CN103802105A - Mechanical arm control system - Google Patents
Mechanical arm control system Download PDFInfo
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- CN103802105A CN103802105A CN201210442029.6A CN201210442029A CN103802105A CN 103802105 A CN103802105 A CN 103802105A CN 201210442029 A CN201210442029 A CN 201210442029A CN 103802105 A CN103802105 A CN 103802105A
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- plate
- board
- user
- control
- pulse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
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- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm control system which comprises a master control board, a pulse board, a user IO board, a system IO board, a user IO interface board and a system IO interface board. The pulse board, the user IO board and the system IO board perform data interaction with the master control board through a bus. The master control board processes data of the pulse board, the user IO board and the system IO board and sends control signals to the pulse board, the user IO board and the system IO board. The pulse board sends pulse signals to a servo driver which converts the pulse signals into control currents, and the control currents control a servo motor to rotate. The user IO board is connected with an external device through the user IO interface board, and the user IO board performs data interaction with the external device. The system IO board is connected with a sensor and a hand electromagnetic valve through the system IO interface board, and the system IO board performs data interaction with the sensor and the hand electromagnetic valve. Compared with a traditional middle-sized programmable logic controller, the mechanical arm control system has the advantages of being small in size and easy to expand.
Description
Technical field
The present invention relates to industrial automatic control technology, relate in particular to a kind of manipulator control system.
Background technology
Existing industrial robot control system mainly adopts Programmable Logic Controller (PLC) as kernel control chip, and the shortcoming of PLC is that volume is large, weight is heavier, various types of communication protocol extension inconvenience, cannot do advanced algorithm computing etc.Because industrial robot system requirements real-time is high, programmability strong and fast response time, so conventionally select Medium PLC as control device.Medium PLC is made up of power module, CPU module, digital quantity input module, digital output module, position control module, communication module, analog input module and analog output module conventionally, between each module, needing above to carry out array by the special backboard of PLC installs, after installing, whole equipment size is generally bigger than normal, takes up space.When Medium PLC and other system communicate, need to expand corresponding communication module and realize the support to respective communication agreement, this will additionally increase volume and the cost of equipment.
Summary of the invention
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of manipulator control system.
The manipulator control system that the present invention proposes is for manipulator control, described manipulator comprises servo-driver, servomotor, forearm, sensor and hand magnetic valve, described servo-driver is connected with described servomotor, described servomotor and described forearm are in transmission connection, and described sensor and described hand magnetic valve are placed on described forearm.Described control system comprises: master board, pulse plate, user IO plate, system IO plate, user IO interface board and system IO interface board.Wherein, described pulse plate, user IO plate and system IO plate carry out data interaction by bus and described master board; The data of described pulse plate, user IO plate and system IO plate are processed in described master board, and send a control signal to described pulse plate, user IO plate and system IO plate; Described pulse plate transmitted signal is to described servo-driver, and described pulse signal is converted to control electric current by described servo-driver, and servomotor rotates described in described control Current Control; Described user IO plate is connected with external equipment by described user IO interface board, and described user IO plate and described external equipment carry out data interaction; Described system IO plate is connected with described sensor and described hand magnetic valve by described system IO interface board, and described system IO plate and described sensor and described hand magnetic valve carry out data interaction.
Preferably, described master board is embedded control panel.
Preferably, described pulse plate, described user IO plate and described system IO plate carry out data interaction by CAN bus and described master board.
Preferably, described pulse plate adopts 485 interface standards to be connected with described driver.
Preferably, described manipulator control system also comprises supply module, and described supply module is electrically connected with described master board, described pulse plate, described user IO plate and described system IO plate by system IO interface board.
Preferably, described user IO interface board is two, and every described user IO interface board comprises input and the output port of 16 road signals.
Preferably, described manipulator control system also comprises upper control machine, described upper control machine and described manipulator communication.
The manipulator control system that the present invention proposes uses described control panel, described pulse plate, described user IO plate, described system IO plate, described user IO interface board and the described system IO interface board core devices as described manipulator control system, than traditional Medium PLC, the manipulator control system that the present invention proposes has advantages of that volume is little, can, by module integrated various types of communication to described control panel, avoid additional extension communication module simultaneously.
