CN204287965U - A kind of control system of Palletised carry robot - Google Patents
A kind of control system of Palletised carry robot Download PDFInfo
- Publication number
- CN204287965U CN204287965U CN201420784858.7U CN201420784858U CN204287965U CN 204287965 U CN204287965 U CN 204287965U CN 201420784858 U CN201420784858 U CN 201420784858U CN 204287965 U CN204287965 U CN 204287965U
- Authority
- CN
- China
- Prior art keywords
- cpld
- servo driver
- servomotor
- data processing
- motor servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Numerical Control (AREA)
Abstract
The utility model discloses a kind of control system of Palletised carry robot, comprise ARM host computer, CPLD motion control circuit, DSP data processing circuit, motor servo driver and servomotor, compared with prior art, the utility model adopts the control system with three nuclear control devices, sub-moduleization works, in conjunction with three microprocessors characteristic separately, play its advantage, the whole control procedure of division of labor process, compare with monolithic processor controlled Palletised carry robot with traditional PLC, action response speed is fast, position control is more accurate, system stability is high, piling efficiency promotes greatly.Adopt multiarticulate robot manipulation, flexible in operation, working range also expands further simultaneously, has the value applied.
Description
Technical field
The utility model relates to a kind of plant equipment electronic control system, particularly relates to a kind of control system of Palletised carry robot.
Background technology
Palletised carry robot is object conveying device transported, pile up on the equipment that pallet, pallet (wooden, plastic cement) or mobile platform etc. can be convenient to transport by certain arrangement mode, the working method required according to customer process is stacked into the hi-tech automated arm of buttress automatically.Currently marketed robot palletizer many employings PLC or single-chip microcomputer control, very flexible, and precision is not high, and running speed is comparatively slow, and working range is limited to, and therefore needs a kind of new control system to be born.
Utility model content
The purpose of this utility model is just the control system providing a kind of Palletised carry robot in order to solve the problem.
The utility model is achieved through the following technical solutions above-mentioned purpose:
The utility model comprises ARM host computer, CPLD motion control circuit, DSP data processing circuit, motor servo driver and servomotor, the Signal transmissions end of described ARM host computer is connected with the Signal transmissions end of described DSP data processing circuit, be connected by dual port RAM between described DSP data processing circuit with described CPLD motion control circuit, the control signal transmission ends of described CPLD motion control circuit is connected with the control signal transmission ends of described motor servo driver, the control signal output terminal of described motor servo driver is connected with the control signal input end of described servomotor, the feedback signal output of described servomotor is connected with the feedback signal input terminal of described motor servo driver, the code device signal output terminal of described servomotor is connected with the code device signal input end of described CPLD motion control circuit.
Further, described motor servo driver and described servomotor are multiple, and a described servomotor and a described motor servo driver form one group of drive unit, often organize between described drive unit and are connected in parallel.
Particularly, connected by RS485 bus between described ARM host computer and described DSP data processing circuit; Described ARM host computer is ARM series processors.
The beneficial effects of the utility model are: have multitasking function, secondary development performance, man-machine interface interactive performance and versatility.
The utility model is a kind of control system of Palletised carry robot, compared with prior art, the utility model adopts the control system with three nuclear control devices, and sub-moduleization works, in conjunction with three microprocessors characteristic separately, play its advantage, the whole control procedure of division of labor process, compares with monolithic processor controlled Palletised carry robot with traditional PLC, action response speed is fast, position control is more accurate, and system stability is high, and piling efficiency promotes greatly.Adopt multiarticulate robot manipulation, flexible in operation, working range also expands further simultaneously, has the value applied.
Accompanying drawing explanation
Fig. 1 is overall framework figure of the present utility model;
Fig. 2 is system compiles instruction framework map of the present utility model;
Fig. 3 is system processing mode process flow diagram of the present utility model;
Fig. 4 is DSP motion planning process flow diagram in the utility model system;
Fig. 5 is CPLD framework process flow diagram in the utility model system.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail:
As shown in Figure 1: the utility model comprises ARM host computer, CPLD motion control circuit, DSP data processing circuit, motor servo driver and servomotor, the Signal transmissions end of described ARM host computer is connected with the Signal transmissions end of described DSP data processing circuit, be connected by dual port RAM between described DSP data processing circuit with described CPLD motion control circuit, the control signal transmission ends of described CPLD motion control circuit is connected with the control signal transmission ends of described motor servo driver, the control signal output terminal of described motor servo driver is connected with the control signal input end of described servomotor, the feedback signal output of described servomotor is connected with the feedback signal input terminal of described motor servo driver, the code device signal output terminal of described servomotor is connected with the code device signal input end of described CPLD motion control circuit.
