CN106041939A - Light-load wireless transmission three-core constant-speed joint robot control system - Google Patents

Abstract

The invention discloses a light-load wireless transmission three-core constant-speed joint robot control system. The control system comprises a master station control computer and a controller. The controller comprises a DSP chip controller, a PLC, an image acquisition module, a wireless transmission module and an ARM controller. The DSP chip controller and the ARM controller are both in communication connection with the master station control computer. The DSP chip controller is in communication connection with the ARM controller. Four rare-earth permanent magnet brushless direct current servo motors are all in communication connection with the DSP chip controller. A plurality of obstacle avoidance displacement sensors, a positioning sensor S5, an acceleration sensor A1, an acceleration sensor A2 and an acceleration sensor A3 are all in communication connection with the DSP chip controller and the ARM controller. The light-load wireless transmission three-core constant-speed joint robot control system disclosed by the invention is high in computation speed, a joint robot arm changes the direction flexibly and acts stably and accurately, and wireless monitoring is facilitated.

Description

A kind of underloading is wirelessly transferred three core constant speed articulated robot control systems

Technical field

The present invention relates to a kind of underloading and be wirelessly transferred three core constant speed articulated robot control systems, belong to assembling work Four articulated robot arm applications.

Background technology

In the industrial production, industrial robot can substitute for the mankind do that some are more dull, the most frequently and repetitive rate relatively High long working, or the operation under danger, adverse circumstances, be typically used as moving to take part and assembly work, at micro-electricity The fields such as sub-manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry obtain widely should With, it is for improving production automation level, labor productivity and economic benefit, guarantee product quality, guaranteeing personal safety, change Kind work situation, reduces labor intensity, save material consumption and reduce production cost etc. and have highly important meaning.

The SCARA industrial robot i.e. robot arm of assembling work is the industrial robot of a kind of circular cylindrical coordinate type, it Rely on rotary joint large arm and forearm to realize the quick location in X-Y plane, rely on a wrist linear joint and a hands Wrist rotary joint does flexible and rotary motion in z-direction, and it has four freedoms of motion, and the manipulator of this series moves at it The four direction making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure Characteristic makes SCARA robot be good at and captures object from a bit, is the most quickly placed to another point, therefore SCARA robot Production line for automatically assembling is widely used.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart Degree height, its use substantially increases the robot adaptability to Complex Assembly task, also reduces cost simultaneously, improve work Make space availability ratio.

SCARA articulated robot to judge the location parameter that master controller inputs during transporting goods the moment, and sentences Disconnected environment moment avoidance around, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods, Deviation accumulation somewhat is possible to cause transporting unsuccessfully in many bouts move.Although the domestic use to SCARA robot There are decades, but owing to domestic industry robot development starting ratio is later, affected by more key technology, SCARA machine Man-based development is also affected by institute, and traditional robot principle is as it is shown in figure 1, there is great number of issues during life-time service:

(1) when SCARA robot carries out zero position playback, or when robot resets, the mode of artificial range estimation is relied on, The zero position making robot sets wrong.

(2) although permanent-magnet DC servo motor relatively direct current generator, motor function increase, but common permanent magnetism is straight Flow servo motor is for there being brush configuration, because there is collector ring carbon brush structure, produces spark when motor runs, particularly when high speed Serious ring fire will be produced, produce radio interference, be not suitable for high speed rotating, be not suitable for applying to the SCARA machine of run with load Device people.

(3) permanent-magnet DC servo motor is for there being brush configuration, directly contacts and high speed relative motion between collector ring and carbon brush, This frame for movement makes mechanical friction, produces bigger mechanical noise so that the sound pollution of SCARA robot increases Greatly.

(4) permanent-magnet DC servo motor is for there being brush configuration, needs to regularly replace carbon brush, and motor can only use open-type protective Form, and brushed DC electric efficiency is low, is not suitable for applying to the SCARA robot of run with load.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of underloading and is wirelessly transferred three core constant speed articulated robots controls System, this underloading is wirelessly transferred three core constant speed articulated robot control systems and calculates speed soon, makes articulated robot arm turn to Flexibly, having stable behavior accurately, compact, stable performance, noise is low, it is simple to wireless monitor.