Accompanying drawing explanation
Fig. 1 is the manipulator control system structure chart of one embodiment of the invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage more clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The manipulator control system structure composition and the each parts annexation thereof that below first the present invention are proposed are described, and then in conjunction with the working environment of described manipulator control system, its operation principle are further described.
The manipulator control system that the present invention proposes is for manipulator control, described manipulator comprises servo-driver, servomotor, forearm, sensor and hand magnetic valve, described servo-driver is connected with described servomotor, described servomotor and described forearm are in transmission connection, and described sensor and described hand magnetic valve are placed on described forearm.Figure 1 shows that the manipulator control system structure chart of one embodiment of the invention.
In the present embodiment, described manipulator control system comprises: master board 100, user IO plate 101, system IO plate 102, pulse plate 103, user IO interface board 104 and system IO interface board 105.
Described pulse plate 103, described user IO plate 104 and described system IO plate 105 all carry out data interaction by bus and described master board 100.Preferably, described master board 100 is used embedded control panel.In described master board 100, built-in Linux operating system is installed, under built-in Linux environment, can develop the program that is applicable to control described manipulator, can also, by module integrated various types of communication to described control panel 100, avoid additional extension communication module simultaneously.In addition, described bus is the one in CAN bus or any bus with LAN control function.
The data of described pulse plate 103, user IO plate 101 and system IO plate 102 are processed in described master board 100, and send a control signal to described pulse plate 103, user IO plate 101 and system IO plate 102.
Described pulse plate 103 is to described servo-driver transmitted signal, and described pulse signal is converted to control electric current by described servo-driver, and described servomotor rotates under the control of described control electric current, drives described forearm motion simultaneously.Preferably, described pulse plate 103 adopts 485 interface standards to be connected with described driver.
Described user IO plate 101 is connected with external equipment by described user IO interface board 104, and described user IO plate 101 carries out data interaction with described external equipment.
Described system IO plate 102 is connected with described sensor and described hand magnetic valve by described system IO interface board 105, and described system IO plate 102 carries out data interaction with described sensor and hand magnetic valve.
The manipulator control system structure composition and the each parts annexation thereof that above the present invention are proposed are introduced, and below in conjunction with the working environment of described manipulator control system, its operation principle are further described.
Take the material gripping manipulator that is applied in lathe as example, described user IO plate 101 is connected with the material supervising device being placed on lathe by described user IO interface board 104, described material supervising device can be camera, for taking the quantity of material on described lathe; Described material supervising device can be also weight sensing device, and for detection of the weight of material on described lathe, described user IO plate 101 carries out data interaction with described material supervising device.
Particularly, when described material supervising device detects while having material on described lathe, can send data message to described user IO interface board 104, described data message shows there is material on described lathe.Described user IO plate 101 obtains described data message by described user IO interface board 104, and by described bus, described data message is sent to described master board 100, described master control borad 100 processing said data information, and send the first control signal and the second control signal to described pulse plate 103 and described system IO plate 102 respectively.Described pulse plate 103 according to described the first control signal to described servo-driver transmitted signal, described pulse signal is converted to control electric current by described servo-driver, described servomotor rotates under the control of described control electric current, drives described forearm motion simultaneously; Described system IO plate 102 carries out exchanges data with described sensor and described hand magnetic valve in real time according to described the second control signal simultaneously, described sensor is for monitoring the distance of current manipulator and described material, and the switch of described hand magnetic valve is used for controlling material described in described manipulator gripping.
Particularly, described sensor obtains the positional information of described manipulator in real time, described positional information is obtained and processed to described master board 100 by described system IO plate 102 and described system IO interface board 105, then transmit control signal to described pulse plate 103 in real time, close to described material to control described manipulator.
When described manipulator is described in can gripping when the position of material, described master board 100 transmits control signal to described pulse plate 103, controls described manipulator stop motion; Simultaneously described master board 100 transmits control signal to described system IO plate, to control material described in the gripping of described hand magnetic valve.After gripping has been moved, described master board 100 transmits control signal to described pulse plate 103, continue control described robot movement, by described material clamp to preassignment position.
Preferably, when described external equipment is while being multiple, described user IO interface board 104 can expand to polylith, and wherein every described user IO interface board comprises input and the output port of 16 road signals.
Preferably, described manipulator control system also comprises supply module, and described supply module powers to described master board 100, described pulse plate 103, described user IO plate 101 and described system IO plate 102 by system IO interface board 105.
