CN105945957B - A kind of underloading wireless transmission quick articulated robot control system of four cores - Google Patents
A kind of underloading wireless transmission quick articulated robot control system of four cores Download PDFInfo
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- CN105945957B CN105945957B CN201610412076.4A CN201610412076A CN105945957B CN 105945957 B CN105945957 B CN 105945957B CN 201610412076 A CN201610412076 A CN 201610412076A CN 105945957 B CN105945957 B CN 105945957B
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- 230000001133 acceleration Effects 0.000 claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims description 37
- 210000000245 forearm Anatomy 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 9
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- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 210000000617 arm Anatomy 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
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- 229910052799 carbon Inorganic materials 0.000 description 2
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- 238000009825 accumulation Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of underloadings to be wirelessly transferred the quick articulated robot control system of four cores, the control system includes main website control computer and controller, the controller includes dsp chip controller, integrated control chip, PLC controller, image capture module, wireless transport module and ARM controller, dsp chip controller and ARM controller are communicated to connect with main website control computer, dsp chip controller, integrated control chip and ARM controller are communicatively connected to each other, four rare earth permanent magnet brushless DC servo motors are communicated to connect with dsp chip controller, multiple avoidance displacement sensors, alignment sensor, acceleration transducer is communicated to connect with the dsp chip controller and ARM controller.The underloading wireless transmission quick articulated robot control system calculating speed of four cores of the present invention is fast, and so that articulated robot arm is turned to, flexible, motion stability is accurate, is convenient for wireless monitor.
Description
Technical field
The present invention relates to a kind of underloadings to be wirelessly transferred the quick articulated robot control system of four cores, belongs to assembling work
Four articulated robot arm application fields.
Background technology
In the industrial production, industrial robot can be done instead of the mankind some are more dull, relatively frequently and repetitive rates compared with
High long working, or in operations dangerous, under adverse circumstances, be typically used as moving to take part and assembly work, in micro- electricity
It is widely answered in the fields such as sub- manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry
With it is for improving production automation level, labor productivity and economic benefit, ensureing product quality, guarantee personal safety, change
Kind work situation reduces labor intensity, save material consumption and reduction production cost etc. are of great significance to.
The robot arm of SCARA industrial robots, that is, assembling work is a kind of industrial robot of circular cylindrical coordinate type, it
The quick positioning in X-Y plane is realized by rotary joint large arm and forearm, by a wrist linear joint and a hand
Wrist rotary joint does flexible and rotary motion in z-direction, and for tool there are four freedom of motion, the manipulator of the series is dynamic at it
The four direction for making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic makes SCARA robots be good at from some crawl object, is then quickly placed to another point, therefore SCARA robots
It is widely used on production line for automatically assembling.SCARA robot architectures are compact, flexible movements, and speed is fast, position is smart
Degree is high, its use substantially increases adaptability of the robot to Complex Assembly task, while also reducing cost, improves work
Make space availability ratio.
SCARA articulated robots want the moment to judge the location parameter of master controller input during transporting goods, and sentence
Environment moment avoidance around disconnected, then by motion controller repetitive control, its accurate acceleration and deceleration are transported goods,
Deviation accumulation slightly is possible to cause transport to fail in more bouts move.Although use of the country to SCARA robots
There are a decades, but since domestic industry robot develops starting than later, is influenced by more key technology, SCARA machines
Man-based development is also by being influenced, and traditional robot principle during long-time service as shown in Figure 1, great number of issues occur：
（1）When SCARA robots carry out zero position playback or when robot resets, relies on and manually estimate
Mode so that the zero position setting of robot is wrong.
（2）Although permanent-magnet DC servo motor increases compared with direct current generator, stepper motor function, common permanent magnetism is straight
Flow servo motor is to have brush configuration, because there are collector ring charcoal brush configuration, spark is generated in motor operation, especially in high speed
Serious ring fire will be generated, radio interference is generated, is not suitable for high speed rotation, is not suitable for the SCARA machines for applying to run with load
Device people.
（3）Permanent-magnet DC servo motor is to have brush configuration, is in direct contact between collector ring and carbon brush and high speed relative motion,
This mechanical structure to generate larger mechanical noise with the presence of mechanical friction so that the noise pollution of SCARA robots increases
Greatly.