For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of underloading to be wirelessly transferred three cores normal Speed articulated robot control system, described articulated robot uses the rare earth permanent magnet brushless DC servomotor X driven machine National People's Congress Arm rotary motion, use rare earth permanent magnet brushless DC servomotor Y driven machine people's forearm rotary motion, use rare earth permanent magnet without Brush DC servo motor Z driven machine human wrist rotary motion, employing rare earth permanent magnet brushless DC servomotor R driven machine people Wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration Sensors A 1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration sensing Device A2, described robot wrist is provided with alignment sensor S5 and acceleration transducer A3, and described control system includes main Standing control computer and controller, described controller includes dsp chip controller, PlC controller, image capture module, wireless Transport module and ARM controller, communicate to connect between described image capture module and wireless transport module, described dsp chip control Device processed and PlC controller all control compunication with described main website and are connected, and described dsp chip controller leads to ARM controller Letter connects, described wireless transport module and ARM controller communication connection, and described PlC controller communicates to connect with ARM controller, Described rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servo Motor Z and rare earth permanent magnet brushless DC servomotor R all communicates to connect with described dsp chip controller, and described avoidance displacement passes Sensor S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration Sensors A 1, acceleration transducer A2 and acceleration transducer A3 lead to described dsp chip controller and ARM controller all simultaneously Letter connects.

In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal It is electrically connected with described main power source and/or stand-by power supply.

In a preferred embodiment of the present invention, described rare earth permanent magnet brushless DC servomotor X, rare-earth permanent magnet brushless are straight Even on flow servo motor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R it is provided with light Photoelectric coder, described photoelectric encoder is electrically connected with described dsp chip controller.

In a preferred embodiment of the present invention, described image capture module is CCD camera assembly.

In a preferred embodiment of the present invention, in described image capture module, it is provided with decoding chip.

In a preferred embodiment of the present invention, described robot's arm is provided with magnetoelectric transducer EM1, described machine Magnetoelectric transducer EM2 is installed on people's forearm, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectricity Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 all lead to described dsp chip controller and ARM controller Letter connects.

The invention has the beneficial effects as follows: the underloading of the present invention is wirelessly transferred three core constant speed articulated robot control systems and calculates Speed is fast, makes articulated robot arm turn to flexibly, having stable behavior is accurate, compact, stable performance, system rejection to disturbance ability By force, noise is low, it is simple to wireless monitor.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is tradition SCARA robot controller schematic diagram；

Fig. 2 is based on four axle rare earth permanent magnet brushless DC servomotor SCARA robot two-dimensional structure figures；

Fig. 3 is based on three core four axle rare earth permanent magnet brushless DC servomotor SCARA robot controller schematic diagrams；

Fig. 4 is based on three core four axle rare earth permanent magnet brushless DC servomotor SCARA robot program's block diagrams；

Fig. 5 is based on three core four axle rare earth permanent magnet brushless DC servomotor motion principle figures；

Fig. 6 is four spindle motor acceleration and deceleration curves figures；

Fig. 7 is that the underloading of the present invention is wirelessly transferred three core constant speed articulated robot Control system architecture schematic diagrams.

In accompanying drawing, the labelling of each parts is as follows: 1, main website controls 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 servomotor X, 8, rare earth permanent magnet brushless DC Servomotor Y, 9, rare earth permanent magnet brushless DC servomotor Z, 10, rare earth permanent magnet brushless DC servomotor R, 11, photoelectricity compiles Code device, 12, avoidance displacement transducer S1,13, avoidance displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement Sensor S4,16, alignment sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC, 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.

Detailed description of the invention

Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.

Referring to Fig. 2 to Fig. 7, the embodiment of the present invention includes: a kind of underloading is wirelessly transferred three core constant speed articulated robot controls System processed, this machine artificially SCARA robots based on four axle rare earth permanent magnet brushless DC servomotors, the most described joint machine People uses rare earth permanent magnet brushless DC servomotor X7 driven machine people's large arm rotary motion, uses rare earth permanent magnet brushless DC to watch Take motor Y8 driven machine people's forearm rotary motion, use the rotation of rare earth permanent magnet brushless DC servomotor Z9 driven machine human wrist Transhipment is dynamic, use rare earth permanent magnet brushless DC servomotor R10 driven machine human wrist elevating movement, on described robot's arm Being provided with avoidance displacement transducer S1 12, avoidance displacement transducer S2 13 and acceleration transducer A1 17, described robot is little Avoidance displacement transducer S3 14, avoidance displacement transducer S4 15 and acceleration transducer A2 18, described machine are installed on arm Alignment sensor S5 16 and acceleration transducer A3 19 is installed in human wrist.

Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control Device 3, PlC controller 20, image capture module 26, wireless transport module 25 and ARM controller 4, described image capture module 26 And communicating to connect between wireless transport module 25, described dsp chip controller 3 and PlC controller 20 all controls with described main website Computer 1 communicates to connect, and described dsp chip controller 3 communicates to connect with ARM controller 4, described wireless transport module 25 He ARM controller 4 communicates to connect, and described PlC controller 20 communicates to connect with ARM controller 4, sets in described image capture module 26 It is equipped with decoding chip 27.

Described rare earth permanent magnet brushless DC servomotor X7, rare earth permanent magnet brushless DC servomotor Y8, rare earth permanent magnet without Brush DC servo motor Z9 and rare earth permanent magnet brushless DC servomotor R10 all communicates to connect with described dsp chip controller 3, Described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer 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 described dsp chip controller 3, PLC 20 and ARM controller 4 all simultaneously.

Preferably, the underloading of the present invention is wirelessly transferred three core constant speed articulated robot control systems and also includes for described joint Robot and control system provide main power source 5 and the stand-by power supply 6 of power supply, each the described motor in described articulated robot and Controller 2 in sensor and control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.

Preferably, described rare earth permanent magnet brushless DC servomotor X 7, rare earth permanent magnet brushless DC servomotor Y 8, dilute Even it is provided with photoelectric encoder 11 on soil DC permanent-magnetic brushless servomotor Z 9 and rare earth permanent magnet brushless DC servomotor R10, Described photoelectric encoder 11 is electrically connected with described dsp chip controller 3.

Preferably, described robot's arm is provided with magnetoelectric transducer EM1 21, described robot forearm is provided with Magnetoelectric transducer EM2 22, described robot wrist is provided with magnetoelectric transducer EM3 23 and EM4 24, described magnetic-electric sensing Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 all with described dsp chip controller 3 and ARM Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, when four all detect signal Time, SCARA robot realizes accurately resetting, improves the degree of accuracy of reset.

Brushless DC servomotor is relative to brushed DC servomotor, and the volume of motor is less, and weight is lighter, and goes out Power is big, and response is fast, and speed is high, and inertia is little, rotates smooth, and moment is stable.Easily realize intellectuality, by self-contained Hall It is flexible that sensor carries out electronics commutation, very mode.There is not carbon brush due to motor, be possible not only to the most non-maintaining, and not There is carbon brush loss, efficiency is the highest, and running temperature low noise is little, and electromagnetic radiation is the least, the long-life, can be used for various environment.Dilute Soil DC permanent-magnetic brushless servomotor is owing to taking rare earth permanent-magnetic material to instead of common permanent magnet material so that motor has The advantages such as volume is less, rotary inertia is less, detent torque is big.Therefore rareearth permanent-magnet DC brushless servo motor may replace commonly Direct current generator and AC permanent magnet servomotor and be used as the execution original paper of SCARA robot.

The present invention uses dsp controller 3(TMS320F2812)+PLC 20+ ARM controller 4(STM32F746) Three cores carry out system control.The controller principle figure such as Fig. 3 of the present invention: under power-on state, ARM controller 4 is first to machine Device people's stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low, controller will by wireless to Master station sends alarm signal；If stand-by power supply and main power source are working properly, first passed through PLC transporting goods by master station Large arm, forearm and the wrist anglec of rotation and adjustable height or copy each coordinate information of goods mechanically and input to ARM control Device 4, is then calculated the parameter of robot servo's system by ARM controller 4；The zero position sensor that SCARA robot carries EM1, EM2, EM3 and EM4 and image capturing system based on CCD are started working, and the two guided robot resets to set zero-bit Putting, robot enters self-locking state；After once carrying command starts, avoidance sensor that robot carries, alignment sensor and Acceleration transducer is all opened, and SCARA robot is according to setting the transport path fast removal that ARM optimizes, and DSP joins according to servo Number is with sensor feedback adjusts SCARA robot rare earth permanent magnet brushless DC servomotor X in real time, rare earth permanent magnet brushless DC is watched Take the PWM output of motor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R, it is achieved four The real-time servo of platform rare earth permanent magnet brushless DC servomotor controls, and CCD camera detects carrying result in real time, and ARM is to numeral The process of image and storage are also transmitted by wireless system, and main website is controlled computer 1 and automatically detected by image comparison technology and remove Fortune result.If ARM has a question to carrying some position, will be with DSP communication, DSP sends cutoff command and makes SCARA robot Stop, then main website control computer 1 by image comparison, carrying information is judged, confirm errorless after pass through wireless device Restarting SCARA robot continues being not fully complete of task；It is the newest with ARM communication transfer by PLC that main website controls computer 1 Add and transport goods positional information, ARM update robot servo's systematic parameter, and with DSP communication.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, its concrete functional realiey is as follows:

1), after SCARA robot power supply is opened, stand-by power supply SOC and main power source can be judged by ARM, if stand-by power supply When SOC is relatively low, DSP will forbid that four rare earth permanent magnet brushless DC servomotor work, motor input PWM ripple are blocked, simultaneously Alarm sensor sends alarm signal by work and by wireless to master station；If battery SOC is normal, SCARA robot enters Treat duty, wait work order.

2) once master station's work order starts, and PLC starts and ARM communication, and PLC is large arm, forearm lengths and liter The information such as the length of fall bar are passed to ARM controller by RS484, and then robot starts correcting zero position, SCARA robot Magnetoelectric transducer EM1, EM2, EM3 and the EM4 and the image capturing system based on CCD that carry are started working, EM1, EM2, EM3 and EM4 each finds the zero position mark of setting, and when magnetoelectric transducer EM1, EM2, EM3 and EM4 all have signal to export, ARM is real Time transmission reset image to master station, master station confirm errorless after, by wireless device and DSP communication, DSP blocks four road rare earth permanent magnets The PWM wave control signal of brushless DC servomotor, SCARA robot guides zero position to reset automatically, and now ARM controls Device sets each anglec of rotation, wrist lifting height。

3) in order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses such as the movement time ladder diagram of Fig. 6, this The area that ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting, for The control, the present invention is facilitated to use single acceleration model.

4) SCARA robot reads its mode of operation, if manual working pattern, main website controls computer 1 and starts to lead to Cross PLC and ARM controller communication, main website input SCARA robot's arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs to rise or the height of declineTo ARM controller 4, ARM controller 4 basis Denavit-Hartenberg algorithm starts robot forward and solves: ARM controller is first according to SCARA robot's arm, little Arm and wrist need the angle rotated,,And SCARA robot wrist needs the height of risingCalculate adjacent two Position auto-control between member coordinates,,,And with 4*4 two-dimensional array mark,,,,It is expressed as follows respectively:

,,

,。

Then formula is passed throughJust can obtain wrist executor complete the position after task and Attitude, then ARM Yu DSP communication, and transmit be manually entered parameter.

5) SCARA robot reads its mode of operation, if normal automatic transporting mode of operation, main website begins through PLC and ARM controller communication, by the initial position residing for main website input SCARA robot's arm, forearm and wrist with to location Putting three-dimensional coordinate to ARM controller, it is Converse solved that ARM controller starts robot according to Denavit-Hartenberg algorithm: First ARM controller obtains large arm according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate needs to rotate Angle, and byValue obtainValue, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise or reduce height Degree, finally obtain the anglec of rotation, owing to solvingWhen equation have bilingual, so SCARA robot obtains greatly Arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs the height of risingAfter, ARM Solving result can be optimized by controller, then ARM controller and DSP communication, most has servo motion parameter to pass in robot It is defeated by dsp controller.

