CN209919879U - 8-axis linkage robot - Google Patents
8-axis linkage robot Download PDFInfo
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- CN209919879U CN209919879U CN201920352191.6U CN201920352191U CN209919879U CN 209919879 U CN209919879 U CN 209919879U CN 201920352191 U CN201920352191 U CN 201920352191U CN 209919879 U CN209919879 U CN 209919879U
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- 230000033001 locomotion Effects 0.000 claims abstract description 91
- 238000005259 measurement Methods 0.000 claims 1
- 238000003466 welding Methods 0.000 abstract description 18
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model belongs to industry automatic control field relates to an 8 axle linkage robot and control system thereof. An 8-axis linkage robot comprising 8 axes of motion, wherein: the seventh motion axis is used to extend the robot's range of motion in the Z-axis and the eighth motion axis is used to extend the robot's range of motion in the X-axis. An 8-axis linkage robot control system adopts a control mode of a PC (personal computer) Linux master station and an EtherCAT slave station, so that the real-time performance and the accuracy of an 8-axis linkage robot are guaranteed; the welding precision of the 8-axis linkage robot is ensured by adopting the robot vision device and the 8-axis robot control board card. The utility model discloses widen the motion limit scope of robot, can satisfy the curved surface long-width and fold the welding requirement, can be under the unchangeable circumstances of robot gesture, widen the robot at the motion range of X axle and Z axle, be applicable to the boats and ships of the complicated curved surface of long distance and fold the welding greatly.
Description
Technical Field
The utility model belongs to industry automatic control field relates to an 8 axle linkage robots.
Background
With the continuous improvement of the level of industrial automation, industrial robots are widely used in various fields. In ship large closure welding, a welding line has a hyperboloid shape and is overlong, and the requirement of long-distance welding line welding cannot be met by adopting a traditional 6-axis linkage industrial robot.
The EtherCAT bus is a real-time Ethernet technology, has the advantages of high speed, simplicity, easy implementation and the like, is compatible with standard Ethernet, has optimal hard real-time performance, and greatly shortens the response time of bottom IO. The servo unit is a commonly used controller in industrial control and is widely applied to high-precision equipment such as numerical control machine tools and the like. The traditional mode that adopts PC drive control card, communication is the main bottleneck that equipment performance promotes, can not satisfy 8 axle linkage robot's control.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model provides an 8 axle linkage robot for traditional 6 axle linkage robots, but increased horizontal migration and vertical migration's diaxon, under the unchangeable circumstances of robot gesture, widened the motion range of robot in X axle and Z axle side.
The utility model also provides an 8 axle linkage robot control system adopts the control mode of PC Linux main website + etherCAT slave station, has guaranteed 8 axle linkage robot's real-time and accuracy. The welding precision of the 8-axis linkage robot is ensured by adopting the robot vision device and the 8-axis robot control board card.
The utility model discloses an 8 axle linkage robot adopts following technical scheme to realize:
an 8-axis linkage robot comprising: a first axis of motion, a second axis of motion, a third axis of motion, a fourth axis of motion, a fifth axis of motion, a sixth axis of motion, a seventh axis of motion, and an eighth axis of motion, wherein: the first movement axis to the sixth movement axis correspond to 6 mechanical arms, the seventh movement axis is used for extending the movement range of the robot on the Z axis, and the eighth movement axis is used for extending the movement range of the robot on the X axis; the seventh motion shaft is connected with the first motion shaft and the eighth motion shaft in a servo connecting rod lifting mode, and the eighth motion shaft is in an electric servo control mode and controls the motion of the robot on the guide rail.
Preferably, the seventh motion axis adopts a hydraulic servo control mode; the hydraulic servo control adopts a laser position sensor to measure the distance, and the seventh motion axis is provided with the laser position sensor.
Preferably, the first to sixth motion axes and the eighth motion axis adopt a semi-closed loop electric servo control mode.
Preferably, the 8-axis linkage robot body is provided with a binocular vision device and a servo controller.
The utility model discloses an 8 axle linkage robot control system adopts following technical scheme to realize:
an 8-axis linkage robot control system comprising: the system comprises a PC (personal computer) Linux master station, an EtherCAT slave station controller, an 8-axis robot control board card, a robot visual device and an 8-axis linkage robot body; the 8-axis robot control board card and the robot vision processing device are connected with a PC Linux master station through an EtherCAT slave station controller, and the robot vision device and the 8-axis robot control board card are connected with the 8-axis linkage robot body through a digital/analog interface.
