CN209289290U - Light-duty mechanical arm control system based on CANopen - Google Patents

Light-duty mechanical arm control system based on CANopen Download PDF

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Publication number
CN209289290U
CN209289290U CN201821758212.6U CN201821758212U CN209289290U CN 209289290 U CN209289290 U CN 209289290U CN 201821758212 U CN201821758212 U CN 201821758212U CN 209289290 U CN209289290 U CN 209289290U
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mechanical arm
light
canopen
control system
system based
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CN201821758212.6U
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Inventor
张俊
陶子航
齐敏中
张璇琛
王堃
李阳
程勇
姚海峰
郑磊
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Hefei Zhongke Idea Robot Technology Co Ltd
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Hefei Zhongke Idea Robot Technology Co Ltd
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Abstract

The light-duty mechanical arm control system based on CANopen that the utility model discloses a kind of, including mechanical arm body, control cabinet and teaching machine, the teaching machine is connect with control cabinet, at least one joint is arranged in the mechanical arm body, the joint is using CAN bus and control cabinet communication connection;Wherein, the teaching machine includes display, touch screen and the function button respectively at control cabinet connection;The control cabinet includes the master controller connecting respectively with power module, safety governor, the master controller and safety governor communication connection.A kind of control system of light-duty mechanical arm based on CANopen bus-type of the present embodiment can effectively ensure that mechanical arm reliability of operation is high, real-time is good, installs and safeguards the features such as flexible.

