CN107291016A - A kind of control system applied to industrial robot - Google Patents
A kind of control system applied to industrial robot Download PDFInfo
- Publication number
- CN107291016A CN107291016A CN201710641080.2A CN201710641080A CN107291016A CN 107291016 A CN107291016 A CN 107291016A CN 201710641080 A CN201710641080 A CN 201710641080A CN 107291016 A CN107291016 A CN 107291016A
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- servo
- driver
- industrial robot
- master controller
- control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention belongs to the technical field of industrial robot equipment, it is related to a kind of control system applied to industrial robot, including master controller, servo-driver, safe unit, monitoring unit and teaching study course device unit；Connected between the master controller and servo-driver by fibre-optic data communication bus, and master controller carries out signal with monitoring unit, teaching study course device unit by the industrial switch of Ethernet respectively with servo-driver and is connected；The servo-driver connects the multiple IGBT amplifier units of control simultaneously, and each IGBT amplifier units individually correspond to connection one servomotor of driving；The safe unit connects master controller and servo-driver respectively, and the safety signal of the safety signal of real-time reception outside input, internal safety signal and motor servo generates the stop signal for stopping industrial robot.By the independent control to each servomotor, the accurate control of industrial robot can be realized.
Description
Technical field：
The invention belongs to the technical field of industrial robot equipment, it is related to a kind of control system applied to industrial robot
System, more particularly, to a kind of control system applied to multiaxis joint series industrial robot, industrial robot is applicable to
The industrial automations such as welding, carrying, polishing.
Background technology
Industrial robot be it is a kind of automatically control, repeatable programming, with multi-joint manipulators more than 3 axles
Or multivariant installations.This robot is used for processing manufacturing industry, for example weld, carry, assembling, part pick up with
The automation of multiple industrial circles such as stacking.Industrial robot can replace in industry it is partial repeatability, with danger
Production work, improve production efficiency while human cost is reduced, thus be increasingly subject to pay attention to.
Under the development of automatic technology, intelligentized to industrial robot, precision degree also more and more higher, this is just
Higher precision and high performance control system are needed, so as to which free implement accurate pointing according to particular demands to robot
Control, the need for meeting the production automation, equally while related work is automatically performed, industrial robot and user's
It is interactive more and more, realize the interaction with user.
The content of the invention：
It is an object of the invention to provide a kind of control system applied to industrial robot, by each servomotor
Individually control, can realize the accurate control of industrial robot.
To reach above-mentioned purpose, the present invention is achieved by the following technical solutions.
There is provided a kind of control system applied to industrial robot, including master controller, servo-driver, safe unit,
Monitoring unit and teaching study course device unit；
Connected between the master controller and servo-driver by fibre-optic data communication bus, and master controller is with watching
Driver is taken to be connected with monitoring unit, teaching study course device unit progress signal by the industrial switch of Ethernet respectively；
The servo-driver connects the multiple IGBT amplifier units of control simultaneously, and each IGBT amplifier units are individually right
One servomotor of driving should be connected；
The safe unit connects master controller and servo-driver respectively, the safety signal of real-time reception outside input,
Internal safety signal and the safety signal of motor servo, generate the stop signal for stopping industrial robot.
In one embodiment of technical scheme above, the master controller is, at least including at least one arm processor
One fpga chip and at least one dsp chip, the arm processor and dsp chip are all connected to fpga chip, ARM processing
Device carries out network communication with monitoring unit, teaching study course device unit by industrial switch and is connected.
More than technical scheme one embodiment in, described servo-driver includes at least one fpga chip and extremely
A few dsp chip, the dsp chip carries out network communication company by industrial switch and monitoring unit, teaching study course device unit
Connect.
In one embodiment of technical scheme above, the dsp chip of the servo-driver and the DSP cores of master controller
Piece is the chip of same type and model.
In one embodiment of technical scheme above, also include a rectification and soft-start module, receive servo and drive
The control signal of dynamic device, the IGBT amplifier units for being respectively multiple servomotors are powered.
In one embodiment of technical scheme above, the monitoring unit includes at least one monitoring computer, the prison
Control meter machine built in industrial robot system controlling software, can with the state of in-circuit diagnostic system all parts, monitor each
The operation of part and can to system implement configure.
In one embodiment of technical scheme above, also include a virtual robot platform, the virtual robot
Platform connects industrial switch by Ethernet and directly carries out data cube computation, the actual work of simulating industry robot with master controller
Make.
Brief description of the drawings
Fig. 1 is the structured flowchart of the control system in embodiment.
Embodiment
Technical scheme is described in further detail with specific embodiment below in conjunction with accompanying drawing, so as to ability
The technical staff in domain can understand the technology contents of the complete present solution present invention.
With reference to shown in Fig. 1, a kind of control system for being applied to industrial six-joint robot of the present embodiment, including master controller,
Servo-driver, safe unit, monitoring unit, teaching-programming pendant, rectification and soft-start module and virtual robot platform, virtually
Not shown in robot platform figure.
