CN212794965U - Multi-axis robot control device based on model - Google Patents
Multi-axis robot control device based on model Download PDFInfo
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- CN212794965U CN212794965U CN202020928771.8U CN202020928771U CN212794965U CN 212794965 U CN212794965 U CN 212794965U CN 202020928771 U CN202020928771 U CN 202020928771U CN 212794965 U CN212794965 U CN 212794965U
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Abstract
The utility model discloses a multi-axis robot control device based on a model, which comprises an image acquisition device, an upper computer, a bus control module and a joint motor control module; the image acquisition device is connected with the upper computer, and the bus control module is connected with the upper computer; the joint motor control modules comprise joint motor control units and joint motor driving units, and the joint motor control units are connected with the joint motor driving units; the bus control module is connected with the joint motor control module through a control bus. The utility model discloses a control mode of modularization distributing type builds the control model of whole robot, can compatible other manufacturers' driver and robot.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a multi-axis robot control device based on a model.
Background
With the continuous expansion of the application field of the robot, people have more and more requirements on the robot, but the traditional robot control system does not provide a source for users, so that some personalized functions cannot be developed, and even research and development of some advanced algorithms can be limited. The invention adopts a model-based development mode, and all control logics can be built in MATLAB or LABVIEW, thereby greatly shortening the development period and making the whole set of control algorithm easier to understand.
The research and development of the traditional robot control system generally comprises links such as demand analysis, simulation verification, physical design, verification test and the like, but the research and development links are independently carried out, development platforms used in all the links are different, even developers are different, and therefore the problems of too long development period, low efficiency and the like can be caused. And the traditional development mode generally adopts manual programming, which has great difficulty and more errors and brings great difficulty to later-stage test and verification.
At present, model-based development is available, a unified development platform can be adopted in the development mode, a graphical programming mode is adopted for automatic code generation, but codes are required to be downloaded to a specific control chip, so that the functions of online parameter modification and real-time state display are not available, a control board is required to be developed, and the research and development period is increased.
In the prior art, when the multi-joint robot integrated cooperative control device disclosed by the multi-joint robot integrated cooperative control device is used for system test and verification, proper third-party test monitoring software is not available, and robot experimental data are inconvenient to acquire. The integrated cooperative control device for the multi-joint robot has the advantages that a robot track planning algorithm and control algorithms of all joints are placed in a main control chip, and the operation burden of the main control chip is increased. The communication between the master control and each joint of the multi-joint robot integrated cooperative control device adopts parallel port bus communication, the communication distance is short, and a large amount of resources of a master control chip can be occupied.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a multi-axis robot control device based on a model, adopts a modularized device and distributed control, and can be compatible with drivers and robots of other manufacturers.
The utility model adopts the technical proposal that:
a model-based multi-axis robot control device,
the system comprises an image acquisition device, an upper computer, a bus control module and a joint motor control module; the image acquisition device is connected with the upper computer, and the bus control module is connected with the upper computer;
the joint motor control module comprises a joint motor control unit and a joint motor driving unit, and the joint motor control unit is connected with the joint motor driving unit
The number of the power-off control modules is several;
the bus control module is connected with the joint motor control module through a control bus.
The system further comprises a code generation module, the code generation module comprises an emulator interface unit and a hardware code generator, the upper computer, the emulator interface unit and the hardware code generator are sequentially connected, and the image acquisition device and the bus control module are connected with the hardware code generation controller.
Preferably, the image acquisition device is mounted on an end effector of the multi-axis robot to move with the robot, and the view of the image acquisition device is opposite to the worktable of the workpiece.
Preferably, the image acquisition device is mounted on a fixed support, the field of view of the image acquisition device is right opposite to the worktable of the workpiece, and the field of view is not blocked.
The hardware code generation controller comprises a first power supply module, a first processor module, a serial port communication module and an image transmission module; the serial port communication module and the image transmission module are connected with the first processor module, and the image transmission module is connected with the image acquisition device; the upper computer is connected with the serial port communication module, and the first processor module is connected with the bus control module.
The control bus is an RS-485 bus, a CAN bus or an EtherCat bus.
The joint motor control unit comprises a second power supply module, a second processor module, a second bus control module, an encoder information reading module, a digital-to-analog conversion module and a PWM (pulse Width modulation) wave modulation module; the second processor module is used for forwarding the instruction;
the second bus control module, the encoder information reading module, the digital-to-analog conversion module and the PWM (pulse Width modulation) wave modulation module are all connected with the second processor module, and the encoder information reading module is connected with an encoder of the multi-axis robot.
