CN216067464U - Electrical control system of multi-axis motion industrial robot - Google Patents
Electrical control system of multi-axis motion industrial robot Download PDFInfo
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- CN216067464U CN216067464U CN202023036163.5U CN202023036163U CN216067464U CN 216067464 U CN216067464 U CN 216067464U CN 202023036163 U CN202023036163 U CN 202023036163U CN 216067464 U CN216067464 U CN 216067464U
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Abstract
The utility model relates to an electrical control system of a multi-axis motion industrial robot, belonging to the technical field of electrical control. The system comprises an industrial personal computer and a driving signal, wherein a LabVIEW software platform runs on the industrial personal computer, the industrial personal computer is connected with an embedded control system, and the embedded control system is connected with a servo driving device for driving a robot; the embedded control system comprises an ARM-based processor and an operation display device, and the processor is connected with the operation display device; the servo driving device comprises a shaft motion control card connected with the processor and a plurality of servo amplifiers matched with the number of motion shafts of the robot, the processor controls the shaft motion control card to send pulse servo signals to the servo amplifiers, and the servo amplifiers output driving signals after processing the pulse servo signals to control the robot. The precise control of multi-axis motion is realized, and the flexibility and compatibility of use are ensured.
Description
Technical Field
The utility model relates to the technical field of electrical control, in particular to an electrical control system of a multi-axis motion industrial robot.
Background
With the continuous progress of science and technology, industrial robots have started to slowly walk into the lives of people. An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field, can automatically execute work, and is a machine which realizes various functions by means of self power and control capacity; it can accept human command and operate according to the program programmed in advance.
An industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism.
In the prior art, many control systems are still programmed based on program codes of C language, and the problem of difficult maintenance exists. Particularly, for a multi-axis operation robot of a vision sorting system, the electrical control technology is not good, and the production requirement cannot be met. We have therefore developed this and propose an electrical control system for a multi-axis motion industrial robot.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides the following technical scheme: the industrial personal computer runs a LabVIEW software platform:
the industrial personal computer comprises an RS485 control system, the RS485 control system is connected with a concentrator, the RS485 control system is connected with embedded control equipment, and the embedded control equipment is connected with a servo driving device for driving the robot;
the RS485 control system comprises an ARM-based processor and an operation display device, and the processor is connected with the operation display device;
the servo driving device comprises a shaft motion control card connected with the processor and a plurality of servo amplifiers matched with the number of motion shafts of the robot, and the processor controls the shaft motion control card to send out pulse servo signals and transmit the pulse servo signals to the servo amplifiers.
Furthermore, the servo amplifier comprises a comparison unit, a D/A conversion unit, a driving unit and a photoelectric encoder, wherein the comparison unit receives and compares the pulse servo signal transmitted by the shaft motion control card and the feedback pulse signal of the robot motion state acquired by the photoelectric encoder, and the driving unit outputs the driving signal after D/A conversion.
Furthermore, the signal output end of the driving unit is connected with a servo motor of the robot, the photoelectric encoder is connected with the servo motor to acquire a motion state signal of the servo motor, the operation display device comprises a control main board and a touch screen, and the control main board is connected with the processor to realize signal transmission.
Furthermore, the RS485 control system is connected with the RS485 concentrator through a bus, and the RS485 concentrator is connected with a serial port of the computer.
Further, the control main board is connected with a memory.
Furthermore, the control mainboard is connected with a switch for controlling whether the control mainboard works or not and an emergency stop switch.
Further, the emergency stop device comprises a power supply unit, wherein the power output end of the power supply unit is connected with an emergency stop unit, and the output end of the emergency stop unit is connected with the processor operation display device and the servo amplifier.
Further, the input end of the power supply unit is connected with a power processing device, the power processing device comprises a circuit breaker connected with a mains supply input end, a filter at the output end of the circuit breaker, and the output end of the filter is connected with the power supply unit.
Further, the system comprises six servo amplifiers, the axis motion control cards are six axis motion control cards, and the output end of each servo amplifier is connected with one motion axis of the robot
The utility model relates to an electrical control system of a multi-axis motion industrial robot, which comprises a control system.
The utility model has the beneficial effects that: the electrical control system of the multi-axis movement industrial robot runs a LabVIEW software platform on an industrial personal computer; the industrial personal computer is connected with the RS485 control system and the embedded control equipment, and the embedded control system is connected with a servo driving device for driving the robot. The technology realizes the simultaneous control of multiple axes of the robot and ensures the control accuracy; the device can be used in various use occasions and has excellent flexibility; and the RS485 control system connects the controllers in series by hand-in-hand connection through the RS485 communication bus, and one bus is connected to the RS485 concentrator and then connected to the serial port of the computer, so that one computer controls the management and communication of a plurality of controllers.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:
fig. 1 is a schematic structural view of an electric control system of a multi-axis motion industrial robot of the present invention;
fig. 2 is a schematic structural diagram of an RS485 control system of an electrical control system of a multi-axis motion industrial robot according to the utility model;
fig. 3 is a schematic structural diagram of a servo driving device of an electric control system of a multi-axis motion industrial robot.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The present embodiment is an electric control system of a multi-axis motion industrial robot, which is used for operation control of the multi-axis motion robot. Robots for use in environments with repetitive motion, such as in the fields of vision sorting techniques, automated assembly, painting, handling palletizing and welding. In the technical scheme, the multiple axes can be three-axis or four-axis or five-axis or six-axis robots. Specifically, in the following embodiments, a six-axis robot is used for the description.
