robot, it is made of 6 rotatable axis joints, tool
Have the advantages that speed is fast, precision is high, working range is wide, but structure is complicated, Maintenance Difficulty, installation is inconvenient, is processed into there is also this
This high disadvantage.
Currently, the control system of external industrial robot, mostly uses motion controller and servo-driver to integrate
Hardware building form, and there are I/O signaling interfaces, facilitate extension.This control system specificity is strong, open poor, for
The software and hardware technology level requirement of manufacturer of robot is also high, while its structure is relative complex, meets in exploitation, maintenance process
To the problem of also will increase, the cost of production is also high.The motion controller and servo that domestic enterprise of robot mostly uses drive
The mode that dynamic device is installed separately, controller are connect mainly through pulse mouth with driver.For the motor of different number, control system
System will increase Interface design and wires design.Therefore, corresponding to require to redesign and make control per a service robot
The hardware system of device processed；This structure brings a large amount of cable to connect, and system reliability is poor, installs to robot system empty
Between require it is very strict.Meanwhile this communication modes system response real-time is not high, data transmission is slow.
Utility model content
The purpose of this utility model is exactly to solve the above-mentioned problems, to provide a kind of welding robot control based on bus
System, it has control highly reliable, and butt welding machine device people real time monitoring is reduced out once break down to stop immediately
Error rate, have a good application prospect advantage.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of welding robot control system based on bus, including insertion type multiple-shaft motion controller and teaching machine, institute
It states insertion type multiple-shaft motion controller to connect by bus with 7 servo-drivers, 7 servo-drivers pass through line respectively
Cable is connect with 7 servo motors, wherein 5 servo motors are connected by each joint of speed reducer and welding robot, control weldering
Welding robot carries out welding；1 servo motor is connect through speed reducer with the pedestal for placing welding robot, and the pedestal is put
It sets on guide rail, control pedestal moves along a straight line on guide rail, and then drives welding robot linear motion；1 servo motor warp
Speed reducer is connect with positioner, and the workpiece rotation for needing to weld is converted posture by control positioner；The teaching machine passes through bus
It is connect with insertion type multiple-shaft motion controller；Insertion type multiple-shaft motion controller passes through I/O module and analog module and welding machine
Communication, I/O module control welding machine start welding, stop welding；Analog module controls size of current when welder；It is described
Emergency stop button is provided on teaching machine, the emergency stop button is connect by cable with welding robot, in danger
It carves, welding robot safety stop；
The teaching machine includes alarm module, welding gun distal point coordinate obtaining module, and the alarm modules are used for welding
When occurring abnormal or failure in the process, alarm；
The insertion type multiple-shaft motion controller includes motion-control module.
The welding gun distal point coordinate obtaining module is embedded into teaching machine, allows hand over the welding robot coordinates of motion
System, welding gun distal point coordinate obtaining module obtain the coordinate position of welding gun end and are transferred to insertion type multiple-shaft motion controller
In, it is planned by the path that insertion type multiple-shaft motion controller carries out welding robot operation.
Multi-turn absolute value encoder is provided in the servo motor, the multi-turn absolute value encoder passes through servo-drive
Device is connect with insertion type multiple-shaft motion controller, and multi-turn absolute value encoder is connect by cable with servo-driver, then through watching
The RS485 interface taken on driver is connect with insertion type multiple-shaft motion controller, keeps insertion type multiple-shaft motion controller real
When obtain servo motor running position.
The insertion type multiple-shaft motion controller is with the CPU of 86 framework of Intel standard x.
The motion-control module is embedded into insertion type multiple-shaft motion controller, the movement control of the motion-control module
Device processed is BAC332R controller.
The insertion type multiple-shaft motion controller is connect with each servo-driver by EthenCat bus.
The welding machine is connect with I/O module, analog module by cable, the teaching machine and embedded multiaxial motion control
Bus between device processed uses RS232 bus.
The insertion type multiple-shaft motion controller also passes through cable and connect with PC machine.