（4）Permanent-magnet DC servo motor is to have brush configuration, needs to regularly replace carbon brush, motor can only use open-type protective
Form, and brushed DC motor efficiency is low, is not suitable for the SCARA robots for applying to run with load.
Invention content
The invention mainly solves the technical problem of providing a kind of underloadings to be wirelessly transferred the quick articulated robot control of four cores
System, the underloading wireless transmission quick articulated robot control system calculating speed of four cores is fast, and articulated robot arm is made to turn to
Flexibly, motion stability is accurate, compact, and performance is stablized, and noise is low, is convenient for wireless monitor.
In order to solve the above technical problems, the technical solution adopted by the present invention is：It is fast to provide a kind of four cores of underloading wireless transmission
Fast articulated robot control system, the articulated robot is using the rare earth permanent magnet brushless DC servo motor X driving machines National People's Congress
Arm rotary motion, using the rotary motion of rare earth permanent magnet brushless DC servo motor Y driving robot forearm, using rare earth permanent magnet without
Brush DC servo motor Z driving robot wrists rotary motion drives robot using rare earth permanent magnet brushless DC servo motor R
Wrist elevating movement is equipped with avoidance displacement sensor S1, avoidance displacement sensor S2 and acceleration on the robot's arm
Sensors A 1 is equipped with avoidance displacement sensor S3, avoidance displacement sensor S4 and acceleration sensing on the robot forearm
Device A2, alignment sensor S5 and acceleration transducer A3 are equipped on the robot wrist, and the control system includes master
Stand control computer and controller, the controller include dsp chip controller, PlC controllers, integrated control chip, image
Acquisition module, wireless transport module and ARM controller communicate to connect between described image acquisition module and wireless transport module,
The dsp chip controller, integrated control chip and PlC controllers are communicated to connect with the main website control computer, described
Dsp chip controller, integrated control chip and ARM controller are communicatively connected to each other, the wireless transport module and ARM controller
Communication connection, the PlC controllers are communicated to connect with ARM controller, the rare earth permanent magnet brushless DC servo motor X, rare earth
DC permanent-magnetic brushless servo motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R are equal
It is communicated to connect with the dsp chip controller, the avoidance displacement sensor S1, avoidance displacement sensor S2, avoidance displacement pass
Sensor S3, avoidance displacement sensor S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration pass
Sensor A3 is communicated to connect with the dsp chip controller and ARM controller simultaneously.
In a preferred embodiment of the present invention, further include the master that power supply is provided for the articulated robot and control system
Power supply and stand-by power supply, the controller in each motor and sensor and control system in the articulated robot are equal
It is electrically connected with the main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, the rare earth permanent magnet brushless DC servo motor X, rare-earth permanent magnet brushless are straight
It is even on flow servo motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R to be provided with light
Photoelectric coder, the photoelectric encoder are electrically connected with the dsp chip controller.
In a preferred embodiment of the present invention, described image acquisition module is CCD camera component.
In a preferred embodiment of the present invention, it is provided with decoding chip in described image acquisition module.
In a preferred embodiment of the present invention, magnetoelectric transducer EM1, the machine are installed on the robot's arm
Magnetoelectric transducer EM2 is installed on people's forearm, magnetoelectric transducer EM3 and EM4, the magnetoelectricity are installed on the robot wrist
Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are logical with the dsp chip controller and ARM controller
Letter connection.
The beneficial effects of the invention are as follows：The underloading of the present invention is wirelessly transferred the quick articulated robot control system of four cores and calculates
Speed is fast, and so that articulated robot arm is turned to, flexible, motion stability is accurate, compact, and performance is stablized, system rejection to disturbance ability
By force, noise is low, is convenient for wireless monitor, the addition of wireless transmitting system that main website is allow to understand working result in real time, main simultaneously
SCARA robots task can be changed in real time according to actual needs at any time by standing.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is tradition SCARA robot controller schematic diagrams；
Fig. 2 is based on four axis rare earth permanent magnet brushless DC servo motor SCARA robots two-dimensional structure figures；
Fig. 3 is dsp controller and integrated control chip connection diagram；
Fig. 4 is based on four core, four axis rare earth permanent magnet brushless DC servo motor SCARA robot controller schematic diagrams；
Fig. 5 is based on four core, four axis rare earth permanent magnet brushless DC servo motor SCARA robot program's block diagrams；
Fig. 6 is based on four core, four axis rare earth permanent magnet brushless DC servo motor motion principle figure；
Fig. 7 is four spindle motor acceleration and deceleration curves figures；
Fig. 8 is that the underloading of the present invention is wirelessly transferred the quick articulated robot control system architecture schematic diagram of four cores.