Master controller using arm processor, dsp chip, fpga chip as core, use with 1GHz ARM-A8 processors,
450MHz double-precision floating point dsp chip and large-scale F PGA chip integrated circuits, is responsible for top level control, the motion of control system
The work such as calculating, with technologies such as HBUS, Hlink, are connected to system.
Dsp chip uses model TMS320C6748 double-precision floating point number processor, for mathematical computations, specialty
Handle kinematics, algorithm of robot dynamics.Using double-precision floating point data, position computational accuracy is up to 1nm, by means of the powerful of DSP
Computing capability, can reach that 1ms motion planning calculates fineness, make servo-drive system operating more reliable, softer.
Fpga chip is used as master controller data processing unit, FPGA (Field-Programmable Gate
Array), i.e. field programmable gate array, passes through parallel bus and arm processor and DSP (Digital Signal
Processing Digital Signal Processing) connection, realize the data exchange between high speed processing arm processor and dsp chip.
The present embodiment can also carry out data company using the parallel versabus of HBUS and Hlink fibre-optic data communications bus
Connect, master controller externally possesses Fast Ethernet interface, do not undertake external numeral, field-bus interface task.In order to suitable
Should following multitask, unpredictable interface and requirement.Entitled HBUS parallel versabus is devised, it is more traditional than existing
Parallel general total money speed is faster.The bus is using master controller as mainboard, and remaining board is sub-controller, can carry out mainboard
With the high number data exchange of remaining board.The exercise data of master controller needs to be delivered to servo controller, and data communication is situated between
Matter is optical fiber, and the requirement of the data versus time precision of master controller is very harsh, fpga chip leads to the data of buffering
The total money of Hlink is crossed with 1ms cycle, data servo controller is sent to, fiber medium does not have any electromagnetic interference, possessed
Most strong antijamming capability.
Teaching-programming pendant is the human-machine interface unit of workman robot, and teaching-programming pendant uses 1GHz A8 processors, 7 cun
Touch-screen and coordinate 32 physical buttons, the function button and switch of standard of arranging in pairs or groups constitute succinct rational teaching programming
Unit.Teaching-programming pendant carries out data communication by 100M Ethernets with the arm processor of master controller, with share display and
The work of Code Edit.With the responsible control of master controller specialty, display is not operated, meet the peace of industrial robot control
Full standard.
Servo-driver is using fpga chip and dsp chip as core, and dsp chip passes through high speed parallel bus with fpga chip
Interconnection, it is possible to implement to the coordinated signals of 8 spindle motors, using pure hardware algorithm as Core Control Platform Based, be aided with High Performance DSP core
Piece handles intelligent task, achieves optimal control performance as top level control system.Dsp chip is used and master controller
The dsp chip of same model, fpga chip then can be using identical or more massive chip.
Servo-driver can drive 8 servomotors to carry out linkage operation simultaneously, and this 8 servo-drivers share 1
Dc bus and regenerative circuit, save the design iterations of system, can also make robot control system more energy efficient.Servo-drive
Device uses absolute value encoder, and individual pen is 17, and multi-turn is 16, can be accurately obtained very much the angle and speed letter of motor
Breath, high power lithium battery can provide additional power support for motor encoder, when whole system is powered off, and keep code-disc data not lose
Lose.
Rectification is connected by RS422 buses with soft-start module and controlled by servo drive unit, can receive servo
The control signal of driver, the IGBT amplifiers for being respectively multiple servomotors are powered, and the driving of IGBT amplifiers is watched
Take the work of motor.Rectification is using Venus's rectifier as the electric power system of dc bus, and whole module is independently molded, by 1
Piece TI single-precision floating point dsp chip (TMS320F28335) is controlled, to complete pressure regulation, power-off, regeneration power supply etc.
Function.
Safe unit connects master controller and servo-driver, the safety signal of real-time reception outside input, internal peace
The safety signal of full signal and motor servo, generates the stop signal for stopping industrial robot.Using pure hardware design
Safe unit, with the safety signal for monitoring outside input, internal safety signal, the safety signal of motor servo etc..When hard
When part detects external fault, internal fatal error, system is closed by hardware, to prevent the further expansion of accident or injury
Greatly, have system and possess high security performance.
System includes the industrial switch of a 100M Ethernet, the PC of monitoring unit, master controller, servo-drive
Device, teaching-programming pendant are got up by this network connection, and PC or teaching-programming pendant monitor each portion by 100M Ethernets
The operating condition of part, and issue job file.
Monitoring unit, by the Ethernet of industry, will access PC platform using PC as platform in control system
System controlling software, the system controlling software is edited under Windows systems, is developed using VS2010.The control software possesses
To the control authority and function of whole system, can with the state of in-circuit diagnostic system various pieces, monitor modules operation,
Configuration etc. can be implemented to system.