Further, described motor servo driver and described servomotor are multiple, and a described servomotor and a described motor servo driver form one group of drive unit, often organize between described drive unit and are connected in parallel.Thus the control realized each movable joint.
Particularly, connected by RS485 bus between described ARM host computer and described DSP data processing circuit; Described ARM host computer is ARM series processors.
Principle of work of the present utility model is as follows:
The instruction of G code form write by PC, the a string binary file of final generation is issued in ARM host computer goes, ARM host computer is by the parsing to binary code, obtain structured data bag and send to CPLD motion control circuit, DSP data processing circuit carries out interpolation and speeds control, process and completed instruction by returning to ARM host computer, data are placed in dual port RAM by DSP data processing circuit, CPLD motion control circuit reads the control that dual port RAM data carry out corresponding pulse output and I/O mouth, servo-driver rotates according to the differential signal pulsed drive motor of input, orthogonal encoder on servomotor feeds back signal to CPLD motion control circuit, CPLD motion control circuit can send back to DSP data processing circuit.
As shown in Figure 2, in order to make robot palletizer, there is versatility and user can carry out secondary development, do the instruction that some are special, be similar to the G code in CNC system, PC host computer passes through TCP/IP after programming, USB/U dish and serial ports are being loaded under program file in ARM9, ARM9 resolves after mainly obtaining the file write of user, then the data of having resolved being packaged into structured data downloads in dsp chip by serial ports/RS485, DSP data processing circuit runs BLOCK after reading various command word and G code parsing and calls various algorithm to carry out motion planning, while running various algorithm, the result that algorithm exports is issued CPLD motion control circuit, CPLD motion control circuit finally sends pulse and carries out work to each servomotor.
During the utility model manual operation, the various inputs of user all can be organized into corresponding command packet and send to DSP data processing circuit, then DSP data processing circuit can identify that these are ordered automatically, coordinate transform is carried out according to the action of user and the requirement of command program statement, then trajectory planning and interpolation operation calculate the position relative to absolute coordinates or relative coordinate of each spindle motor, subsequently each for the next stage corresponding to set point joint position is sent to servo-controlled motor, then CPLD motion control circuit is directly sent to run, realize the control to each joint motions and coordinative role.
As shown in Figure 3 and Figure 4, DSP data processing circuit will constantly go to inquire about the task of whether having gating pulse, if do not done nothing, if receive the task structure body that ARM9 sends over, then by the order in structure, carry out corresponding explanation and parameter testing and motion planning, determine trapezoidal speeds control or S curve speeds control.Then carry out moving and speed planning, planned rear startup interpolation cycle, each cycle sends task structure volume data to CPLD motion control circuit, and CPLD motion control circuit must run corresponding pulse and export task in corresponding interpolation cycle.
DSP data processing circuit is set up six task structure body buffer queues, and the task of the movement output of these six corresponding six axles of buffer queues difference, controls by the highest two addresses of dual port RAM the operation will carrying out the task of which axle.CPLD motion control circuit end reads the address of the highest two in dual port RAM, and can know which task structure body is updated needs to run.Need equally when CPLD motion control circuit end of run to carry out write operation to the superlatively location of dual port RAM, DSP data processing circuit periodically can read the superlatively location data of dual port RAM, confirm that the task run of those axles data completed inside by task queue are written in dual port RAM to go, upgrade the data of dual port RAM superlatively location simultaneously.
As shown in Figure 5, the program design of CPLD motion control circuit part is mainly according to the feature of DSP and dual port RAM, devise when DSP data processing circuit interpolation algorithm and speed control algorithm calculate operation task data structure body to each axle, then the task of DSP data processing circuit respective shaft is ejected in the buffer zone of dual port RAM respective shaft and goes.The data of the highest two half-words will be write after write needs kinematic axis data task structure, after writing, the interrupt pin of dual port RAM will produce an interruption to CPLD motion control circuit, CPLD receives interruption will get task buffer in dual port RAM goes, and the task of six axles sends out pulse to respective shaft after all having inquired about together.