The joint motor driving unit comprises a rectifying circuit, an inverter circuit, a sampling circuit, an isolation circuit and a protection circuit;
the rectification circuit is connected with the protection circuit and the inverter circuit, the inverter circuit is connected with a joint motor of the multi-joint robot, and the sampling circuit is connected between the inverter circuit and the digital-to-analog conversion module; the isolation circuit is connected between the inverter circuit and the PWM wave modulation module.
Compared with the prior art, the utility model discloses the beneficial effect who has is:
the application discloses multiaxis robot controlling means based on model adopts the control mode of modularization distributing type and the development mode based on model, can directly control the robot with the host computer directly, also can control the robot with the automatic generation code download of model in hardware code generation controller. Meanwhile, the highly modular control structure enables the system to be compatible with drivers and robots of other manufacturers.
According to the joint motor control unit and the joint motor driving unit, all modules are combined to transmit information and send commands, information codes of a multi-axis robot encoder can be received in real time, and multi-joint cooperative control of the multi-axis robot is achieved. The modularized control is simple, and the fault removal is easy to carry out.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1a is a system diagram of a model-based multi-axis robot control device;
FIG. 1b is a model-based multi-axis robot control device including a hardware code generation controller;
fig. 2 is a schematic diagram of a hardware code generation controller.
Fig. 3 is a structural diagram of the joint motor control unit and the joint motor drive unit.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1a, a model-based multi-axis robot control device includes an image acquisition device, an upper computer, a bus control module and a joint motor control module; the image acquisition device is connected with the upper computer, and the bus control module is connected with the upper computer;
the joint motor control module comprises a joint motor control unit and a joint motor driving unit, and the joint motor control unit is connected with the joint motor driving unit
The number of the power-off control modules is several;
the bus control module is connected with the joint motor control module through a control bus.
As shown in fig. 1b, the present embodiment further includes a code generation module, where the code generation module includes a simulator interface unit and a hardware code generator, the upper computer, the simulator interface unit and the hardware code generator are sequentially connected, and the image acquisition device and the bus control module are connected to the hardware code generation controller. Namely, the hardware code generator is connected with the joint motor control unit through a control bus.
The hardware code generation controller comprises a first power supply module, a first processor module, a serial port communication module and an image transmission module; the serial port communication module and the image transmission module are connected with the first processor module, and the image transmission module is connected with the image acquisition device; the upper computer is connected with the serial port communication module, and the first processor module is connected with the bus control module.
As shown in fig. 1a, the image acquisition device is connected with an upper computer, the upper computer is connected with a first bus control module, and the first bus control module is connected with a joint motor control module; the upper computer is a main control device of the whole robot system, a Windows operating system is used, graphical programming software such as MATLAB/Simulink and LABVIEW is installed to build a control model of the whole robot, and third-party software and hardware such as QUARC and dSPACE are installed to enable the whole robot control system to become a real-time control system. The upper computer controls the power-off motor control module through the bus to drive the robot to complete the expected action.
As shown in fig. 1b, the upper computer is connected with the simulator interface module, the simulator interface module is connected with the hardware code generation controller, the hardware code generation controller is connected with the image acquisition device and the upper computer, and the hardware code generation controller is connected with the joint motor control module; the hardware code generation controller is the main control device of the whole robot system.
In this embodiment, the upper computer uses a Windows operating system, installs MATLAB/Simulink and labjiew graphical programming software to build a control model of the whole robot, and downloads a C language code automatically generated by the robot control model to a hardware code generation controller through a simulator interface module. The hardware code generation controller controls the power-off control module to drive the robot to complete the expected action through the bus.
It should be noted that, the third-party software installed on the upper computer is a known technology in the art, and the present invention does not improve the imaging into software, does not improve the robot control method, and only improves the hardware structure.
The joint motor control module comprises a joint motor control unit and a joint motor driving unit;
the number of the power-off control modules is several;
the hardware code generation controller is connected with the joint motor control unit through a control bus, and the joint motor control unit is connected with the joint motor driving unit.
The image acquisition device is arranged on an end effector (mechanical arm) of the multi-axis robot and moves along with the robot, and the visual field of the image acquisition device faces the workbench of a workpiece.
As shown in fig. 2, the hardware code generation controller includes a first power supply module, a first processor module, a second bus control module, a serial communication module, and an image transmission module; the second bus control module, the serial port communication module and the image transmission module are all connected with the first processor module, and the image transmission module is connected with the image acquisition device. The first processor module is used for generating code instructions according to the code specification and sending the instructions.
The control bus is an RS-485 bus, a CAN bus or an EtherCat bus.