6) dsp controller 3 accepts the angle that SCARA robot's arm, forearm and wrist need to rotate,,And SCARA robot wrist needs the height risenAfter, the sensor S1 in large arm, forearm and wrist ~ S5, EM1, EM2 and EM3 To open, first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, SCARA robot is to each Barrier in the turning arm anglec of rotation judges, will send interrupt requests to dsp controller 3 as there is barrier, and DSP is controlled Then device 3 processed can block four axle PWM wave control signal outputs to interrupting doing very first time response, forbids the dilute of SCARA robot Soil DC permanent-magnetic brushless servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and Motor rare earth permanent magnet brushless DC servomotor R works, and robot is self-locking in original place, and image capturing system based on CCD is opened, And send interrupt requests by wireless device to master station after ARM process, in order to prevent information from judging by accident, master station is by being wirelessly transferred figure Judge the obstacle information in range of movement as secondary, master station artificially process barrier, prevent barrier from affecting porter Make.

7) if by image taking results, master station's secondary determines that clear enters moving region, wireless device will be passed through With DSP communication, according to the speed time curve of Fig. 6, DSP is three anglecs of rotation,,Be converted into three rare earth permanent magnets without The acceleration of brush DC servo motor, speed and position initial order value, then DSP combines motor X, motor Y and motor Z motor Current feedback, photoelectric encoder feedback and the feedback of acceleration transducer, through internal three closed loop rare earth permanent magnet brushless DC servos Motor controls program and adjusts the PWM wave control signal of motor X, motor Y and motor Z in real time, and dsp controller 3 is defeated according to three closed loops The deviation size entered adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting rare earth permanent magnet brushless DC servo electricity The number of drive pulses of machine adjusts its anglec of rotation, by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal Realize the change of angular velocity speed, make three axle rare earth permanent magnet brushless DC servomotor timing synchronization work, DSP moment logging machine The location parameter that device people has moved, and transmitted to master station in real time by wireless.

8) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment Judging, if there being barrier to enter range of movement, the large arm of SCARA robot, forearm and wrist are stood according to the curve movement of Fig. 6 I.e. stopping, dsp controller records present rotation angel degree,,Information, and by wireless and main website communication；On barrier After disappearance, main website inputs the anglec of rotation of new position by wireless device to DSP,,, then robot is according to Fig. 6's Curve is again through three sections of movement locus: accelerated motion, uniform motion and retarded motion, eventually arrives at set point.

9) in moving process, the angular acceleration that accelerometer moment record large arm, forearm and wrist rotate, and by two Secondary integration obtains the anglec of rotation of large arm, forearm and wrist, and compared with the position angle angle value set, if deviation is more than setting Determining threshold values, in the next sampling period, dsp controller is according to internal three closed loop rare earth permanent magnet brushless DC Serve Motor Control journeys Sequence adjustment rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC are watched Taking the pwm control signal of motor Z, dsp controller adjusts internal servo control processing procedure in real time according to the deviation size that three closed loops input The pid parameter of sequence, adjusts its anglec of rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor, passes through The frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, and then eliminates one The error that sampling period produces, makes SCARA robot complete task according to setting track.

10) in SCARA robot kinematics, dsp controller 3 can store in the moment the institute of SCARA robot of process The position at place or the reference point of process, and it is calculated relatively next reference point according to these range informations by DSP SCARA robot rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare-earth permanent magnet brushless are straight Angle, angle rates and angular acceleration to be run for flow servo motor Z, dsp controller is anti-in conjunction with angular-rate sensor Feedback, photoelectric encoder feedback, obtain three rare earth permanent magnet brushless DC servo electricity according to its internal three Close loop servo control programs The pwm control signal signal of machine, dsp controller adjusts internal SERVO CONTROL program in real time according to the deviation size that three closed loops input Pid parameter, by adjust rare earth permanent magnet brushless DC servomotor number of drive pulses adjust its anglec of rotation, by adjust The frequency of whole rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, make SCARA robot by Quickly move ahead according to setting speed.