The label of each component is as follows in attached drawing：1, main website control computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, stand-by power supply, 7, rare earth permanent magnet brushless DC servo motor X, 8, rare earth permanent magnet brushless DC
Servo motor Y, 9, rare earth permanent magnet brushless DC servo motor Z, 10, rare earth permanent magnet brushless DC servo motor R, 11, photoelectricity compiles
Code device, 12, avoidance displacement sensor S1,13, avoidance displacement sensor S2,14, avoidance displacement sensor S3,15, avoidance displacement
Sensor S4,16, alignment sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer
A3,20, PLC controller, 21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectricity passes
Sensor EM4,25, wireless transport module, 26, image capture module, 27, decoding chip, 28, integrated control chip.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
Fig. 2 to Fig. 8 is please referred to, the embodiment of the present invention includes：A kind of underloading wireless transmission quick articulated robot control of four cores
System processed, SCARA robot of the machine artificially based on four axis rare earth permanent magnet brushless DC servo motors, i.e., the described joint machine
People is watched using the rotary motion of rare earth permanent magnet brushless DC servo motor X7 driving robot's arms, using rare earth permanent magnet brushless DC
Take the rotary motion of motor Y8 driving robot forearms, using the Z9 driving robot wrist's rotations of rare earth permanent magnet brushless DC servo motor
Transhipment is dynamic, drives robot wrist's elevating movement using rare earth permanent magnet brushless DC servo motor R10, on the robot's arm
It is small that avoidance displacement sensor S1 12, avoidance displacement sensor S2 13 and acceleration transducer A1 17, the robot are installed
Avoidance displacement sensor S3 14, avoidance displacement sensor S4 15 and acceleration transducer A2 18, the machine are installed on arm
Alignment sensor S5 16 and acceleration transducer A3 19 are installed in human wrist.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, integrated control chip 28, PlC controllers 20, image capture module 26, wireless transport module 25 and ARM controller 4, it is described
It is communicated to connect between image capture module 26 and wireless transport module 25, the dsp chip controller 3, integrated control chip 28
It is communicated to connect with the main website control computer 1 with PlC controllers 20, the dsp chip controller 3, integrated control chip
28 and ARM controller 4 it is communicatively connected to each other, the wireless transport module 25 and ARM controller 4 communicate to connect, the PlC controls
Device 20 is communicated to connect with ARM controller 4, and decoding chip 27 is provided in described image acquisition module 26.
The rare earth permanent magnet brushless DC servo motor X7, rare earth permanent magnet brushless DC servo motor Y8, rare earth permanent magnet without
Brush DC servo motor Z9 and rare earth permanent magnet brushless DC servo motor R10 is communicated to connect with the dsp chip controller 3,
The avoidance displacement sensor S1 12, avoidance displacement sensor S2 13, avoidance displacement sensor S3 14, avoidance displacement sensing
Device S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3
19 communicate to connect with the dsp chip controller 3, PLC controller 20 and ARM controller 4 simultaneously.
Preferably, the underloading of the invention wireless transmission quick articulated robot control system of four cores further includes for the joint
Robot and control system provide the main power source 5 and stand-by power supply 6 of power supply, each motor in the articulated robot and
Controller 2 in sensor and control system is electrically connected with the main power source 5 and/or stand-by power supply 6.
Preferably, the rare earth permanent magnet brushless DC servo motor X 7, rare earth permanent magnet brushless DC servo motor Y 8, dilute
It is even on native DC permanent-magnetic brushless servo motor Z 9 and rare earth permanent magnet brushless DC servo motor R10 to be provided with photoelectric encoder 11,
The photoelectric encoder 11 is electrically connected with the dsp chip controller 3.