More than show and describe ultimate principle of the present utility model and principal character and advantage of the present utility model.The technician of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (4)
1. the control system of a Palletised carry robot, it is characterized in that: comprise ARM host computer, CPLD motion control circuit, DSP data processing circuit, motor servo driver and servomotor, the Signal transmissions end of described ARM host computer is connected with the Signal transmissions end of described DSP data processing circuit, be connected by dual port RAM between described DSP data processing circuit with described CPLD motion control circuit, the control signal transmission ends of described CPLD motion control circuit is connected with the control signal transmission ends of described motor servo driver, the control signal output terminal of described motor servo driver is connected with the control signal input end of described servomotor, the feedback signal output of described servomotor is connected with the feedback signal input terminal of described motor servo driver, the code device signal output terminal of described servomotor is connected with the code device signal input end of described CPLD motion control circuit.
2. the control system of Palletised carry robot according to claim 1, it is characterized in that: described motor servo driver and described servomotor are multiple, a described servomotor and a described motor servo driver form one group of drive unit, often organize between described drive unit and are connected in parallel.
3. the control system of Palletised carry robot according to claim 1, is characterized in that: connected by RS485 bus between described ARM host computer and described DSP data processing circuit.
4. the control system of Palletised carry robot according to claim 1, is characterized in that: described ARM host computer is ARM series processors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420784858.7U CN204287965U (en) | 2014-12-12 | 2014-12-12 | A kind of control system of Palletised carry robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420784858.7U CN204287965U (en) | 2014-12-12 | 2014-12-12 | A kind of control system of Palletised carry robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204287965U true CN204287965U (en) | 2015-04-22 |
Family
ID=52871106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420784858.7U Expired - Fee Related CN204287965U (en) | 2014-12-12 | 2014-12-12 | A kind of control system of Palletised carry robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204287965U (en) |
-
2014
- 2014-12-12 CN CN201420784858.7U patent/CN204287965U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104460675A (en) | Control system of stacking transfer robot | |
| CN101791801B (en) | Industrial robot motion planning and performance testing system and implementation method thereof | |
| CN104786221B (en) | A kind of open method for controlling robot based on Ethernet | |
| CN103984275B (en) | A kind of universal industrial kinetic control system based on FPGA and control method based on this kinetic control system | |
| CN103941650A (en) | Logic and movement integrated controller | |
| CN204868863U (en) | Pile up neatly robot control system | |
| CN1936745A (en) | Inlaid numerical control system based on ARM and DSP | |
| CN103901822A (en) | Multi-shaft linkage motion control system | |
| CN201856249U (en) | Motion planning and performance testing system for industrial robot | |
| CN108037736A (en) | A kind of split type digital control system based on wireless telecommunications | |
| CN104793568A (en) | Multi-axle interpolation method | |
| CN203070045U (en) | Embedded numerical control motion control platform used for multi-spindle machine tool | |
| CN204287965U (en) | A kind of control system of Palletised carry robot | |
| CN102478832A (en) | Three-dimensional circular interpolation method capable of realizing curved surface machining of numerical control machine and device | |
| CN105955202A (en) | Network-based economical embedded five-axis numerical control system and control method thereof | |
| CN203849591U (en) | Multi-shaft linkage motion control system | |
| WO2017101700A1 (en) | Computer aided manufacturing method, device and system in direct communication with numerical control system | |
| CN105302031A (en) | Control device and control method for piling carrying robot | |
| TWI490097B (en) | Distributed manipulator control system | |
| CN103552072B (en) | A kind of robot control method based on embedded controller and device | |
| CN203510308U (en) | Controller used for multi-axis PCB numerical control drilling | |
| CN113759852B (en) | Programming method, programming language, operation method and operation system for automatic control | |
| CN101477355A (en) | Numerical control system used for miniature cutter | |
| CN201383098Y (en) | Glue dispenser control device | |
| CN201471699U (en) | Manipulator control system of full-servo injection molding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20151212 |
|
| EXPY | Termination of patent right or utility model |