11) the three axle anglecs of rotation are completed in SCARA robot,,SERVO CONTROL after, dsp controller 3 two times inspection The integrated value of acceleration pick-up sensor, if it find that SCARA robot three anglecs of rotation after motor process is by external interference Degree,,When exceeding setting threshold values with the error of set angle, ccd image acquisition system Real-time Collection carrying information, warp ARM sends image transmitting by wireless device to master station after processing and asks, and carrying detects automatically by image comparison technology in master station As a result, if being implicitly present in certain error, master station is started and dsp controller 3 communication by wireless device, dsp controller 3 three Individual anglec of rotation deviation,,Be converted into three rare earth permanent magnet brushless DC servomotor fine position acceleration, Speed and position initial order value, dsp controller 3 feeds back in conjunction with motor X, motor Y and motor Z current of electric, photoelectric coding Device feedback and the feedback of acceleration transducer, adjust motor X, motor Y through the internal three Close loop servo control programs of dsp controller 3 With the PWM wave control signal of motor Z, dsp controller 3 adjusts internal SERVO CONTROL in real time according to the deviation size that three closed loops input The pid parameter of program, adjusts its anglec of rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor, logical The frequency crossing adjustment rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, by three axle rare earths The task again of DC permanent-magnetic brushless servomotor makes robot's arm, forearm and wrist arrive setting position.

12) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position Postponing, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial bit Put errorless after, DSP is according to the speed time curve of Fig. 6, distance to be lifted for wristIt is converted into rare earth permanent magnet brushless DC The acceleration of servomotor R, speed and position initial order value, then DSP combines the current feedback of motor R, photoelectric encoder Feedback and the feedback of sensor S5, adjust the PWM wave control signal of motor R, DSP in real time through internal three Close loop servo control programs Controller adjusts the pid parameter of internal SERVO CONTROL program in real time according to the deviation size that three closed loops input, by adjusting rare earth The number of drive pulses of DC permanent-magnetic brushless servomotor adjusts its anglec of rotation, by adjusting rare earth permanent magnet brushless DC servo The frequency of motor control signal realizes the change of angular velocity speed, makes wrist steadily arrive setting position within the setting time.

13) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motor process Disconnected request, ARM can to interrupting doing very first time response, ARM controller will immediately with DSP communication, DSP blocks four rare earths immediately The control signal of DC permanent-magnetic brushless servomotor, the then self-locking of robot original place, ARM controller passes through wireless device and main website Carrying out communication, the CCD moment gathers peripheral information and by being wirelessly transferred, and image acquisition information is analyzed by main website, and according to Collection result secondary restarts SCARA robot, inputs carrying information by PLC secondary to SCARA robot.

14) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task and needs to add In work queue, PLC will be opened by main website, by main website by PLC 20 and ARM communication, PLC by RS485 to The position servo parameter of ARM input vital task, ARM Yu DSP communication, first completed currently outstanding task by DSP, simultaneously ARM updates DSP original servo control parameter queue, and transmits new servo position parameter to DSP, makes DSP next Servo control completes important temporary duty.

15) in SCARA robot motor process the most repeatedly, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 read During to transducing signal, dsp controller will replace existing location parameter to carry out new position servo control with zero position parameter, and Calculating error, in the next sampling period, DSP is by internal three closed loop rare earth permanent magnet brushless DC Serve Motor Control programs Error is compensated, eliminates cumulative errors in time.

16) during SCARA robot transport, main website can automatically analyze contrast to collection image based on CCD, When having problems such as a certain position of pinpointing the problems, main website first passes through wireless device and DSP communication, and first DSP completes current task And stop setting zero position, main website automatically detect carrying result, automatically update DSP by ARM after detection next Servo-controlled location parameter.

17) be contained in rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet without Photoelectric encoder on brush DC servo motor Z, rare earth permanent magnet brushless DC servomotor R can export its position signalling A and position Confidence B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the position in DSP and ARM is posted Storage can add 1 according to the traffic direction of motor or subtract 1；The position signalling A pulse of photoelectric encoder and B pulse and Z pulse When being low level simultaneously, just produce an INDEX signal and watch to DSP and ARM internal register, record rare earth permanent magnet brushless DC Take the absolute position of motor, be then convert into SCARA robot's arm, forearm or the wrist tool in three-dimensional coordinate system Body position, ARM controller by PLC and main website communication, is transferred to main website important location parameter in real time.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) AC ac main power is monitored by SCARA robot in running ARM controller 4 moment, if controlled Device find main power source break down unexpected power-off time, ARM with DSP communication, and can open stand-by power supply, stand-by power supply be four axles Rare earth permanent magnet brushless DC servomotor provides energy, and is adjusted in real time by the internal three closed loop servo-control system programs of DSP The PWM output of four rare earth permanent magnet brushless DC servomotors, by adjusting the driving of rare earth permanent magnet brushless DC servomotor Pulse number adjusts its anglec of rotation, realizes angle speed by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal The change of degree speed, makes SCARA robot complete specifically and carries task, and then SCARA robot is led to main website by PLC News, and notify that main website overhauls.