Preferably, magnetoelectric transducer EM1 21 is installed on the robot's arm, is equipped on the robot forearm
Magnetoelectric transducer EM2 22 is equipped with magnetoelectric transducer EM3 23 and EM4 24, the magnetic-electric sensing on the robot wrist
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 with the dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, detect signal when four
When, SCARA robots realize accurate reset, improve the accuracy of reset.
The present invention uses dsp controller 3（TMS320F2812）The 28+ARM controls of+PLC controller 20+ integrated control chips
Device 4（STM32F746）Four cores carry out system control.The big rule that integrated control chip 28 is produced using National Semiconductor
Mould integrated chip LM628.The present invention controller principle be：Under power-on state, ARM controller is first spare to robot
Power supply SOC（State-of-charge）Judged with main power source, if stand-by power source is relatively low, controller will be by wirelessly sending out to master station
Alarm signal；If stand-by power supply and main power source are working properly, first by master station by PLC controller the large arm, small of transporting goods
Each coordinate information that arm and wrist rotation angle and adjustable height either copy cargo mechanically inputs to ARM, is then counted by ARM
Calculate the parameter of robot servo system；Zero position sensor EM1, EM2, EM3 and EM4 and be based on that SCARA robots carry
The image capturing system of CCD is started to work, and the two guided robot resets to setting zero position, and robot enters self-locking state；
After carrying command starts, avoidance sensor, alignment sensor and acceleration transducer that robot carries are opened,
SCARA robots are according to the transport path fast removal of setting ARM optimizations, and DSP and LM628 communications, LM628 is according to servo parameter
Adjust SCARA robots rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo in real time with sensor feedback
The PWM of motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R are exported, and realize four
The real-time servo of rare earth permanent magnet brushless DC servo motor controls, and CCD camera detects carrying in real time as a result, ARM is to digitized map
The processing and storage of picture are simultaneously transmitted by wireless system, and main website is detected by image comparison technology and carries result automatically.If ARM
It has a question, will be communicated with DSP to carrying some position, DSP makes SCARA robots stop by LM628, and then main website passes through
Image comparison judges carrying information, not complete by the continuation of wireless device restarting SCARA robots after confirmation is errorless
At task；The location information that transports goods newly is added with ARM communication transfers in real time by PLC in main website, is watched by ARM updates robot
Dress system parameter, and communicated with DSP, controlling robot by LM628 completes new task.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, Fig. 7, specific function are realized as follows：
1）After SCARA robot power supplies are opened, ARM can judge stand-by power supply SOC and main power source, if standby electricity
When source SOC is relatively low, DSP will forbid the LM628 of four rare earth permanent magnet brushless DC servo motors of control to work, and motor inputs PWM
Wave control signal is blocked, while alarm sensor will work and to master station and send out alarm signal by wireless device；If electric
Pond SOC is normal, and SCARA robots, which enter, waits for working condition, waits for work order.
2）Once master station's work order starts, PLC starts to communicate with ARM, and PLC controller is large arm, forearm lengths and liter
It drops the information such as the length of bar and ARM controller is passed to by RS484, robot starts to correct zero position, and SCARA robots carry
Magnetoelectric transducer EM1, EM2, EM3 and EM4 and image capturing system based on CCD start to work, EM1, EM2, EM3 and EM4
The zero position mark of setting is respectively found, when magnetoelectric transducer EM1, EM2, EM3 and EM4 have signal output, ARM is passed in real time
Defeated reset image is to master station, after master station's confirmation is errorless, is communicated by wireless device and DSP, and DSP is dilute by four tunnels of LM628 blocks
The PWM wave of native DC permanent-magnetic brushless servo motor controls signal, and SCARA robots guide zero position to reset and complete automatically, at this time
ARM controller and dsp controller set each rotation angle, wrist lifting height。
3）In order to meet the acceleration and deceleration motion needs of SCARA robots, the present invention uses the run duration such as Fig. 7 trapezoidal
Figure, the area that this ladder diagram includes are exactly the height of robot's arm, forearm and the wrist angle to be rotated either wrist lifting
Degree controls for convenience, and the present invention uses single acceleration model.