Preferably, when described manipulator is while being multiple, described manipulator control system also comprises upper control machine, and described upper control machine and described multiple manipulator carry out communication, thereby described multiple manipulators are coordinated and scheduling.
The manipulator control system that the present invention proposes uses described control panel 100, described pulse plate 103, described user IO plate 102, described system IO plate 102, described user IO interface board 104 and described system IO interface board 105 core devices as described manipulator control system, than traditional Medium PLC, the manipulator control system that the present invention proposes has advantages of that volume is little, can, by module integrated various types of communication to described control panel 100, avoid additional extension communication module simultaneously.
Although the present invention is described with reference to current preferred embodiments; but those skilled in the art will be understood that; above-mentioned preferred embodiments is only used for illustrating the present invention; not be used for limiting protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalent replacement, improvement etc., within all should being included in the scope of the present invention.
Claims (7)
1. a manipulator control system, for manipulator control, described manipulator comprises servo-driver, servomotor, forearm, sensor and hand magnetic valve, described servo-driver is connected with described servomotor, described servomotor and described forearm are in transmission connection, described sensor and described hand magnetic valve are placed on described forearm, it is characterized in that, described control system comprises: master board, pulse plate, user IO plate, system IO plate, user IO interface board and system IO interface board, wherein
Described pulse plate, user IO plate and system IO plate carry out data interaction by bus and described master board;
The data of described pulse plate, user IO plate and system IO plate are processed in described master board, and send a control signal to described pulse plate, user IO plate and system IO plate;
Described pulse plate transmitted signal is to described servo-driver, and described pulse signal is converted to control electric current by described servo-driver, and servomotor rotates described in described control Current Control;
Described user IO plate is connected with external equipment by described user IO interface board, and described user IO plate and described external equipment carry out data interaction;
Described system IO plate is connected with described sensor and described hand magnetic valve by described system IO interface board, and described system IO plate and described sensor and described hand magnetic valve carry out data interaction.
2. a kind of manipulator control system according to claim 1, is characterized in that, described master board is embedded control panel.
3. a kind of manipulator control system according to claim 1, is characterized in that, described pulse plate, described user IO plate and described system IO plate carry out data interaction by CAN bus and described master board.
4. a kind of manipulator control system according to claim 1, is characterized in that, described pulse plate adopts 485 interface standards to be connected with described driver.
5. a kind of manipulator control system according to claim 1, is characterized in that, also comprises supply module, and described supply module is electrically connected with described master board, described pulse plate, described user IO plate and described system IO plate by system IO interface board.
6. a kind of manipulator control system according to claim 1, is characterized in that, described user IO interface board is two, and every described user IO interface board comprises input and the output port of 16 road signals.
7. a kind of manipulator control system according to claim 1, is characterized in that, also comprises upper control machine, described upper control machine and described manipulator communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210442029.6A CN103802105A (en) | 2012-11-08 | 2012-11-08 | Mechanical arm control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210442029.6A CN103802105A (en) | 2012-11-08 | 2012-11-08 | Mechanical arm control system |
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| CN103802105A true CN103802105A (en) | 2014-05-21 |
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| CN201210442029.6A Pending CN103802105A (en) | 2012-11-08 | 2012-11-08 | Mechanical arm control system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5331266A (en) * | 1992-06-24 | 1994-07-19 | Hughes Aircraft Company | Cooperative differential drive system |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN202155882U (en) * | 2011-06-28 | 2012-03-07 | 苏州经贸职业技术学院 | Carrying manipulator system |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
-
2012
- 2012-11-08 CN CN201210442029.6A patent/CN103802105A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5331266A (en) * | 1992-06-24 | 1994-07-19 | Hughes Aircraft Company | Cooperative differential drive system |
| CN1806940A (en) * | 2006-01-23 | 2006-07-26 | 湖南大学 | Defective goods automatic sorting method and equipment for high-speed automated production line |
| CN102139486A (en) * | 2011-04-14 | 2011-08-03 | 上海交通大学 | Control system for robot palletizer with self-maintenance function |
| CN202155882U (en) * | 2011-06-28 | 2012-03-07 | 苏州经贸职业技术学院 | Carrying manipulator system |
| CN102616577A (en) * | 2011-11-18 | 2012-08-01 | 上海沃迪自动化装备股份有限公司 | Control system for robot palletizer |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
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Application publication date: 20140521 |