Further, the PC Linux master station comprises a Linux NC, an Ethernet card and a human-computer interface which are connected with the Linux master station;
the EtherCAT slave station controller comprises an EtherCAT slave station controller I and an EtherCAT slave station controller II, wherein the EtherCAT slave station controller I is connected with a PC Linux master station and an 8-axis robot control board card, and the EtherCAT slave station controller II is connected with the PC Linux master station and a robot vision device;
the 8-axis robot control panel card includes: CPU processor I, digital/analog interface I and J1-J8 axis servo interface; the CPU processor I is connected with the PC Linux master station through an EtherCAT slave station controller I; the CPU processor I is connected with the seventh motion shaft through a digital/analog interface I; the J1-J8 shaft servo interfaces are used for connecting the CPU processor I and the 8 shaft linkage robot body;
the robot vision device comprises a CPU processor II and a digital/analog interface II; the CPU processor II is connected with the PC Linux master station through the EtherCAT slave station controller II; meanwhile, the CPU processor II is connected with the 8-axis linkage robot body through a digital/analog interface II.
Preferably, EtherCAT can be integrated into the CPU processor I from the station controller I and into the CPU processor II from the station controller II.
Preferably, the J1-J8 axis servo interface consists of a level conversion circuit and an isolation circuit and completes the level conversion task between the CPU processor I and the 8-axis linkage robot body servo controller.
Preferably, EtherCAT bus communication is adopted among the modules of the 8-axis linkage robot control system.
The utility model discloses for prior art have following beneficial effect:
1. the utility model discloses an 8 axle linkage robot has increased the diaxon for traditional industrial robot, has widened the motion limit scope of robot, can satisfy the curved surface long width and fold the welding requirement, can be under the unchangeable circumstances of robot gesture, and the robot that widens folds the motion range of X axle and Z axle, the boats and ships that are applicable to the complicated curved surface of long distance fold the welding greatly.
2. And a hydraulic position closed-loop control mode is adopted for the newly added seventh motion shaft, and electric servo control modes are adopted for the first motion shaft, the sixth motion shaft and the newly added eighth motion shaft, so that the method has the characteristics of high precision and quick response, and can be directly used in a heavy-load environment.
3. By adopting an EtherCAT bus communication technology, the data transmission speed and the real-time performance are improved, and the accuracy and the stability of the control of the 8-axis linkage robot are effectively ensured.
4. And the robot vision device is adopted to realize hand-eye calibration, so that the welding precision of the robot is improved.
5. The utility model discloses a robot control system can guarantee 8 real-time and stability of shaft linkage robot control, has advantages such as precision height, scalability are good.
Drawings
Fig. 1 is a schematic view of a mechanical structure of an 8-axis linkage robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an 8-axis linkage robot control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments, but the embodiments of the present invention are not limited thereto.
The utility model discloses 8 axle linkage robots include J1 ~ J8 8 motion axles altogether, have increased two motion axles (J7 axle and J8 axle) for traditional 6 axle linkage robots, have widened the motion range of robot in X axle and Z axle direction on mechanical structure. Meanwhile, 8-axis linkage modeling is adopted in the robot model, and under the condition that the posture of the robot is kept unchanged, the displacement of 6-axis mechanical arms corresponding to J1-J6 in the Z-axis direction of the X axis is mapped onto the J8 axis and the J7 axis, so that 8-axis linkage decoupling control is realized, the motion ranges of the X axis and the Z axis can be widened under the condition that the posture of the 8-axis linkage robot is kept unchanged during welding, and the ship body large folding welding task of the long-distance curved surface is completed.
In this embodiment, an 8-axis linkage robot is shown in fig. 1, and includes: a first axis of motion J1, a second axis of motion J2, a third axis of motion J3, a fourth axis of motion J4, a fifth axis of motion J5, a sixth axis of motion J6, a seventh axis of motion J7, and an eighth axis of motion J8, wherein: the first movement axis to the sixth movement axis correspond to 6 mechanical arms, the seventh movement axis is used for extending the movement range of the robot on the Z axis, and the eighth movement axis is used for extending the movement range of the robot on the X axis; the seventh motion shaft is connected with the first motion shaft and the eighth motion shaft in a servo connecting rod lifting mode, and the eighth motion shaft is in an electric servo control mode and controls the motion of the robot on the guide rail.
The seventh motion axis adopts hydraulic servo control, and the first to sixth motion axes and the eighth motion axis adopt semi-closed loop electric servo control to realize hydraulic and electric hybrid control. The hydraulic servo control part adopts a laser position sensor to measure distance, adopts a position closed-loop control mode to the hydraulic system according to the return value of the sensor, and is provided with the laser position sensor on the seventh motion shaft.
Further, a binocular vision device is installed on the 8-axis linkage robot body and used for capturing welding seam information. The 8-axis linkage machine and the 8-axis linkage robot body are provided with a servo controller which is used for controlling a servo motor of the 8-axis linkage robot body.
An 8-axis linkage robot control system is shown in fig. 2, and includes: the system comprises a PC (personal computer) Linux master station, an EtherCAT slave station controller, an 8-axis robot control board card, a robot visual device and an 8-axis linkage robot body. The 8-axis robot control board card and the robot vision processing device are connected with a PC Linux master station through an EtherCAT slave station controller, and the robot vision device and the 8-axis robot control board card are connected with the 8-axis linkage robot body through a digital/analog interface. Wherein:
the PC Linux master station comprises a Linux xNC and an Ethernet card and a human-computer interface which are connected with the Linux master station. The Linux NC is used for robot algorithm calculation and robot motion trail planning, and returns the position and the posture of the current robot in real time; the Ethernet card is used for issuing commands of a PC Linux master station; the human-computer interface encodes the received external command, sends the encoded external command into the Linux NC for processing, and displays the position and the posture of the current robot by a three-dimensional model.
