CN208571962U - A kind of articulated robot integrated control unit - Google Patents
A kind of articulated robot integrated control unit Download PDFInfo
- Publication number
- CN208571962U CN208571962U CN201821173683.0U CN201821173683U CN208571962U CN 208571962 U CN208571962 U CN 208571962U CN 201821173683 U CN201821173683 U CN 201821173683U CN 208571962 U CN208571962 U CN 208571962U
- Authority
- CN
- China
- Prior art keywords
- module
- control unit
- articulated robot
- joint
- dsp
- 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.)
- Active
Links
- 238000002955 isolation Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model embodiment discloses articulated robot integrated control unit, including PC machine, DSP control unit and several joint of robot control units；PC machine is connected with DSP control unit, and joint of robot control unit is connected by bus with DSP control unit；The joint of robot control unit includes FPGA data acquisition unit, isolation drive unit and joint motor；FPGA data acquisition unit, isolation drive unit and joint motor are successively linked in sequence；The structure that the utility model is combined based on DSP control unit with FPGA data acquisition unit realizes the integrative coordinated control of articulated robot, and the operation suitable for articulated robot controls.
Description
Technical field
The utility model relates to technical field of robot control more particularly to articulated robot integrated control units.
Background technique
Articulated robot has very high freedom degree, can complete the work of most of track or angle；It is programmable
Property, according to action planned trajectory.The research of articulated robot expands to medical services, religion from traditional industry field
Educate amusement and exploration exploration etc. frontiers, adapt to different field demand articulated robot control method also by further investigation with
Exploitation；
At this stage, articulated robot control device compares shortage independence, and articulated robot function depends on close more
Completing required for robot for task is saved, and the SERVO CONTROL of control device is directly from ontology: bottom position servo will basis
The characteristic of the servo motor of operation machine and servo amplifier customizes, and is fixed suitable for job task and manipulating object
Robot control, for multitask robot, robot controller can not extend, and can not realize articulated robot
Collaborative Control.
Utility model content
The embodiments of the present invention provide the integrative coordinated control device of articulated robot, realize articulated robot
Collaborative Control.
The technical scheme adopted by the utility model is
A kind of articulated robot integrated control unit,
Including PC machine, DSP control unit and several joint of robot control units；
PC machine is connected with DSP control unit, and joint of robot control unit is connected by bus with DSP control unit
It connects；
Joint of robot control unit includes FPGA data acquisition unit, isolation drive unit and joint motor；FPGA number
It is successively linked in sequence according to acquisition unit, isolation drive unit and joint motor.
Joint motor is permanent magnet synchronous motor or brshless DC motor.
Encoder is provided on permanent magnet synchronous motor, encoder is connected by RS485 with isolation drive unit.
FPGA data acquisition unit includes FPGA module, the first RS485 communication module, quadrature decoder module, AD acquisition mould
Block, PWM generation module, the first power module and the first bus interface；First RS485 communication module, quadrature decoder module, AD are adopted
Collection module, PWM generation module, the first power module and the first bus interface are all connected with FPGA module.FPGA module can be same
When control the work of each module, achieve the effect that synchronous.
DSP control unit includes DSP module, D/A module, RS232 communication module, the 2nd RS485 communication module, the second electricity
Source module and the second bus interface；
D/A module, RS232 communication module, the 2nd RS485 communication module, second power supply module and the second bus interface all with
DSP module is connected.
Isolation drive unit includes the isolation circuit being made of photoelectrical coupler, the fluctuation for isolation signals voltage value.
Compared with prior art, the utility model has the beneficial effect that
The application discloses a kind of integrative coordinated control device of articulated robot, DSP control unit and several machines
Person joint's control unit is connected, and based on the structure that DSP control unit is combined with FPGA data acquisition unit, realizes multi-joint
The Collaborative Control of robot, FPGA module can control each module work simultaneously, achieve the effect that synchronous.