Description

Light-duty mechanical arm control system based on CANopen
Technical field
The utility model relates to mechanical arm control fields, and in particular to a kind of light-duty mechanical arm control based on CANopen System.
Background technique
Relative to traditional industrial robot, light-duty mechanical arm has many advantages, such as small in size, light-weight, combines flexible, energy It is enough in accident rescue, the numerous areas such as anti-terrorism is explosion-proof, space exploration, home services, Military Application and nuclear facilities maintenance play Irreplaceable role.With the development of Robot Control Technology, the control structure of robot is also from the centralized control system of early stage System evolves as master & slave control system, the distribution control system structure of mainstream up to now, relative to first two control structure, Decentralized control structure real-time is good, it is easy to accomplish high speed, high progress monitoring and convenient for extension.
In robot distributed control system, system is divided into upper and lower computer part, host computer mainly realizes track Planning and control algolithm part, slave computer mainly realize the parts such as interpolation subdivision and SERVO CONTROL, usual host computer only one Node, and slave computer has multiple nodes, is connected between upper and lower computer by bus network.Therefore, reliable network-bus is selected Standard relationship the stable operation of robot system.
CAN bus is to quote one of widest fieldbus and Computer Controlled System for Vehicle and industry in the world The STD bus of control area net(CAN), from the perspective of ISO network model, there is no given application layers by CAN.CANopen agreement It is one of the standard that CAN-in-Autionmation (CiA) is defined, wherein CiA 301 is the basis of all sub-protocols, is defined Communication object and partial objects dictionary, wherein CiA 402 then defines driving and motion control apparatus sub-protocol, this is a little Application of the CAN bus on light-duty mechanical arm that be established as of agreement is laid a good foundation.
Utility model content
The light-duty mechanical arm control system based on CANopen that the purpose of the utility model is to provide a kind of, can solve
To achieve the above object, the utility model uses following technical scheme:
A kind of light-duty mechanical arm control system based on CANopen, including mechanical arm body, control cabinet and teaching machine, institute It states teaching machine to connect with control cabinet, at least one joint is set in the mechanical arm body, and the joint is using CAN bus and control Cabinet communication connection processed;
Wherein, the teaching machine includes display, touch screen and the function button respectively at control cabinet connection;
The control cabinet includes the master controller connecting respectively with power management module, safety governor, the main control Device and safety governor communication connection.
Further, the joint includes servo-driver, motor and encoder.
Further, the encoder is Dual-encoder, and the Dual-encoder includes that incremental encoder and individual pen are absolute Formula encoder, the incremental encoder are positioned close to motor side, and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER setting exports in joint End.
Further, the power management module includes two industrial switch power supplys, and described two industrial switch power supplys are equal For the input of 220V AC power source, one of Switching Power Supply output is 48V direct current, is powered for mechanical arm body, and another Switching Power Supply output is 12V DC electricity, is teaching machine, master controller and safety governor power supply.
Further, the master controller uses X86-based multi-platform industry grade computer, model MIO-5250D- S8A1E, Intel Atom N2550 dual core processor.
Further, the safety governor uses ARM STM32 embedded controller, uses TCPIP with master controller Connection;The safety governor includes I/O interface module, safety control module and CANopen protocol module.
Further, the teaching machine is connect using HDMI with master controller, is pressed using USB interface and touch screen and function Button communication.
Further, the function button includes start button, scram button and teaching button.
As shown from the above technical solution, the utility model mainly includes three mechanical arm body, control cabinet and teaching machine portions Point.It is communicated between control cabinet and each joint of mechanical arm using CAN bus, realizes that master control sets device to each joint position of light-duty arm, speed The control of the operational modes such as degree and acceleration and deceleration and joint states obtain, and the use of CAN bus simplifies mechanical arm body and machine Interface between cabinet, easy to disassemble and maintenance.
Each joint described in the utility model as independent control node, can satisfy the position uttered in joint, speed, The controls such as acceleration and deceleration requirement, and articulation nodes have CAN communication interface, do not communicate between each joint, be conducive to system administration with System extension.Control cabinet main control uses X86-based multi-platform industry computer, and processing capacity is strong, can be realized robot motion The control algolithms real time handling requirements such as planning.Control cabinet uses safety governor, independently of master controller, monitors robot in real time State makes robot security's operation be protected.Control cabinet power management module includes two Switching Power Supplies, and 48V power supply is machine The power supply of tool arm body, 12V power supply are teaching machine, master controller and safety governor power supply, and electrical source of power and control power supply separate, Prevent robot motor's operation to control control system interference.Function button includes start button, scram button and teaching button, Touch screen and master controller are directly connected to, simple for structure, are conducive to system development maintenance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present embodiment;
Fig. 2 is all joint control block diagrams of mechanical arm of the present embodiment;
Fig. 3 is the teaching machine structural schematic diagram of the present embodiment.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
The control system of the light-duty mechanical arm based on CANopen bus-type of the embodiment of the present invention is as shown in Figure 1, include machine At least one joint, such as this reality is arranged in the mechanical arm body in tool arm body, three essential parts of control cabinet and teaching machine It applies example and n joint is set, n >=1, i.e., the described light-duty mechanical arm amount of articulation, can be with spread according to design requirement.The institute There is joint using CAN bus and control cabinet communication connection;All joints of mechanical arm body are connect using CAN bus with control cabinet real Existing data communication.
As shown in Fig. 2, all joints structure having the same and control interface, mainly by servo-driver, motor and volume Code device is constituted, and also typically includes the necessary parts such as retarder and band-type brake.To meet joint control required precision, the present embodiment joint It is preferred that Dual-encoder structure, wherein incremental encoder is placed in motor side for detecting speed, and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is set Detection mechanical arm joint angles are used in joint output end.
Consider from control strategy angle, all joints of mechanical arm constitute the closed loop servo-control system of independent completion, have Identical communication control interface.Each joint, from node, is distinguished as CANopen by ID number, and CANopen host node can To realize joint pattern switching and motion control by sending instruction, and each joint states information can be read, CAN bus rate is adopted Use 1Mbps.
Wherein, control cabinet is the control core of light-duty machinery arm system, includes power management module, master controller and peace Full controller.
Control cabinet power management module has directlyed adopt two industrial switch power supplys, 220V AC power source input, wherein one A Switching Power Supply output is 48V direct current, is powered for the components such as joint of mechanical arm ontology and control cabinet radiator fan, and another Switching Power Supply output is 12V DC electricity, is teaching machine, master controller and safety governor power supply.
To meet light-duty mechanical arm motion control arithmetic demand, the present embodiment master controller uses X86-based platform work Industry grade computer, model MIO-5250D-S8A1E, Intel Atom N2550 dual core processor, dominant frequency are up to 1,86GHz, It supports DDR3 1066Hz 4G memory, there are multiple standard interfaces such as USB, GPIO, RS232 and HDMI.
Safety governor uses ARM STM32 embedded controller, is connect with master controller using TCPIP, has three A basic function, respectively I/O interface, security control and CANopen agreement main website.Wherein I/O interface includes that multiple numbers are defeated Enter output and simulation input output channel, can satisfy the different expanded application demand of mechanical arm, such as robot arm end effector Control etc.;Wherein safety control function can be by chain to realize security protection with external signal, according to protection requirements Two grades are divided into, it is corresponding to be shut down for the recoverable programmed halt of mechanical arm and expendable power-off source; CANopen agreement master function then realizes the conversion of TCPIP to CAN message.Will to the higher security control of requirement of real-time and CANopen communication etc. functions marked off from master controller come, can effectively increase light-duty machinery arm system stability and Reliability.
As shown in figure 3, the teaching machine of the present embodiment is man-machine interactive interface, the operation information of user can be sent to Master controller, and the status information real-time display of light-duty mechanical arm is come out, teaching machine is connect using HDMI with master controller real The transmission of existing vision signal, the signal acquisition of touch screen 1 and physical button is realized using USB interface.It is only designed on teaching machine Three physical buttons, respectively start button 2, scram button 3 and teaching button 4, the every other operation of mechanical arm are adopted It is inputted with touch screen, is effectively simplified the structure of teaching machine.
To sum up, the control system of a kind of light-duty mechanical arm based on CANopen bus-type of the present embodiment, can effectively ensure that Mechanical arm reliability of operation is high, real-time is good, install and safeguard the features such as flexible.
Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this Novel range is defined, and under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art are to this The various changes and improvements that the technical solution of utility model is made should all be fallen into the protection scope of the utility model.