The EtherCAT slave station controller comprises an EtherCAT slave station controller I and an EtherCAT slave station controller II, wherein the EtherCAT slave station controller I is connected with the PC Linux master station and the 8-axis robot control board card, and the EtherCAT slave station controller II is connected with the PC Linux master station and the robot vision device.
8 axle robot control integrated circuit board is used for the control of 8 axle linkage robot bodies, includes: CPU processor I, digital/analog interface I and J1-J8 axis servo interface; the CPU processor I is connected with the PC Linux master station through an EtherCAT slave station controller I; the CPU processor I is connected with the laser position sensor on the seventh moving axis through a digital/analog interface I and is used for acquiring the position quantity of the seventh moving axis and realizing the closed-loop control of the seventh moving axis; the J1-J8 shaft servo interfaces are used for connecting a CPU processor I and a servo driver of the 8-shaft linkage robot body, and are composed of a level conversion circuit and an isolation circuit, so that tasks such as level conversion between the CPU processor I and the servo controller of the 8-shaft linkage robot body are completed. Preferably, the servo driver is installed in a robot control cabinet of the 8-axis linkage robot body for controlling a servo motor of the 8-axis linkage robot body.
The robot vision device is used for identifying welding seams, positioning welding points and fitting welding seam curves, and comprises: CPU processor II and digital/analog interface II; and the CPU processor II is connected with the PC Linux master station through the EtherCAT slave station controller II, and sends the fitted welding seam curve information back to the PC Linux master station. The robot vision device realizes the message sending and receiving of EtherCAT by installing slave station software corresponding to the PC Linux master station equipment on the CPU processor II, and meanwhile, the CPU processor II is connected with the binocular vision device on the 8-axis linkage robot body through a digital/analog interface II.
And the modules of the 8-axis linkage robot control system are communicated by an EtherCAT bus.
Preferably, EtherCAT can be integrated into the CPU processor I from the station controller I and into the CPU processor II from the station controller II.
Preferably, the 8-axis linkage robot control system controls the motion axis in a manner of combining hydraulic servo control and electric servo control. The seventh motion axis adopts a hydraulic servo control system, and the first to sixth motion axes and the eighth motion axis adopt an electric servo control system, so that hydraulic and electric hybrid control is realized. The seventh moving axis hydraulic servo control adopts a laser position sensor to measure distance, and adopts a position deviation closed-loop control mode to a hydraulic system according to the return value of the sensor, so that the control precision of the 8-axis linkage robot is improved.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (5)
1. An 8-axis linkage robot comprising: first axis of motion, second axis of motion, third axis of motion, fourth axis of motion, fifth axis of motion, sixth axis of motion, its characterized in that still includes seventh axis of motion and eighth axis of motion, wherein: the first movement axis to the sixth movement axis correspond to 6 mechanical arms, the seventh movement axis is used for extending the movement range of the robot on the Z axis, and the eighth movement axis is used for extending the movement range of the robot on the X axis; the seventh motion shaft is connected with the first motion shaft and the eighth motion shaft in a servo connecting rod lifting mode, and the eighth motion shaft is in an electric servo control mode and controls the motion of the robot on the guide rail.
2. The 8-axis linkage robot according to claim 1, wherein the seventh motion axis adopts a hydraulic servo control mode.
3. The 8-axis linkage robot according to claim 2, wherein the hydraulic servo control uses a laser position sensor for distance measurement, and a laser position sensor is mounted on the seventh motion axis.
4. The 8-axis linkage robot according to any one of claims 1 to 3, wherein the first to sixth axes and the eighth axis adopt a semi-closed loop electric servo control mode.
5. The 8-axis linkage robot according to claim 4, wherein the 8-axis linkage robot body is provided with a binocular vision device and a servo controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920352191.6U CN209919879U (en) | 2019-03-12 | 2019-03-12 | 8-axis linkage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920352191.6U CN209919879U (en) | 2019-03-12 | 2019-03-12 | 8-axis linkage robot |
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| Publication Number | Publication Date |
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| CN209919879U true CN209919879U (en) | 2020-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920352191.6U Expired - Fee Related CN209919879U (en) | 2019-03-12 | 2019-03-12 | 8-axis linkage robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039511A (en) * | 2019-03-12 | 2019-07-23 | 华南理工大学 | 8 axis of one kind linkage robot and its control system and control method |
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2019
- 2019-03-12 CN CN201920352191.6U patent/CN209919879U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039511A (en) * | 2019-03-12 | 2019-07-23 | 华南理工大学 | 8 axis of one kind linkage robot and its control system and control method |
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Granted publication date: 20200110 |