Referring to fig. 1, there is shown a basic structure of an electric control system of a multi-axis motion industrial robot. In detail, the system comprises an industrial personal computer 1 and a driving signal, wherein a LabVIEW software platform runs on the industrial personal computer 1. The industrial personal computer 1 is connected with the RS485 control system 8, the RS485 control system 8 is connected with the embedded control equipment 2, and the embedded control equipment 2 is used for driving the servo driving device 3 of the robot. The industrial personal computer 1 is used as a system platform foundation for intelligent control and can operate a LabVIEW software platform. The RS485 control system 8 outputs a driving signal according to a preset instruction and the acquired feedback signal of the servo motor 4 of the robot, and the driving signal can drive the servo motor 4 to operate.
In detail, the embedded control device 2 comprises an ARM-based processor 21 and an operation display device 22, and the processor 21 is connected with the operation display device 22. The processor 21, which serves as the processing core for the overall electrical control system, should have good computational performance and superior system interrupt response capabilities. The operation display device 22 comprises a control main board 221 and a touch screen 222, wherein the control main board 221 is connected with the processor 21 to realize signal transmission, and the touch screen 222 realizes operation to input signals. The touch screen 222 provides a man-machine interface, and the control main board 221 is used for operating the core processing components of the display device 22. The control main board 221 is connected with a memory 223; the control main board 221 is connected to a switch for controlling whether the control main board 221 operates or not and an emergency stop switch. It should be noted that in the present embodiment, the touch screen 222 adopted is an EIT _ TFT800 × 480 industrial touch screen, and the touch screen is integrated with an ethernet controller, a serial port, an SD card controller, and a USB Host controller; the four-wire resistive touch screen is provided with an EIT _ TFT8048_ 070-A8.
In the embodiment, the processor 21 adopts an ARM Cortex-M3 processor which is a hybrid, the model thereof adopts an LM3S8962 which has high performance and low power consumption, and has six pulse output ports and 24I/O interfaces, the control of the six-axis robot and the connection of a plurality of peripheral devices are realized, and the embedded control system 2 realizes the control of the servo motor 4 of the robot through the servo driving device 3.
Referring to fig. 2, in this embodiment, the servo driving device 3 includes a shaft motion control card 31 connected to the processor 21 and a plurality of servo amplifiers 32 matching with the number of motion shafts of the robot, the processor 21 controls the shaft motion control card to send 31 a pulse servo signal and transmit the pulse servo signal to the plurality of servo amplifiers 32, and the plurality of servo amplifiers 32 process the pulse servo signal and output a driving signal to control the robot.
In the present embodiment, the axis motion control card 31 is a six-axis motion control card capable of controlling motions in six axes simultaneously. Correspondingly, six servo amplifiers 32 are provided, and the output end of each servo amplifier 32 is connected with one motion axis of the robot. Specifically, the output signal of each servo amplifier 32 is transmitted to a servo motor, and each servo motor corresponds to a motion axis of the six-axis robot. It should be noted that, in the present embodiment, the servo amplifier 32 receives the pulse servo signal of the shaft motion control card 31, processes the pulse servo signal, and outputs a driving signal for driving the operation of one servo motor 4.
Referring to fig. 3, a schematic diagram of the structure of the servo amplifier is shown. The servo amplifier 32 includes a comparing unit 321, a D/a converting unit 322, a driving unit 323, and a photoelectric encoder 324. The comparing unit 321, the D/a converting unit 322, and the driving unit 323 are electrically connected in sequence, thereby realizing a signal transmission process. Specifically, the photoelectric encoder 324 acquires the position and the speed of the servo motor 4, and these feedback pulse signals representing the motion state of one motion axis of the robot are transmitted to the comparison unit 321. The comparing unit 321 compares the feedback pulse signal with the pulse servo signal of the shaft motion control card 31, and the obtained result is transmitted to the D/a converting unit 322 to complete the signal mode conversion, and finally the driving unit 323 completes the output of the driving signal. It should be noted that, after the photoelectric encoder 324 obtains the feedback pulse signal, the feedback pulse signal is processed by the pulse processor 325 to obtain a system number signal conforming to the system number used by the comparing unit 321. In short, the technical solution of this embodiment is that the embedded control device 2 controls six servo motors 4 by controlling six servo driving devices 3, and each servo motor 4 corresponds to a motion axis of a robot, so as to realize accurate control of multiple axes simultaneously. In addition, human-computer interaction is realized by operating the display device 22.
