CN103753584A - Mechanical arm control system - Google Patents
Mechanical arm control system Download PDFInfo
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- CN103753584A CN103753584A CN201410003040.1A CN201410003040A CN103753584A CN 103753584 A CN103753584 A CN 103753584A CN 201410003040 A CN201410003040 A CN 201410003040A CN 103753584 A CN103753584 A CN 103753584A
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- manipulator
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Abstract
The invention provides a mechanical arm control system which at least comprises a motion controller and a servo driver. The motion controller is used for programming and monitoring the motion trajectories of a mechanical arm. The servo driver is connected with the motion controller and used for driving each motor according to the motion trajectories of the mechanical arm so as to allow the mechanical arm to move correspondingly. Due to the fact that the distributed control architecture is used and one servo driver can simultaneously drive three servo motors, data exchange amount between the motion controller and the servo driver can be reduced, the motion controller and the servo driver share out the work and cooperates with each other, the control scanning time is shortened greatly, and the responsibility and stability of the whole system are increased.
Description
Technical field
The present invention relates to control field, particularly relate to a kind of manipulator control system.
Background technology
Manipulator is a kind of automatic pilot that captures, carries object or operation tool according to fixed routine.Manipulator is the industrial robot occurring the earliest, also be the modern machines people who occurs the earliest, owing to can imitating some holding function of staff and arm, therefore can replace people's heavy work to realize mechanization and the automation of producing, especially can under hostile environment, operate, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
For example, in the Chinese patent literature that is 201210172870.8 at application number, a kind of welding manipulator is disclosed.This manipulator comprises feed arrangement and the soldering turret being connected with feed arrangement; Wherein, feed arrangement comprises linear block and the rotary module being connected with soldering turret, and rotary module comprises with feed arrangement crosses the gear train rotary module that pivoting support is connected, and is weldingly fixed on gear train rotary module; This welding manipulator carries out feeding by linear block and rotary module, can realize the Full-automatic welding of resistance spot welding point on automobile body-in-white.
Again for example, in the Chinese patent literature that is 201310154997.1 at application number, a kind of manipulator that can be used to capture monocrystalline silicon is disclosed.This manipulator comprises master manipulator, by reprinting the secondary manipulator on described master manipulator and being arranged on the cleaning device on described master manipulator; Wherein, master manipulator comprises master cylinder, is arranged on the main connector on master cylinder and is arranged on the main sucker on main connector; Slave tool hand comprises countercylinder, is arranged on the secondary connector on countercylinder and is arranged on the accessory sucker on secondary connector; Cleaning device is arranged on main connector, and this manipulator can not only capture monocrystalline silicon thus, can also clean monocrystalline silicon, facilitates the preparation of chip.
In a word, along with the development of modern science and technology, manipulator is used widely in all trades and professions.Wherein, rectangular coordinate system manipulator is usually used in many lathes of production line or the part transport operation between station.Rectangular coordinate system manipulator is conventionally by 2
~3 shaft mechanical modules form, and wherein, X/Y axle is trunnion axis, be responsible for part to be displaced to different lathe stations, and Z axis are vertical axis, and being responsible for part being risen to safe altitude or dropping to lathe can clamping height.Mostly the existing control mode to this kind of rectangular coordinate system manipulator is to rely on the pulse of Programmable Logic Controller (PLC) generation to control, and this kind of control mode exists following problems:
1. pulse control command is easily interfered, poor reliability, and wiring is complicated.
2. all by PLC, focus on all data, the bad response of motion, independence and convenience are poor.
3. pulse open loop is controlled, without tutorial function, without exercise data actual displayed and corresponding defencive function etc.
Summary of the invention
The shortcoming of prior art, the object of the present invention is to provide a kind of manipulator control system in view of the above, to solve existing machinery hand control mode bad response, easily disturbed, the problems such as poor reliability.
For achieving the above object and other relevant objects, the invention provides a kind of manipulator control system, it at least comprises:
Motion controller, for planning and monitor the movement locus of manipulator;
Servo-driver, is connected with described motion controller, for the movement locus based on described manipulator, drives each motor, so that described manipulator carries out corresponding sports.
Preferably, described servo-driver is connected with described motion controller by DMCnet bus cable.
Preferably, described motion controller has electronic hand wheel interface.
