CN208421625U - A kind of more robot cooperative control systems - Google Patents
A kind of more robot cooperative control systems Download PDFInfo
- Publication number
- CN208421625U CN208421625U CN201821016461.8U CN201821016461U CN208421625U CN 208421625 U CN208421625 U CN 208421625U CN 201821016461 U CN201821016461 U CN 201821016461U CN 208421625 U CN208421625 U CN 208421625U
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- robot
- control systems
- servo
- controller
- cooperative control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model discloses a kind of more robot cooperative control systems, it includes robot demonstrator, the robot controller connecting with the robot demonstrator cable, the input/output module being connect with the robot controller by Ethernet high-speed bus and several robotically-driven units, each robotically-driven unit include several servo amplifiers and with the one-to-one servo motor of servo amplifier.The utility model substantially increases the movement smoothness and the speed of service when more machine person cooperative works, greatly reduces the operating cost of more machine person cooperative works.
Description
[technical field]
The utility model relates to a kind of technical field of robot control, more particularly to a kind of more robot Collaborative Controls
System.
[background technique]
The single machine of industrial robot is by robot controller, input/output module, servo-driver and servo electricity at present
Machine composition, controller are known as master device, input/output module, servo-driver and servo motor these be referred to as slave station and set
It is standby, it is together in series between master device and slave station equipment by cable and realizes that signal transmits.But industrial machine in the prior art
One, the controller band of people one robot, wastes in resource, does not accomplish to make the best use of everything；When more robots of needs cooperate with works
When making, signal interaction depends on I/O signal interaction or serial communication or ModBus protocol communication or TCP/IP to be led to
Letter, these communication mode numerous and complicateds increase the unstability of whole system；Robot is counted by above-mentioned communication mode
When according to interaction, data transmission bauds faster or slower, the movement of robot entirety can become stiff, not submissive, and entire robot produces
The speed of production of line will receive restriction.
Therefore, it is necessary to provide more new robot cooperative control systems of one kind to solve the above problems.
[utility model content]
The main purpose of the utility model is to provide a kind of more robot cooperative control systems, substantially increase more
Movement smoothness and the speed of service when machine person cooperative work, greatly reduce the operations of more machine person cooperative works at
This.
The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of more robot cooperative control systems,
Including robot demonstrator, the robot controller being connect with the robot demonstrator cable and the robot controller
The input/output module connected by Ethernet high-speed bus and several robotically-driven units, it is each described robotically-driven
Unit include several servo amplifiers and with the one-to-one servo motor of servo amplifier.
Further, the quantity of the servo amplifier and the servo motor is 4,5 or 6, corresponds respectively to four axis, five
Axis and six-joint robot.
Further, the robot controller is directly connect with the servo amplifier signal.
Compared with prior art, the beneficial effect of more robot cooperative control systems of the utility model is: allowing one
Controller controls more robots simultaneously, and the resource of controller is effectively utilized, and accomplishes to make the best use of everything；More robots are simultaneously
It is controlled by a controller, most of signal is completed in controller inter-process, is greatly reduced by external factor interference
Problem improves reliability when more machine person cooperative works, since data interaction all completes inside controller, data
Transmission speed be guaranteed, movement when more machine person cooperative works will become more compliant, and the speed of service is more
Fastly, the speed of production of entire robot producing line is substantially increased；One controller and multiple robots are driven by high-speed bus
Moving cell connection, substantially increases the effectiveness between controller and robotically-driven unit, so that robot is run
It is more smooth, and the relatively reliable stabilization when being performed in unison with task.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the utility model embodiment.
[specific embodiment]
Embodiment:
Please refer to Fig. 1, the present embodiment is more robot cooperative control systems comprising robot demonstrator 1, with it is described
The robot controller 2 of 1 cable of robot demonstrator connection is connected with the robot controller 2 by Ethernet high-speed bus
The input/output module 3 connect and several robotically-driven units 4, each robotically-driven unit 4 include several servos
Amplifier and with the one-to-one servo motor of the servo amplifier.The quantity of the servo amplifier and the servo motor
It is 4,5 or 6, corresponds respectively to four axis, five axis and six-joint robot.
The robot controller 2 is directly connect with the servo amplifier signal.By robot controller 2 directly with
Each servo amplifier direct signal of each robot connects, and directly controls the operation of servo motor, so that each machine
People's cooperation when cooperating is more perfect, and operation is more smooth, reduces intermediate data conversion and processing time, improves fortune
Scanning frequency degree.
More robot cooperative control systems of the present embodiment are worked at the same time especially suitable for more robots and are produced in one
The production method of line, such as: press workshop progressive stamping line, Automobile Welding workshop white body spot welding production line and needs
More robots carry out the industrial site that the feeding of material is carried simultaneously.
The present embodiment is more robot cooperative control systems, allows a controller while controlling more robots, effectively
The resource that controller is utilized, accomplish to make the best use of everything；More robots are controlled by a controller simultaneously, and most of signal exists
Controller inter-process is completed, and is greatly reduced the problem of being interfered by external factor, is improved more machine person cooperative works
When reliability, since data interaction all completes inside controller, the transmission speed of data is guaranteed, more machines
Movement when person cooperative work will become more compliant, and the speed of service is more accelerated, and substantially increase entire robot producing line
Speed of production；One controller is connect with multiple robotically-driven units by high-speed bus, substantially increase controller with
Effectiveness between robotically-driven unit, so that robot operation is more smooth, and more when being performed in unison with task
Add reliable and stable.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
Without departing from the concept of the present invention, various modifications and improvements can be made, these belong to practical
Novel protection scope.
Claims (3)
1. a kind of more robot cooperative control systems, it is characterised in that: it includes robot demonstrator, shows with the robot
The robot controller of religion device cable connection, the input and output being connect with the robot controller by Ethernet high-speed bus
Module and several robotically-driven units, each robotically-driven unit include several servo amplifiers and put with servo
The one-to-one servo motor of big device.
2. more robot cooperative control systems as described in claim 1, it is characterised in that: the servo amplifier with it is described
The quantity of servo motor is 4,5 or 6, corresponds respectively to four axis, five axis and six-joint robot.
3. more robot cooperative control systems as described in claim 1, it is characterised in that: the robot controller is direct
It is connect with the servo amplifier signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821016461.8U CN208421625U (en) | 2018-06-29 | 2018-06-29 | A kind of more robot cooperative control systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821016461.8U CN208421625U (en) | 2018-06-29 | 2018-06-29 | A kind of more robot cooperative control systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208421625U true CN208421625U (en) | 2019-01-22 |
Family
ID=65106613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821016461.8U Active CN208421625U (en) | 2018-06-29 | 2018-06-29 | A kind of more robot cooperative control systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208421625U (en) |
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2018
- 2018-06-29 CN CN201821016461.8U patent/CN208421625U/en active Active
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