Detailed description of the invention
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is a kind of articulated robot integrated control unit structural schematic diagram of the utility model；
Fig. 2 is the utility model FPGA data acquisition unit structural schematic diagram；
Fig. 3 is the utility model DSP control unit structural schematic diagram.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
A kind of articulated robot integrated control unit, including PC machine, DSP control unit and several joint of robot
Control unit；
PC machine is connected with DSP control unit, and joint of robot control unit is connected by bus with DSP control unit
It connects；
Joint of robot control unit includes FPGA data acquisition unit, isolation drive unit and joint motor；FPGA number
It is successively linked in sequence according to acquisition unit, isolation drive unit and joint motor.
Joint motor is permanent magnet synchronous motor or brshless DC motor.
Encoder is provided on permanent magnet synchronous motor, encoder is connected by RS485 with isolation drive unit.
As shown in Fig. 2, FPGA data acquisition unit includes FPGA module, the first RS485 communication module, quadrature decoder mould
Block, AD acquisition module, PWM generation module, the first power module and the first bus interface；First RS485 communication module, orthogonal solution
Code module, AD acquisition module, PWM generation module, the first power module and the first bus interface are all connected with FPGA module.
FPGA module can control each module work simultaneously, achieve the effect that synchronous.
FPGA module is connect with the first RS485 communication module, for reading motor absolute value encoder signal.FPGA module
It is connect with quadrature decoder module, for reading motor incremental value code device signal.FPGA module is connect with PWM generation module, is used
In the raw pwm control signal of reading, and isolation drive unit is transferred to by PWM generation module.FPGA module and AD acquisition module
Connection, for acquiring electric machine phase current signal.FPGA module is connect with the first bus interface module, is used for and DSP control unit
Communication.First power module is connect with FPGA module, for powering to FPGA module.FPGA module controls each module work simultaneously
Make, achievees the effect that synchronous.
As shown in figure 3, DSP control unit includes DSP module, D/A module, RS232 communication module, the 2nd RS485 communication mould
Block, second power supply module and the second bus interface；
D/A module, RS232 communication module, the 2nd RS485 communication module, second power supply module and the second bus interface all with
DSP module is connected.
DSP module is connect with D/A module, for process variable to be exported in the form of analog quantity；DSP module and the second bus
Interface module connection, for being communicated with FPGA module；DSP module is connect with RS232 communication module, the 2nd RS485 communication module,
For being communicated with PC machine.
Isolation drive unit includes the isolation circuit being made of photoelectrical coupler, the fluctuation for isolation signals voltage value.
It should be strongly noted that the utility model protection is that a kind of articulated robot integrated control unit includes
Component and component between connection relationship, it is commonly used in the art that the control method of assembly unit itself, which is all the prior art,
Technological means.
Above are merely preferred embodiments of the utility model, it should be pointed out that: for the ordinary skill people of the art
For member, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the protection scope of the utility model.
Claims (6)
1. a kind of articulated robot integrated control unit, which is characterized in that
Including PC machine, DSP control unit and several joint of robot control units；
PC machine is connected with DSP control unit, and joint of robot control unit is connected by bus with DSP control unit；
The joint of robot control unit includes FPGA data acquisition unit, isolation drive unit and joint motor；FPGA number
It is successively linked in sequence according to acquisition unit, isolation drive unit and joint motor.
2. a kind of articulated robot integrated control unit according to claim 1, which is characterized in that
Joint motor is permanent magnet synchronous motor or brshless DC motor.
3. a kind of articulated robot integrated control unit according to claim 2, which is characterized in that
Encoder is provided on permanent magnet synchronous motor, encoder is connected by RS485 with isolation drive unit.
4. a kind of articulated robot integrated control unit according to claim 1, it is characterised in that:
FPGA data acquisition unit include FPGA module, the first RS485 communication module, quadrature decoder module, AD acquisition module,
PWM generation module, the first power module and the first bus interface；First RS485 communication module, quadrature decoder module, AD acquisition
Module, PWM generation module, the first power module and the first bus interface are all connected with FPGA module.