The utility model has the beneficial effects that
1. insertion type multiple-shaft motion controller is the place using the CPU of 86 framework of Intel standard x and chip as system processor
It is fast to manage speed, it is accurate to control welding robot operation；2. I/O signal, analog signals, communication interface and motion control are integrated
Into an insertion type multiple-shaft motion controller, conducive to the transmission and interaction between each signal, the real-time of whole system is improved
Property；It between a module is attached by bus mode more than 3., scalability is strong.Save the cost and simplify system wiring；
4. the welding robot control system is conducive to 5 Serve Motor Control welding robots, 1 Serve Motor Control places bonding machine
The pedestal of device people drives welding robot linear motion, 1 Serve Motor Control positioner that welding workpiece is made to adjust posture, real
Existing complicated robot welding control, processing cost is low, and portable construction, working space is big, and welding efficiency is high, can be widely used in gold
Belong to structural member, non-standard welded articles, to the working environment of workers is improved, improve welding efficiency, realizes industrial automation tool
It is significant.
Detailed description of the invention
Fig. 1 is the system block diagram of the utility model；
Wherein, 1. insertion type multiple-shaft motion controller；2. servo-driver；3. servo motor；4. welding machine；5. teaching machine；
6.I/O module；7. analog module；8.PC machine.
Specific embodiment
The utility model is described in further detail with embodiment with reference to the accompanying drawing.
As shown in Figure 1, a kind of welding robot control system based on bus, including insertion type multiple-shaft motion controller 1
With teaching machine 5, insertion type multiple-shaft motion controller 1 is connect by EthenCat bus with 7 servo-drivers 2, and 7 servos are driven
Dynamic device 2 is connect by cable with 7 servo motors 3 respectively, wherein 5 servo motors 3 pass through speed reducer and welding robot
Each joint connection, control welding robot carry out welding；1 servo motor 3 is through speed reducer and places welding robot
Pedestal connection, pedestal are placed on guide rail, and control pedestal moves along a straight line on guide rail, and then drive welding robot straight line fortune
It is dynamic；1 servo motor 3 is connect through speed reducer with positioner, and the workpiece rotation for needing to weld is converted posture by control positioner；It watches
It takes and is provided with multi-turn absolute value encoder in motor 3, multi-turn absolute value encoder is transported by servo-driver 2 and embedded multiaxis
Movement controller 1 connects, and multi-turn absolute value encoder is connect by cable with servo-driver 2, then through on servo-driver 2
RS485 interface is connect with insertion type multiple-shaft motion controller 1, and insertion type multiple-shaft motion controller 1 is enable to obtain servo in real time
3 running position of motor.
Teaching machine 5 is connect by RS232 bus with insertion type multiple-shaft motion controller 1；Insertion type multiple-shaft motion controller 1
It is communicated by I/O module 6 and analog module 7 and welding machine 4, I/O module 6 controls welding machine 4 and starts welding, stops welding；Simulation
Measure size of current when module 7 controls the welding of welding machine 4；Emergency stop button, the emergent stopping are provided on the teaching machine 5
Button is connect by cable with welding robot, in hour of danger, welding robot safety stop, welding machine 4 and I/O module 6, mould
Analog quantity module 7 is connected by cable；Teaching machine 5 includes alarm module, welding gun distal point coordinate obtaining module, and alarm modules are used for
When to occurring abnormal or failure in welding process, being alarmed and uploading mistake to teaching machine 5, welding gun distal point coordinate obtains
Modulus block is embedded into teaching machine 5, allows hand over welding robot kinetic coordinate system, and welding gun distal point coordinate obtaining module obtains
The coordinate position of welding gun end is simultaneously transferred in insertion type multiple-shaft motion controller 1, is carried out by insertion type multiple-shaft motion controller 1
It is planned in the path of welding robot operation.
Insertion type multiple-shaft motion controller 1 includes motion-control module, and insertion type multiple-shaft motion controller 1 is with Intel
The CPU of 86 framework of standard x, motion-control module are embedded into insertion type multiple-shaft motion controller 1, the movement of motion-control module
Controller is BAC332R controller, and insertion type multiple-shaft motion controller 1 is also connect by cable with PC machine 8.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made protection model still novel in this practical c
Within enclosing.
