CN214586522U - Intelligent servo system integrating PLC (programmable logic controller) and vision or force feedback - Google Patents
Intelligent servo system integrating PLC (programmable logic controller) and vision or force feedback Download PDFInfo
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- CN214586522U CN214586522U CN202120608013.2U CN202120608013U CN214586522U CN 214586522 U CN214586522 U CN 214586522U CN 202120608013 U CN202120608013 U CN 202120608013U CN 214586522 U CN214586522 U CN 214586522U
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Abstract
The utility model relates to a servo control technical field, and an integrated PLC, vision or force feedback's intelligent servo system is disclosed, including the motor and be used for the accommodate motor position, the servo driver of rotational speed and moment of torsion, servo driver includes motor drive module, simulation sensing module and controller, the controller is used for receiving the debugger position, speed, moment and logic settlement, outside IO signal trigger, receive vision sensing and force feedback, carry out motion control, realize the encoder communication, servo motor's control and drive, outside I0 signal is used for triggering and realizes different positions, speed, moment giving and logic switching. The intelligent servo system integrating the PLC and the visual or force feedback realizes position, speed, moment and logic setting through a debugging tool, realizes setting and logic switching of different positions, speeds and moments through external I0 signal triggering, and corrects position tracking and force control precision in real time through visual sensing or force feedback.
Description
Technical Field
The utility model relates to a servo control technical field specifically is an intelligent servo system of integrated PLC, vision or force feedback.
Background
The existing servo controller scheme does not support PLC (programmable logic unit), visual sensing or force feedback, and the general master control upper computer realizes the support of PLC (programmable logic unit), visual sensing or force feedback through network transmission. In addition, the scheme needs the cooperation of a master control upper computer, the cost is higher, the real-time performance of network transmission is lower, particularly the real-time data volume is larger, and the real-time performance of logic control and the precision of position tracking and force control are influenced. In industrial production, most of motion tracks are fixed, a position is not necessarily given by an upper computer in real time, the position and logic are designed in advance only through a debugging tool, different position giving is realized through external IO signal triggering, and the position tracking and force control accuracy is corrected in real time through visual sensing or force feedback, so that the intelligent servo system integrating PLC and visual or force feedback is provided.
SUMMERY OF THE UTILITY MODEL
The utility model provides a not enough to prior art, the utility model provides an intelligent servo of integrated PLC, vision or force feedback, the cost is reduced has improved the servo performance, has increased advantages such as security, reliability, ease for use, has solved traditional servo and needs the cooperation of master control host computer, and the cost is higher, and network transmission's real-time is lower, and especially the real-time data volume is bigger, has influenced logic control's real-time, the problem of position tracking and the precision of force control.
For realizing above-mentioned reduce cost, improve servo system performance, increase security, reliability, ease for use purpose, the utility model provides a following technical scheme: an intelligent servo system integrating PLC (programmable logic controller), vision or force feedback comprises a motor and a servo driver used for adjusting the position, the rotating speed and the torque of the motor, wherein the servo driver comprises a motor driving module, an analog sensing module and a controller, the controller is used for receiving the position, the speed, the torque and the logic setting of a debugger, triggering an external IO (input/output) signal, receiving the vision sensing and the force feedback, performing motion control, realizing the communication of an encoder and the control and the driving of the servo motor, and an external I0 signal is used for triggering the realization of the setting and the logic switching of different positions, speeds, torques;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting to issue servo controller, the controller output is used for motor drive module, controller and visual sensing pass through outside cable connection, just visual sensing is used for the information of real-time feedback position, controller and force feedback pass through outside cable connection, force feedback is used for the information of real-time feedback power, just visual sensing and the force feedback of controller can exist simultaneously or simply.
Preferably, the controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module.
Preferably, the visual position feedback control module acts on the input of the position regulator through position feedback, the motion control module provides position, velocity or torque set commands, and the force feedback control module acts on the input of the current regulator through force feedback.
Preferably, the motion control module acts on the input of the motor control module via a position controller, a speed controller and a current controller.
Preferably, the motor output end acts on an encoder, the output end of the encoder acts on the input end of the controller, the encoder is used for feeding back a motor position signal, the encoder acts on the input end of the position regulator and the input end of the motor control module, the encoder is further used as the input end of speed feedback, and the encoder acts on the input end of the speed regulator through the speed feedback.
Preferably, the controller and the debugger are connected by a cable, and the debugger is used only in a debugging state.
Preferably, the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching.
Preferably, the servo driver is connected with a power supply through an external cable, and the servo driver and the servo motor are connected through an external cable.
Preferably, the controller is connected with the encoder through an external cable, and the servo motor is connected with the encoder through a bearing.
Compared with the prior art, the utility model provides an intelligent servo of integrated PLC, vision or force feedback possesses following beneficial effect:
this integrated PLC, vision or force feedback's intelligent servo system, through integrated PLC, vision sensing or force feedback's servo controller design, the customer no longer needs upper controller, realize position, speed, moment and logic setting through the debug instrument, trigger through outside I0 signal and realize different positions, speed, moment given and logic switch, and through vision sensing or force feedback real-time correction position tracking and force control precision, the cost is reduced, servo system performance has been improved, the security has been increased, the reliability, the ease for use.
Drawings
Fig. 1 is a block diagram of the system structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an intelligent servo system integrating PLC and visual or force feedback includes a motor and a servo driver for adjusting the position, rotation speed and torque of the motor, where the servo driver includes a motor driving module, an analog sensing module and a controller, the controller is used to receive debugger position, speed, torque and logic settings, trigger external IO signals, receive visual sensing and force feedback, perform motion control, implement encoder communication, control and driving of the servo motor, and trigger external I0 signals to implement different positions, speeds, torque settings and logic switching;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting, and issue servo controller, the controller output is used for motor drive module, controller and visual sensing are connected through outside cable, and visual sensing is used for the information of real-time feedback position, controller and force feedback are connected through outside cable, force feedback is used for the information of real-time feedback power, and the visual sensing and the force feedback of controller can exist simultaneously or simply.