4）SCARA robots read its operating mode if it is manual working pattern, and main website begins through PLC and ARM and controls
Device communication processed needs the angle rotated by main website input SCARA robot's arms, forearm and wrist,,And SCARA
Robot wrist needs to rise the height either declinedTo ARM controller, ARM controller is according to Denavit-
Hartenberg algorithms start robot location and posture forward direction solves：ARM controller first according to SCARA robot's arms,
Forearm and wrist need the angle rotated,,And SCARA robot wrists need the height risenCalculate phase
Position auto―control between adjacent two member coordinates,,,, each personal 4*4 two-dimensional arrays mark is used in combination,
,,,It indicates respectively as follows：
,,
,。
Then ARM controller passes through formulaWrist actuator can be found out and complete task
Position afterwards and posture, and communicated with DSP, artificial input parameter is transmitted to DSP.
5）SCARA robots read work pattern begins through PLC if it is normal automatic transporting operating mode, main website
Communicated with ARM controller, by residing for input SCARA robots of main website initial position and given position three-dimensional coordinate give ARM to control
Device processed, it is Converse solved that ARM controller according to Denavit-Hartenberg algorithms starts robot：ARM controller basis first
X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate find out large arm and need the angle rotated, and by
Value find outValue, and according to the Z coordinate in three-dimensional coordinate find out wrist rise or reduce height, finally find out rotation
Gyration, due to solvingWhen equation have it is bilingual, so SCARA robots find out large arm, forearm and wrist need
The angle to be rotated,,And SCARA robot wrists need the height risenAfterwards, ARM controller can be to solving
As a result it optimizes, then ARM controller is communicated with DSP, most has servo motion parameter to be transferred to dsp controller in robot.
6）Dsp controller receives SCARA robot's arms, forearm and wrist and needs the angle rotated,,And
SCARA robot wrists need the height risenAfterwards, sensor S1 ~ S5 in large arm, forearm and wrist, EM1, EM2 and
EM3 will be opened, and SCARA robots want zero setting position to be judged first, after confirming that initial position is errorless, SCARA robots pair
Barrier in each rotating arm rotation angle is judged that such as there is barrier will send out interrupt requests to DSP, and DSP can be right
Interruption is done to be responded at the first time, and then DSP forbids four axis LM628 work, four axis rare earth permanent magnet brushless DC servo motor PWM waves
Control signal is blocked, and SCARA robots forbid rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo
Motor Y, rare earth permanent magnet brushless DC servo motor Z and the R work of motor rare earth permanent magnet brushless DC servo motor, robot self-locking
In situ, the image capturing system based on CCD is opened, and interrupt requests are sent out to master station by wireless device after ARM processing, in order to
Prevent information from judging by accident, master station is by the secondary obstacle information judged in motion range of radio transmitting image, artificially by master station
Barrier is managed, prevents barrier from influencing to carry work.
7）If master station is secondary to determine that clear enters moving region by image taking results, wireless device will be passed through
It is communicated with DSP, dsp controller decomposes movement position according to the speed time curve of Fig. 7, and DSP is rotated three first
Angle,,It is converted into acceleration, speed and the position initial order value of three rare earth permanent magnet brushless DC servo motors,
Then DSP and LM628 is communicated, the photoelectric encoder feedback of LM628 combination motors X, motor Y and motor Z, through being watched inside LM628
The PWM wave that clothes adjust Program Generating motor X, motor Y and motor Z controls signal, and PWM wave controls signal and amplifies rear-guard through drive axle
Move each motor movement.The PID that dsp controller adjusts SERVO CONTROL program inside LM628 according to input deviation size in real time joins
Number, LM628 controllers adjust its rotation angle by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor, lead to
The frequency for crossing adjustment rare earth permanent magnet brushless DC Serve Motor Control signal realizes the variation of angular speed speed, makes three axis rare earths forever
Magnetic brushless DC servomotor timing synchronization works, the location parameter that DSP moment recorder people have moved, and by wireless
It is transmitted in real time to master station.
8）In SCARA robots moving process, sensor S1 ~ S4 moment carries out the moving obstacle in motion range
Judge, if there is barrier enters motion range, DSP makes large arm, forearm and the wrist of SCARA robots by LM628 immediately
It stops immediately according to the retarded motion curve of Fig. 7, dsp controller records present rotation angel degree,,Information, and pass through
Wirelessly communicated with main website；After equal barriers disappear, main website inputs the rotation angle of new position by wireless device to DSP,
,, then DSP control LM628 according to Fig. 7 curve movement again pass through three sections of movement locus：It accelerates, uniform motion
And retarded motion, eventually arrive at set point.