Claims (8)
1. a kind of welding robot control system based on bus, which is characterized in that including insertion type multiple-shaft motion controller and
Teaching machine, the insertion type multiple-shaft motion controller are connect by bus with 7 servo-drivers, 7 servo-drivers
It is connect respectively by cable with 7 servo motors, wherein 5 servo motors are connected by each joint of speed reducer and welding robot
It connects, control welding robot carries out welding；1 servo motor is connect through speed reducer with the pedestal for placing welding robot,
The pedestal is placed on guide rail, and control pedestal moves along a straight line on guide rail, and then drives welding robot linear motion；1
Servo motor is connect through speed reducer with positioner, and the workpiece rotation for needing to weld is converted posture by control positioner；The teaching
Device is connect by bus with insertion type multiple-shaft motion controller；Insertion type multiple-shaft motion controller passes through I/O module and analog quantity
Module and welding machine communicate, and I/O module control welding machine starts welding, stops welding；Analog module controls electricity when welder
Flow size；Emergency stop button is provided on the teaching machine, the emergency stop button is connected by cable and welding robot
It connects, in hour of danger, welding robot safety stop；
The teaching machine includes alarm module, welding gun distal point coordinate obtaining module, and the alarm module is used for welding process
When middle appearance is abnormal or breaks down, alarm；
The insertion type multiple-shaft motion controller includes motion-control module.
2. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that the welding gun end
Extreme coordinates obtain in Module-embedding to teaching machine, allow hand over welding robot kinetic coordinate system, welding gun distal point coordinate obtains
Modulus block obtains the coordinate position of welding gun end and is transferred in insertion type multiple-shaft motion controller, by embedded multiaxial motion control
It is planned in the path that device processed carries out welding robot operation.
3. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that the servo electricity
Multi-turn absolute value encoder is provided in machine, the multi-turn absolute value encoder passes through servo-driver and embedded multiaxial motion
Controller connection, multi-turn absolute value encoder are connect with servo-driver by cable, are connect through the RS485 on servo-driver
Mouth is connect with insertion type multiple-shaft motion controller, and insertion type multiple-shaft motion controller is enable to obtain servo motor operating position in real time
It sets.
4. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that described embedded
Multi-axis motion controller is with the CPU of 86 framework of Intel standard x.
5. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that the movement control
Molding block is embedded into insertion type multiple-shaft motion controller, and the motion controller of the motion-control module is BAC332R control
Device.
6. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that described embedded
Multi-axis motion controller is connect with each servo-driver by EthenCat bus.
7. a kind of welding robot control system based on bus as described in claim 1, which is characterized in that the welding machine with
I/O module, analog module are connected by cable, and the bus between the teaching machine and insertion type multiple-shaft motion controller uses
RS232 bus.
8. a kind of welding robot control system based on bus as claimed in any one of claims 1 to 7, feature exist
In the insertion type multiple-shaft motion controller also passes through cable and connect with PC machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820771364.3U CN208304122U (en) | 2018-05-23 | 2018-05-23 | A kind of welding robot control system based on bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820771364.3U CN208304122U (en) | 2018-05-23 | 2018-05-23 | A kind of welding robot control system based on bus |
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| CN208304122U true CN208304122U (en) | 2019-01-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109951114A (en) * | 2019-03-26 | 2019-06-28 | 珠海瑞凌焊接自动化有限公司 | A kind of control system controlling multi-axis servo motor |
| CN113848811A (en) * | 2021-08-27 | 2021-12-28 | 北京工业大学 | Plasma arc welding process and method of motion centralized control system |
| CN114115133A (en) * | 2021-11-02 | 2022-03-01 | 深圳市华成工业控制股份有限公司 | Multi-chip five-axis servo drive control system and method based on internal communication |
-
2018
- 2018-05-23 CN CN201820771364.3U patent/CN208304122U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109951114A (en) * | 2019-03-26 | 2019-06-28 | 珠海瑞凌焊接自动化有限公司 | A kind of control system controlling multi-axis servo motor |
| CN113848811A (en) * | 2021-08-27 | 2021-12-28 | 北京工业大学 | Plasma arc welding process and method of motion centralized control system |
| CN114115133A (en) * | 2021-11-02 | 2022-03-01 | 深圳市华成工业控制股份有限公司 | Multi-chip five-axis servo drive control system and method based on internal communication |
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