As shown in fig. 3, the joint motor control unit includes a second power module, a second processor module, a second bus control module, an encoder information reading module, a digital-to-analog conversion module, and a pwm (pulse Width modulation) wave modulation module; the second processor module is used for processing the forwarding and receiving of information; second bus control module
As shown in fig. 3, the joint motor driving unit includes a rectifying circuit, an inverter circuit, a sampling circuit, an isolation circuit, and a protection circuit;
the rectification circuit is connected with the protection circuit and the inverter circuit, the inverter circuit is connected with a joint motor of the multi-joint robot, and the sampling circuit is connected between the inverter circuit and the digital-to-analog conversion module; the isolation circuit is connected between the inverter circuit and the PWM wave modulation module.
The second bus control module, the encoder information reading module, the digital-to-analog conversion module and the PWM (pulse Width modulation) wave modulation module are all connected with the second processor module.
The joint motor driving unit comprises a rectifying circuit, an inverter circuit, a sampling circuit, an isolation circuit and a protection circuit;
the rectification circuit is connected with the protection circuit and the inverter circuit, the inverter circuit is connected with a joint motor of the multi-joint robot, and the sampling circuit is connected between the inverter circuit and the digital-to-analog conversion module; the isolation circuit is connected between the inverter circuit and the PWM wave modulation module.
The above is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (8)
1. A model-based multi-axis robot control device is characterized in that,
the system comprises an image acquisition device, an upper computer, a bus control module and a joint motor control module; the image acquisition device is connected with the upper computer, and the bus control module is connected with the upper computer;
the joint motor control module comprises a joint motor control unit and a joint motor driving unit, and the joint motor control unit is connected with the joint motor driving unit
The number of the power-off control modules is several;
the bus control module is connected with the joint motor control module through a control bus.
2. A model-based multi-axis robot control apparatus of claim 1,
the system further comprises a code generation module, the code generation module comprises an emulator interface unit and a hardware code generator, the upper computer, the emulator interface unit and the hardware code generator are sequentially connected, and the image acquisition device and the bus control module are connected with the hardware code generation controller.
3. A model-based multi-axis robot control apparatus of claim 1,
the image acquisition device is arranged on an end effector of the multi-axis robot and moves along with the robot, and the visual field of the image acquisition device is right opposite to the workbench of the workpiece.
4. A model-based multi-axis robot control apparatus of claim 1,
the image acquisition device is arranged on the fixed support, the visual field of the image acquisition device is right opposite to the workbench of the workpiece, and the visual field is not blocked.
5. A model-based multi-axis robot control apparatus according to claim 2,
the hardware code generation controller comprises a first power supply module, a first processor module, a serial port communication module and an image transmission module; the serial port communication module and the image transmission module are connected with the first processor module, and the image transmission module is connected with the image acquisition device; the upper computer is connected with the serial port communication module, and the first processor module is connected with the bus control module.
6. A model-based multi-axis robot control apparatus of claim 1,
the control bus is an RS-485 bus, a CAN bus or an EtherCat bus.
7. A model-based multi-axis robot control apparatus of claim 1,
the joint motor control unit comprises a second power supply module, a second processor module, a second bus control module, an encoder information reading module, a digital-to-analog conversion module and a PWM (pulse width modulation) wave modulation module; the second processor module is used for forwarding the instruction;
the second bus control module, the encoder information reading module, the digital-to-analog conversion module and the PWM wave modulation module are all connected with the second processor module, and the encoder information reading module is connected with an encoder of the multi-axis robot.
8. A model-based multi-axis robot control apparatus of claim 7,
the joint motor driving unit comprises a rectifying circuit, an inverter circuit, a sampling circuit, an isolation circuit and a protection circuit;
the rectification circuit is connected with the protection circuit and the inverter circuit, the inverter circuit is connected with a joint motor of the multi-joint robot, and the sampling circuit is connected between the inverter circuit and the digital-to-analog conversion module; the isolation circuit is connected between the inverter circuit and the PWM wave modulation module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020928771.8U CN212794965U (en) | 2020-05-27 | 2020-05-27 | Multi-axis robot control device based on model |
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| CN202020928771.8U CN212794965U (en) | 2020-05-27 | 2020-05-27 | Multi-axis robot control device based on model |
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Assignee: Nanjing University of Engineering Science Park Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980036185 Denomination of utility model: A Model Based Control Device for Multi axis Robots Granted publication date: 20210326 License type: Common License Record date: 20230606 |
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Assignee: Nanjing University of Engineering Science Park Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980036185 Date of cancellation: 20240301 |
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