9）In moving process, large arm, forearm and the angle of wrist rotation that the DSP moment records accelerometer feedback accelerate
Degree, controller obtain the rotation angle of large arm, forearm and wrist by quadratic integral, and compared with the position angle angle value of setting
Compared with if deviation is more than setting threshold values, it is new that this deviation is converted into three rare earth permanent magnet brushless DC servo motors by DSP
Acceleration, speed and position initial order value, in next sampling period, DSP and LM628 is communicated, LM628 combination motors X, electricity
The feedback of machine Y and motor Z motor photoelectric encoders feedback adjust Program Generating motor X, motor Y and electricity through servo inside LM628
The PWM wave of machine Z controls signal, and PWM wave control signal drives each motor movement after drive axle amplifies.Dsp controller according to
Input deviation size adjusts the pid parameter of SERVO CONTROL program inside LM628 in real time, LM628 controllers by adjusting rare earth forever
The number of drive pulses of magnetic brushless DC servomotor adjusts its rotation angle, by adjusting rare earth permanent magnet brushless DC servo electricity
The frequency of machine control signal realizes the variation of angular speed speed, and then eliminates the error of upper sampling period generation, makes SCARA
Robot completes task according to setting track.
10）In SCARA robot kinematics, DSP can store passed through the location of SCARA robots at the moment
The reference point either passed through, and next reference point SCARA robots relatively are calculated by DSP according to these range informations
Rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC servo motor Z
Angle, angle rates and the angular acceleration to be run respectively, LM628 combination motors X, motor Y and motor Z motor photoelectric encoders
The feedback of feedback, the PWM wave that Program Generating motor X, motor Y and motor Z are adjusted through internal servo control signal, PWM wave control
Signal drives each motor movement after drive axle amplifies.Dsp controller adjusts inside LM628 in real time according to input deviation size
The pid parameter of SERVO CONTROL program adjusts its rotation by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor
Gyration is realized the variation of angular speed speed by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal, is made
SCARA robots quickly move ahead according to setting speed.
11）Three axis rotation angles are completed in SCARA robots,,SERVO CONTROL after, DSP secondary detections accelerate
Spend sensor integrated value, if it find that SCARA robots in motion process by three rotation angles after external interference,
,When error with set angle is more than setting threshold values, ccd image acquisition system acquires in real time carries information, after ARM is handled
Image transmitting request is sent out to master station by wireless device, master station detects carrying by image comparison technology as a result, DSP handles automatically
Three rotation angle deviations,,It is converted into the acceleration of three rare earth permanent magnet brushless DC servo motor fine positions
Degree, speed and position initial order value, then DSP and LM628 communications, LM628 combination motors X, motor Y and motor Z motor light
The feedback of photoelectric coder feedback, the PWM wave that Program Generating motor X, motor Y and motor Z are adjusted through servo inside LM628 control letter
Number, PWM wave control signal drives each motor movement after drive axle amplifies.Dsp controller is real-time according to input deviation size
The pid parameter of SERVO CONTROL program inside LM628 is adjusted, LM628 controllers are by adjusting rare earth permanent magnet brushless DC servo electricity
The number of drive pulses of machine adjusts its rotation angle, by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal
Realize angular speed speed variation, by the task again of three axis rare earth permanent magnet brushless DC servo motors make robot's arm,
Forearm and wrist reach setting position.
12）When the large arm of SCARA robots, forearm and wrist complete angle,,Angle compensation reach setting
Behind position, the sensor EM4 in wrist will be again turned on, and SCARA robots want zero setting position to be judged first, be confirmed initial
After position is errorless, DSP is according to the speed time curve of Fig. 7, the distance that wrist is liftedIt is straight to be converted into rare-earth permanent magnet brushless
Acceleration, speed and the position initial order value of flow servo motor R, then DSP and LM628 communications, LM628 combination motor R light
The feedback of photoelectric coder, the PWM wave that Program Generating motor R is adjusted through internal servo control signal, and PWM wave controls signal through driving
Each motor movement is driven after bridge amplification.Dsp controller adjusts servo control processing procedure inside LM628 in real time according to input deviation size
The pid parameter of sequence, dsp controller adjust its rotation by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor
Angle realizes the variation of angular speed speed by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal, makes hand
Wrist steadily reaches setting position in setting time.