Virtual robot platform is also, using the PC under windows platforms as core, to be developed using VS2010, pass through ether
Net directly implements data exchange with robot controller.The virtual robot platform can be online dummy robot actual work
Make, can Speeding up development progress, be one important part of system.
The preferred embodiment to invention is illustrated above, but the invention is not limited to the embodiment,
Those skilled in the art can also make many kinds of equivalent modifications or replacement on the premise of without prejudice to spirit of the invention, this
Equivalent modification or replacement are all contained in the application claim limited range a bit.
Claims (7)
1. a kind of control system applied to industrial robot, including master controller, servo-driver, safe unit, monitoring list
Member and teaching study course device unit；
Connected between the master controller and servo-driver by fibre-optic data communication bus, and master controller drives with servo
Dynamic device carries out signal with monitoring unit, teaching study course device unit by the industrial switch of Ethernet respectively and is connected；
The servo-driver connects the multiple IGBT amplifier units of control simultaneously, and each IGBT amplifier units, which are individually corresponded to, to be connected
Connect one servomotor of driving；
The safe unit connects master controller and servo-driver, the safety signal of real-time reception outside input, inside respectively
Safety signal and motor servo safety signal, generate the stop signal for stopping industrial robot.
2. the control system according to claim 1 applied to industrial robot, it is characterised in that the master controller bag
Include at least one arm processor be, at least one fpga chip and at least one dsp chip, arm processor and the DSP core
Piece is all connected to fpga chip, and arm processor carries out network by industrial switch and monitoring unit, teaching study course device unit and led to
News connection.
3. the control system according to claim 1 or 2 applied to industrial robot, it is characterised in that described servo
Driver includes at least one fpga chip and at least one dsp chip, and the dsp chip is single with monitoring by industrial switch
Member, teaching study course device unit carry out network communication connection.
4. the control system according to claim 3 applied to industrial robot, it is characterised in that the servo-driver
Dsp chip and master controller dsp chip for same type and model chip.
5. the control system according to claim 1 applied to industrial robot, it is characterised in that also include one it is whole
Stream and soft-start module, receive the control signal of servo-driver, the IGBT amplifier lists for being respectively multiple servomotors
Member is powered.
6. the control system according to claim 1 applied to industrial robot, it is characterised in that the monitoring unit bag
At least one monitoring computer is included, the system controlling software of the industrial robot built in the monitoring meter machine can be with inline diagnosis system
Unite all parts state, monitor all parts operation and can to system implement configure.
7. the control system according to claim 1 applied to industrial robot, it is characterised in that also include a void
Intend robot platform, the virtual robot platform connects industrial switch by Ethernet and directly carries out data company with master controller
Connect, the real work of simulating industry robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641080.2A CN107291016A (en) | 2017-07-31 | 2017-07-31 | A kind of control system applied to industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710641080.2A CN107291016A (en) | 2017-07-31 | 2017-07-31 | A kind of control system applied to industrial robot |
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| CN107291016A true CN107291016A (en) | 2017-10-24 |
Family
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| CN201710641080.2A Pending CN107291016A (en) | 2017-07-31 | 2017-07-31 | A kind of control system applied to industrial robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108470506A (en) * | 2018-04-09 | 2018-08-31 | 重庆鲁班机器人技术研究院有限公司 | Half robot teaching's device in kind |
| CN108492662A (en) * | 2018-04-09 | 2018-09-04 | 重庆鲁班机器人技术研究院有限公司 | Control technology principle teaching device |
| CN110744176A (en) * | 2018-07-23 | 2020-02-04 | 深圳市鸿栢科技实业有限公司 | Cold arc welding wire feeder |
| CN111216121A (en) * | 2019-11-22 | 2020-06-02 | 江门市绿能机器人有限公司 | Intelligent industrial robot control system |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN112068489A (en) * | 2020-06-27 | 2020-12-11 | 上海可驷自动化科技有限公司 | Intelligent bus servo driver |
| CN117193097A (en) * | 2023-09-26 | 2023-12-08 | 北京中科昊芯科技有限公司 | Device and method for processing on-chip multifunctional signal |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110744176A (en) * | 2018-07-23 | 2020-02-04 | 深圳市鸿栢科技实业有限公司 | Cold arc welding wire feeder |
| CN111216121A (en) * | 2019-11-22 | 2020-06-02 | 江门市绿能机器人有限公司 | Intelligent industrial robot control system |
| CN111736514A (en) * | 2020-06-10 | 2020-10-02 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
| CN112068489A (en) * | 2020-06-27 | 2020-12-11 | 上海可驷自动化科技有限公司 | Intelligent bus servo driver |
| CN117193097A (en) * | 2023-09-26 | 2023-12-08 | 北京中科昊芯科技有限公司 | Device and method for processing on-chip multifunctional signal |
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Application publication date: 20171024 |