Claims (8)

1. a kind of light-duty mechanical arm control system based on CANopen, including mechanical arm body, control cabinet and teaching machine, described Teaching machine is connect with control cabinet, it is characterised in that: at least one joint is arranged in the mechanical arm body, the joint uses CAN bus and control cabinet communication connection;
Wherein, the teaching machine includes display, touch screen (1) and the function button respectively at control cabinet connection;
The control cabinet includes the master controller connecting respectively with power management module, safety governor, the master controller with Safety governor communication connection.
2. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Joint includes servo-driver, motor and encoder.
3. a kind of light-duty mechanical arm control system based on CANopen according to claim 2, it is characterised in that: described Encoder is Dual-encoder, and the Dual-encoder includes incremental encoder and RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER, and the increment type is compiled Code device is positioned close to motor side, and the RESEARCH AND DEVELOPMENT OF SINGLE RING ABSOLUTE ENCODER is arranged in joint output end.
4. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Power management module includes two industrial switch power supplys, and described two industrial switch power supplys are the input of 220V AC power source, In the output of Switching Power Supply be 48V direct current, power for mechanical arm body, and the output of another Switching Power Supply is 12V DC Electricity is teaching machine, master controller and safety governor power supply.
5. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Master controller uses X86-based multi-platform industry grade computer, and model MIO-5250D-S8A1E, Intel Atom N2550 is bis- Core processor.
6. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Safety governor uses ARM STM32 embedded controller, is connect with master controller using TCPIP;The safety governor packet Include I/O interface module, safety control module and CANopen protocol module.
7. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Teaching machine is connect using HDMI with master controller, is communicated using USB interface and touch screen (1) and function button.
8. a kind of light-duty mechanical arm control system based on CANopen according to claim 1, it is characterised in that: described Function button includes start button (2), scram button (3) and teaching button (4).
CN201821758212.6U 2018-10-25 2018-10-25 Light-duty mechanical arm control system based on CANopen Active CN209289290U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112134341A (en) * 2020-11-26 2020-12-25 北京晶品特装科技股份有限公司 Power-down angle storage device for mechanical arm and mechanical arm
CN114347100A (en) * 2020-10-14 2022-04-15 达明机器人股份有限公司 Automatic mode safety system and method for robot
CN114347048A (en) * 2020-10-14 2022-04-15 达明机器人股份有限公司 Robot system with hand-pulling function

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114347100A (en) * 2020-10-14 2022-04-15 达明机器人股份有限公司 Automatic mode safety system and method for robot
CN114347048A (en) * 2020-10-14 2022-04-15 达明机器人股份有限公司 Robot system with hand-pulling function
TWI789639B (en) * 2020-10-14 2023-01-11 達明機器人股份有限公司 Robot safety system and method for auto mode
CN114347100B (en) * 2020-10-14 2024-04-16 达明机器人股份有限公司 Automatic mode safety system and method for robot
CN112134341A (en) * 2020-11-26 2020-12-25 北京晶品特装科技股份有限公司 Power-down angle storage device for mechanical arm and mechanical arm
CN112134341B (en) * 2020-11-26 2021-02-05 北京晶品特装科技股份有限公司 Power-down angle storage device for mechanical arm and mechanical arm

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