13）During the motion if SCARA robots find that location parameter solution occurs during endless loop will send out to ARM
Disconnected request, ARM can do interruption and respond at the first time, and ARM controller will be communicated with DSP immediately, and DSP is sealed by LM628 immediately
The control signal of four rare earth permanent magnet brushless DC servo motors, robot original place self-locking are locked, ARM controller passes through wireless device
It being communicated with main website, the CCD moment acquires peripheral information and by wireless transmission, and main website analyzes Image Acquisition information,
And it according to the secondary restarting SCARA robots of collection result, is carried by secondary inputted to SCARA robots of PLC controller
Information.
14）In SCARA robots repeatedly repeatedly in motion process, if main website discovery has interim vital task that work is added
In queue, main website will open PLC controller, be communicated by PLC controller and ARM by main website, PLC is inputted by RS485 to ARM
The position servo parameter of vital task, ARM and DSP are communicated, and complete currently outstanding task by DSP controls LM628 first, together
When ARM update the original servo control parameter queues of DSP, and transmit new servo position parameter to DSP, make DSP controls
LM628 completes the important temporary duty being inserted into queue.
15）In SCARA robots repeatedly repeatedly in motion process, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 are read
When to transducing signal, dsp controller will carry out new position servo control with zero position parameter instead of existing location parameter, and
Error is calculated, in next sampling period, DSP passes through three closed loop rare earth permanent magnet brushless DC servo motor controls inside LM628
Processing procedure ordered pair error compensates, and eliminates cumulative errors in time.
16）In SCARA robots handling process, main website can carry out automatically analyzing comparison to the acquisition image based on CCD,
A certain position such as pinpoint the problems there are when problem, main website first passes through wireless device and communicated with DSP, and DSP controls LM628 completions first
Current task is simultaneously stopped in setting zero position, detects carrying automatically by main website as a result, being updated by ARM after automatic detection
The next servo-controlled location parameters of DSP are realized the SERVO CONTROL of new position by DSP controls LM628.
17）Mounted in rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet without
Photoelectric encoder on brush DC servo motor Z, rare earth permanent magnet brushless DC servo motor R can export its position signal A and position
Confidence B, the position signal A pulses of photoelectric encoder and B pulsed logics state often change once, and the position in DSP and ARM is posted
Storage can add 1 either to subtract 1 according to the traffic direction of motor；The position signal A pulses and B pulses and Z pulses of photoelectric encoder
When being low level simultaneously, just generates an INDEX signal and DSP and ARM internal registers, record rare earth permanent magnet brushless DC is given to watch
The absolute position for taking motor is then convert into SCARA robot's arms, forearm either tool of the wrist in three-dimensional coordinate system
Body position, ARM controller are communicated by PLC and main website in real time, and important location parameter is transferred to main website.Work as magnetoelectric transducer
When EM1, EM2 and EM3 read transducing signal, dsp controller will replace existing location parameter with zero position parameter, eliminate in time
Cumulative errors.
18）SCARA robots are monitored AC ac main powers at the operational process ARM controller moment, if control
When device finds main power source failure power-off suddenly, ARM can be communicated with DSP, and open stand-by power supply, be four axis by stand-by power supply
Rare earth permanent magnet brushless DC servo motor provides energy, and DSP adjusts program four rare earths of adjustment in real time by servo inside LM628
The PWM of DC permanent-magnetic brushless servo motor is exported, LM628 controllers by adjusting rare earth permanent magnet brushless DC servo motor drive
Moving pulse number adjusts its rotation angle, and angle is realized by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal
The variation of speed speed makes SCARA robots complete current carrying task, and then SCARA robots are carried out by PLC and main website
Communication, and main website is notified to be overhauled.
19）In the SCARA robots Multi-asis servo system course of work, if DSP servo controllers detect some
The torque of rare earth permanent magnet brushless DC servo motor is pulsed, the rare earth permanent magnet brushless DC servo electricity used due to the present invention
Machine power square and current of electric are in direct ratio, therefore controller can be easy to compensate this interference, and are adjusted in real time according to interference size DSP
Pid parameter inside whole LM628 reduces influence of the motor torque disturbance to SCARA robot kinematics.