This integrated PLC, vision or force feedback's intelligent servo system, through the design of integrated PLC, vision sensing or force feedback's servo controller, realize position, speed, moment and logic through the debug instrument and set for, trigger through outside I0 signal and realize different positions, speed, moment given and logic switch to through vision sensing or force feedback real-time correction position tracking and force control precision, the cost is reduced has improved servo system performance, has increased security, reliability, ease for use.
The controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module; the visual position feedback control module acts on the input end of the position regulator through position feedback, the motion control module provides a position, speed or moment given instruction, and the force feedback control module acts on the input end of the current regulator through force feedback; the motion control module acts on the input end of the motor control module through a position regulator, a speed regulator and a current regulator; the output end of the motor acts on an encoder, the output end of the encoder acts on the input end of the controller, the encoder is used for feeding back a motor position signal, and the encoder acts on the input end of the position regulator and the input end of the motor control module, further acts as the input end of speed feedback and acts on the input end of the speed regulator through the speed feedback; the controller and the debugger are connected through a cable, and the debugger is only used in a debugging state; the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching; the servo driver is connected with a power supply through an external cable, and the servo driver is connected with the servo motor through the external cable; the controller is connected with the encoder through an external cable, and the servo motor is connected with the encoder through a bearing.
The force sensing and the visual sensing are in an or use relationship in use, for example, only force sensing, only visual sensing or both force sensing and visual sensing are adopted, or both force sensing and visual sensing are not used, and the force sensing and the visual sensing can be corrected in an intelligent servo system.
During operation, firstly, power input provides electric quantity for the servo driver, meanwhile, vision, force sensing and IO are utilized to enable the controller to complete corresponding operation and use, corresponding function driving is completed through the motion debugging module, the motion control module, the vision position feedback control module, the force feedback control module, the PLC control module, the encoder communication module and the motor control template in the operation process of the controller, the motion control module adopts single motion control sending, position adjusting and speed adjusting instructions, then the controller transmits control information of the motion control module to the motor through the motor driving module, and therefore construction of an intelligent servo motor system is completed.
In conclusion, a client does not need a superior controller any more, the position, speed, moment and logic setting is realized through a debugging tool, the giving and logic switching of different positions, speeds and moments are realized through the triggering of an external I0 signal, the superior controller and cables are saved, the cost is reduced, the position tracking and force control precision is corrected in real time through visual sensing or force feedback, the performance of a servo system is improved, the safety and reliability problems caused by cable damage are reduced, the usability problem caused by inconvenient cable installation is solved, and the safety, reliability and usability are improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an intelligent servo system of integrated PLC, vision or force feedback, includes the motor and is used for adjusting the servo driver of motor position, rotational speed and moment of torsion which characterized in that: the servo driver comprises a motor driving module, an analog sensing module and a controller, wherein the controller is used for receiving debugger position, speed, moment and logic setting, triggering an external IO signal, receiving visual sensing and force feedback, performing motion control, realizing encoder communication and control and driving of the servo motor, and triggering an external I0 signal to realize different position, speed, moment setting and logic switching;
the input of controller is used for the debugger, the debugger is used for realizing position, speed, moment and logic setting to issue servo controller, the controller output is used for motor drive module, controller and visual sensing pass through outside cable connection, just visual sensing is used for the information of real-time feedback position, controller and force feedback pass through outside cable connection, force feedback is used for the information of real-time feedback power, just visual sensing and the force feedback of controller can exist simultaneously or simply.
2. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the controller comprises a motion debugging module, a motion control module, a visual position feedback control module, a force feedback control module, a PLC control module, an encoder communication module and a motor control module.
3. The intelligent servo system integrating PLC, vision or force feedback according to claim 2, wherein: the visual position feedback control module acts on the input end of the position regulator through position feedback, the motion control module provides position, speed or moment given commands, and the force feedback control module acts on the input end of the current regulator through force feedback.
4. The intelligent servo system integrating PLC, vision or force feedback according to claim 2, wherein: the motion control module acts on the input of the motor control module via a position controller, a speed controller and a current regulator.
5. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the motor output end acts on the encoder, the output end of the encoder acts on the input end of the controller, the encoder is used for feeding back motor position signals, the encoder acts on the input end of the position regulator and the input end of the motor control module, the encoder is further used as the input end of speed feedback, and the encoder acts on the input end of the speed regulator through the speed feedback.
6. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the controller and the debugger are connected through a cable, and the debugger is used only in a debugging state.
7. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the servo controller is connected with an external IO signal through an external cable, and the external IO signal is used for triggering to realize different positions, speeds, moment giving and logic switching.
8. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the servo driver is connected with a power supply through an external cable, and the servo driver is connected with the servo motor through the external cable.
9. The intelligent servo system integrating PLC, vision or force feedback according to claim 1, wherein: the controller is connected with the encoder through an external cable, and the servo motor is connected with the encoder through a bearing.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114813567A (en) * | 2022-05-21 | 2022-07-29 | 上海贝特威自动化科技有限公司 | STM32 chip-based general motion control module for flying-shooting automatic visual equipment |
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2021
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114813567A (en) * | 2022-05-21 | 2022-07-29 | 上海贝特威自动化科技有限公司 | STM32 chip-based general motion control module for flying-shooting automatic visual equipment |
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