19) in SCARA robot Multi-asis servo system work process, if DSP servo controller detects some There is pulsation in the torque of rare earth permanent magnet brushless DC servomotor, the rare earth permanent magnet brushless DC servo electricity used due to the present invention Machine power square is in direct ratio with current of electric, and therefore controller can be easy to compensate this interference, and adjusts in real time according to interference size DSP The pid parameter of whole electric current loop, decreases the motor torque disturbance impact on SCARA robot kinematics.

20) a series of task is completed when SCARA robot, it is achieved during the zero of position, the acceleration transducer A1 that it carries ~ A3, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer to detect its acceleration, work as acceleration When exceeding pre-set threshold value, the error that cycle brings on next cycle dsp controller can be revised, work as magnetoelectric transducer When EM1, EM2, EM3, EM4 all have signal to export, ccd image acquisition system Real-time Collection repositioning information, passes through after ARM processes Wireless device sends image transmitting request to master station, and master station is automatically reset result by image comparison technology, and DSP blocks four tunnels The PWM wave control signal of rare earth permanent magnet brushless DC servomotor, SCARA robot guides zero position to reset automatically, SCARA robot realizes the playback from certain point to zero-bit zero-bit self-locking according to the Velocity-time curve movement of Fig. 6, waits Next group motion command queue.

The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims (7)

1. a underloading is wirelessly transferred three core constant speed articulated robot control systems, it is characterised in that described articulated robot is adopted With rare earth permanent magnet brushless DC servomotor X driven machine people's large arm rotary motion, use rare earth permanent magnet brushless DC servo electricity Machine Y driven machine people's forearm rotary motion, employing rare earth permanent magnet brushless DC servomotor Z driven machine human wrist rotate fortune Dynamic, employing rare earth permanent magnet brushless DC servomotor R driven machine human wrist elevating movement, described robot's arm is provided with Avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration transducer A1, described robot forearm is provided with avoidance Displacement transducer S3, avoidance displacement transducer S4 and acceleration transducer A2, described robot wrist is provided with orientation sensing Device S5 and acceleration transducer A3, described control system includes that main website controls computer and controller, and described controller includes Dsp chip controller, PlC controller, image capture module, wireless transport module and ARM controller, described image capture module And communicating to connect between wireless transport module, described dsp chip controller and PlC controller all control computer with described main website Communication connection, described dsp chip controller communicates to connect with ARM controller, and described wireless transport module communicates with ARM controller Connecting, described PlC controller communicates to connect with ARM controller, described rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet Brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R are all and institute State the communication connection of dsp chip controller, described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 communicates to connect with described dsp chip controller and ARM controller all simultaneously.

Underloading the most according to claim 1 is wirelessly transferred three core constant speed articulated robot control systems, it is characterised in that also Including providing main power source and the stand-by power supply of power supply for described articulated robot and control system, each in described articulated robot Controller in individual described motor and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.

Underloading the most according to claim 1 is wirelessly transferred three core constant speed articulated robot control systems, it is characterised in that institute State rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servo electricity The even photoelectric encoder that is provided with on machine Z and rare earth permanent magnet brushless DC servomotor R, described photoelectric encoder and described DSP core Sheet controller is electrically connected with.

The most according to any one of claim 1 to 3 teaching with being wirelessly transferred three core quick articulated robot control system, It is characterized in that, described image capture module is CCD camera assembly.

Teaching the most according to claim 4 is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that It is provided with decoding chip in described image capture module.

Underloading the most according to any one of claim 1 to 3 is wirelessly transferred three core constant speed articulated robot control systems, its It is characterised by, described robot's arm is provided with magnetoelectric transducer EM1, described robot forearm is provided with magnetoelectric transducer EM2, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, Magnetoelectric transducer EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.

Underloading the most according to claim 4 is wirelessly transferred three core constant speed articulated robot control systems, it is characterised in that institute State and magnetoelectric transducer EM1 is installed on robot's arm, described robot forearm is provided with magnetoelectric transducer EM2, described machine Magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer are installed in device human wrist EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.