20）When SCARA robots complete task, realize position zero, the acceleration transducer A1 ~ A3, the magnetic that carry
Electric transducer EM1, EM2, EM3 and EM4 can work at the moment, first have acceleration transducer to detect its acceleration, when acceleration is more than
When pre-set threshold value, in the error that next cycle dsp controller can be brought by a cycle in LM628 amendments, when magnetoelectricity passes
When sensor EM1, EM2, EM3, EM4 have signal output, ccd image acquisition system acquires repositioning information in real time, through ARM processing
Image transmitting request is sent out to master station by wireless device afterwards, master station automatically resets by image comparison technology as a result, DSP passes through
The PWM wave that LM628 blocks four road rare earth permanent magnet brushless DC servo motors controls signal, and SCARA robots guide zero-bit automatically
It sets reset to complete, SCARA robots realize the playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 7, then
Zero-bit self-locking waits for next group work order.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of underloading is wirelessly transferred the quick articulated robot control system of four cores, which is characterized in that the articulated robot is adopted
With dilute
Native DC permanent-magnetic brushless servo motor X drives robot's arm rotary motion, using rare earth permanent magnet brushless DC servo electricity
Machine Y
It drives robot forearm rotary motion, fortune is rotated using rare earth permanent magnet brushless DC servo motor Z driving robot wrists
It moves, drive robot wrist's elevating movement using rare earth permanent magnet brushless DC servo motor R, be equipped on the robot's arm
Avoidance displacement sensor S1, avoidance displacement sensor S2 and acceleration transducer A1 are equipped with avoidance on the robot forearm
Displacement sensor S3, avoidance displacement sensor S4 and acceleration transducer A2 are equipped with orientation sensing on the robot wrist
Device S5 and acceleration transducer A3, the control system include main website control computer and controller, and the controller includes
Dsp chip controller, PLC controller, integrated control chip, image capture module, wireless transport module and ARM controller, institute
It states and is communicated to connect between image capture module and wireless transport module, the dsp chip controller, integrated control chip and PLC
Controller is communicated to connect with the main website control computer, the dsp chip controller, integrated control chip and ARM controls
Device is communicatively connected to each other, and the wireless transport module and ARM controller communication connection, the PLC controller are logical with ARM controller
Letter connection, the rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare-earth permanent magnet brushless are straight
Flow servo motor Z and rare earth permanent magnet brushless DC servo motor R is communicated to connect with the dsp chip controller, the avoidance
Displacement sensor S1, avoidance displacement sensor S2, avoidance displacement sensor S3, avoidance displacement sensor S4, alignment sensor S5,
Acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 are controlled with the dsp chip controller and ARM simultaneously
Device communication connection processed, the rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet
It is both provided with photoelectric encoder, the photoelectric coding on brushless DC servomotor Z and rare earth permanent magnet brushless DC servo motor R
Device is electrically connected with the dsp chip controller, and described image acquisition module is CCD camera component, and described image acquires mould
It is provided with decoding chip in block, magnetoelectric transducer EM1 is installed on the robot's arm, is equipped on the robot forearm
Magnetoelectric transducer EM2 is equipped with magnetoelectric transducer EM3 and EM4, the magnetoelectric transducer EM1, magnetoelectricity on the robot wrist
Sensor EM2, magnetoelectric transducer EM3 and EM4 are communicated to connect with the dsp chip controller and ARM controller.
2. underloading according to claim 1 is wirelessly transferred the quick articulated robot control system of four cores, which is characterized in that also
Include the main power source and stand-by power supply that power supply is provided for the articulated robot and control system, it is each in the articulated robot
Controller in a motor and sensor and control system is electrically connected with the main power source and/or stand-by power supply.
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Effective date of registration: 20190506 Address after: 211106 Jiangsu Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province, 19 Suyuan Avenue, Kowloon Lake International Enterprise Headquarters Park, Block C4, 2nd Floor Patentee after: Runtou Intelligent Science and Technology Research Institute Jiangsu Co., Ltd. Address before: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Patentee before: Jiangsu Ruobo Robot Technology Co., Ltd. |