5. a kind of articulated robot integrated control unit according to claim 1, it is characterised in that:
DSP control unit includes DSP module, D/A module, RS232 communication module, the 2nd RS485 communication module, second source mould
Block and the second bus interface；
D/A module, RS232 communication module, the 2nd RS485 communication module, second power supply module and the second bus interface all with DSP
Module is connected.
6. a kind of articulated robot integrated control unit according to claim 1, it is characterised in that:
Isolation drive unit includes the isolation circuit being made of photoelectrical coupler, the fluctuation for isolation signals voltage value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821173683.0U CN208571962U (en) | 2018-07-23 | 2018-07-23 | A kind of articulated robot integrated control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821173683.0U CN208571962U (en) | 2018-07-23 | 2018-07-23 | A kind of articulated robot integrated control unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208571962U true CN208571962U (en) | 2019-03-01 |
Family
ID=65447504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821173683.0U Active CN208571962U (en) | 2018-07-23 | 2018-07-23 | A kind of articulated robot integrated control unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208571962U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
-
2018
- 2018-07-23 CN CN201821173683.0U patent/CN208571962U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108768220A (en) * | 2018-07-23 | 2018-11-06 | 南京工程学院 | A kind of integrative coordinated control device and method of articulated robot |
| CN108768220B (en) * | 2018-07-23 | 2024-04-26 | 南京工程学院 | Multi-joint robot integrated cooperative control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN204287906U (en) | The servo-driver that a kind of multiaxis is integrated | |
| CN108768220B (en) | Multi-joint robot integrated cooperative control device | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN201535202U (en) | Motor throttle control device | |
| CN206379872U (en) | A kind of electricity adjusts integrated circuit and unmanned plane | |
| CN104850036A (en) | Control system and method for dual-redundancy electric steering engine | |
| CN208571962U (en) | A kind of articulated robot integrated control unit | |
| CN105406710A (en) | Integrated servo drive system of multi-axis mobile robot | |
| CN209497405U (en) | A kind of AGV servo motor driving control system | |
| CN104539201B (en) | General brushless motor current closed-loop control system and method | |
| CN203588023U (en) | Electric servo mechanism based on ARM controller | |
| CN208174589U (en) | A kind of driving control system for electric machine | |
| CN111342709A (en) | Multi-servo motor control system | |
| CN102361425B (en) | Direct-current brushless variable frequency air conditioner control circuit | |
| CN206544182U (en) | A kind of robot control system | |
| CN205249101U (en) | General type direct current motor servo driver of intelligence based on ARM | |
| CN106533271A (en) | Variable-load dual-motor synchronous driving system and control method thereof | |
| CN203119827U (en) | Microprogrammed control unit based brushless direct-current motor controller | |
| CN109866227A (en) | Modularity multi-joint control device | |
| CN202404409U (en) | Control system of variable frequency locomotive based on programmable logic controller (PLC) and touch screen | |
| CN206348619U (en) | A kind of direct current servomotor of band EtherCAT buses | |
| CN105099281A (en) | Servo motor drive | |
| CN107193225A (en) | A kind of industrial equipment intelligence control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Renchuang Shengyi Technology Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001102 Denomination of utility model: An integrated control device for multi joint robots Granted publication date: 20190301 License type: Common License Record date: 20240122 Assignee: Nanjing University of Engineering Science Park Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001093 Denomination of utility model: An integrated control device for multi joint robots Granted publication date: 20190301 License type: Common License Record date: 20240122 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Jinxi Yunchuang Technology Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001805 Denomination of utility model: An integrated control device for multi joint robots Granted publication date: 20190301 License type: Common License Record date: 20240202 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980002478 Denomination of utility model: An integrated control device for multi joint robots Granted publication date: 20190301 License type: Common License Record date: 20240305 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: NANJING QIANWEI INTELLIGENT TECHNOLOGY CO.,LTD. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980003131 Denomination of utility model: An integrated control device for multi joint robots Granted publication date: 20190301 License type: Common License Record date: 20240322 |
|
| EE01 | Entry into force of recordation of patent licensing contract |