In addition, it will be appreciated that in this embodiment, the power is supplied by mains, which of course is processed. In detail, the present embodiment includes a power supply unit 5, the power output end of the power supply unit 5 is connected to the emergency stop unit 6, and the output end of the emergency stop unit 6 is connected to the processor 21, the operation display device 22 and the servo amplifier 32, so as to supply power. Wherein, the input end of the power supply unit 5 is connected with the power processing device 7, the power processing device 7 comprises a circuit breaker 71 connected with the commercial power input end, a filter 72 at the output end of the circuit breaker 71, and the output end of the filter 72 is connected with the power supply unit 5. For example, 380V ac mains power is input, passed through the power processing device 7, and then output as 210V power, and finally 210V and 24V power are output by the power supply unit 5 for each corresponding module. It should be understood that LabVIEW software is the prior art, and the technical scheme should not be considered to be completed based on software, and thus the technical scheme does not belong to the protection scope of the utility model. LabVIEW software can compile corresponding graphs according to the work required to realize accurate control.
In summary, the technical scheme of the utility model realizes the accurate control of multi-axis motion, simultaneously ensures the flexibility and compatibility of use, and greatly meets the production requirement.
Finally, it should be noted that: in the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an electrical control system of multiaxis motion industrial robot, includes industrial computer and drive signal, runs LabVIEW software platform on this industrial computer, its characterized in that:
the industrial personal computer comprises an RS485 control system, the RS485 control system is connected with a concentrator, the RS485 control system is connected with embedded control equipment, and the embedded control equipment is connected with a servo driving device for driving the robot;
the RS485 control system comprises an ARM-based processor and an operation display device, and the processor is connected with the operation display device;
the servo driving device comprises a shaft motion control card connected with the processor and a plurality of servo amplifiers matched with the number of motion shafts of the robot, and the processor controls the shaft motion control card to send out pulse servo signals and transmit the pulse servo signals to the servo amplifiers.
2. An electrical control system of a multi-axis motion industrial robot as claimed in claim 1 wherein:
the servo amplifier comprises a comparison unit, a D/A conversion unit, a driving unit and a photoelectric encoder, wherein the comparison unit receives and compares a pulse servo signal transmitted by the shaft motion control card and a feedback pulse signal of the motion state of the robot acquired by the photoelectric encoder, and the driving signal is output by the driving unit after D/A conversion.
3. An electrical control system of a multi-axis motion industrial robot as claimed in claim 2 wherein:
the signal output end of the driving unit is connected with a servo motor of the robot, the photoelectric encoder is connected with the servo motor to acquire a motion state signal of the servo motor, the operation display device comprises a control main board and a touch screen, and the control main board is connected with the processor to realize signal transmission.
4. An electrical control system of a multi-axis motion industrial robot as claimed in claim 1 wherein:
the RS485 control system is connected with the RS485 concentrator through a bus, and the RS485 concentrator is connected with a computer serial port.
5. An electrical control system of a multi-axis motion industrial robot as claimed in claim 3 wherein:
the control mainboard is connected with a memory.
6. An electrical control system of a multi-axis motion industrial robot as claimed in claim 3 wherein:
the control mainboard is connected with a switch for controlling whether the control mainboard works or not and an emergency stop switch.
7. An electrical control system of a multi-axis motion industrial robot as claimed in claim 1 wherein:
the emergency stop device comprises a power supply unit, wherein the power output end of the power supply unit is connected with an emergency stop unit, and the output end of the emergency stop unit is connected with the processor operation display device and the servo amplifier.
8. An electrical control system of a multi-axis motion industrial robot as claimed in claim 7 wherein:
the input end of the power supply unit is connected with a power processing device, the power processing device comprises a circuit breaker connected with a mains supply input end, a filter at the output end of the circuit breaker, and the output end of the filter is connected with the power supply unit.
9. An electrical control system of a multi-axis motion industrial robot as claimed in claim 1 wherein:
the robot comprises six servo amplifiers, the axis motion control card is a six-axis motion control card, and the output end of each servo amplifier is connected with one motion axis of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023036163.5U CN216067464U (en) | 2020-12-15 | 2020-12-15 | Electrical control system of multi-axis motion industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023036163.5U CN216067464U (en) | 2020-12-15 | 2020-12-15 | Electrical control system of multi-axis motion industrial robot |
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| Publication Number | Publication Date |
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| CN216067464U true CN216067464U (en) | 2022-03-18 |
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| CN202023036163.5U Active CN216067464U (en) | 2020-12-15 | 2020-12-15 | Electrical control system of multi-axis motion industrial robot |
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