Preferably, described motion controller builds based on Programmable Logic Controller and man-machine interaction device; More preferably, described man-machine interaction device comprises touch-screen etc.
Preferably, manipulator is rectangular coordinate system manipulator, for example, and conveying robot or reclaimer robot etc.
Preferably, the movement locus of described servo-driver based on described manipulator drives X servomotor, Y servomotor and Z servomotor, so that described manipulator carries out corresponding sports.
As mentioned above, manipulator control system of the present invention, has following beneficial effect: adopt distributing to control framework, antijamming capability is strong, and distribution is easier, and it is more convenient that mechanism installs.
Accompanying drawing explanation
Fig. 1 is shown as manipulator control system schematic diagram of the present invention.
Element numbers explanation
1 manipulator control system
11 motion controllers
12 servo-drivers
2 manipulators
The specific embodiment
Below, by specific instantiation explanation embodiments of the present invention, those skilled in the art can understand other advantages of the present invention and effect easily by the disclosed content of this description.The present invention can also be implemented or be applied by the other different specific embodiment, and the every details in this description also can be based on different viewpoints and application, carries out various modifications or change not deviating under spirit of the present invention.
Refer to Fig. 1.It should be noted that, the diagram providing in the present embodiment only illustrates basic conception of the present invention in a schematic way, satisfy and only show with assembly relevant in the present invention in graphic but not component count, shape and size drafting while implementing according to reality, during its actual enforcement, kenel, quantity and the ratio of each assembly can be a kind of random change, and its assembly layout kenel also may be more complicated.
As shown in Figure 1, the invention provides a kind of manipulator control system.Described manipulator control system 1 at least comprises: motion controller 11 and servo-driver 12.
Described motion controller 11 is for planning and monitor the movement locus of manipulator 2.
Wherein, described manipulator 2 can be any mechanical device that can replace staff to be engaged in certain or some operation, and preferably, it can be rectangular coordinate system manipulator, for example, and conveying robot or reclaimer robot etc.
Particularly, the relevant movable information that described motion controller 11 provides based on planning personnel is planned the movement locus of manipulator, and determine the current motion state information of manipulator according to the data of being obtained by servo-driver 12, and compare and determine whether this manipulator moves normally with the movement locus of planning; If have abnormal or fault to report to the police, and make in time processing such as ending motion.
Wherein, described relevant movable information comprises any information relevant to robot movement, preferably, includes but not limited to; Coordinate information under XYZ coordinate system etc.
For example, control personnel are according to the physical location a2 of the physical location a1 of lathe station A1 and station A2, by man-machine interaction device, for example touch-screen comes input position information (x1, y1, z1), (x2, y2, z2) ... (xj, yj, zj), PLC according to those positional informations (x1, y1, z1), (x2, y2, z2) ... (xj, yj, zj) sorting formed the movement locus figure of manipulator afterwards.
Preferably, described motion controller 11 can build based on Programmable Logic Controller (PLC) and man-machine interaction device.Wherein, described man-machine interaction device includes but not limited to: touch-screen etc.
Preferably, described motion controller 11 is also provided with electronic hand wheel interface.This electronic hand wheel interface can be used for connecting Manual pulse generator (MPG), can realize position of manipulator tutorial function etc. thus.
Described servo-driver 12 is connected with described motion controller 11, for the movement locus based on described manipulator 2, drives each motor, so that described manipulator 2 carries out corresponding sports.
Preferably, described servo-driver 12 connects described motion controller 11 by DMCnet bus cable.
Particularly, the movement locus of described servo-driver 12 based on described manipulator 2 drives single motor to realize the motion control of manipulator single shaft or drives many motors to realize multi-axis interpolation motion of manipulator etc.
Wherein, described servo-driver 12 can adopt any servo-driver that can drive one or more motors.
In the present embodiment, manipulator 2 is rectangular coordinate system manipulator, described servo-driver 12 be for can drive 3 motors simultaneously, can drive rectangular coordinate system manipulator X-motion X servomotor, can drive the Y servomotor of rectangular coordinate system manipulator Y-motion and can drive the Z servomotor of rectangular coordinate system manipulator Z-motion.
In addition, described servo-driver 12 drive motors make in the process of robot movement, can adjust in real time movement velocity.
The concrete control procedure of 1 pair of manipulator 2 of described manipulator control system is as follows:
1. by DMCnet bus cable, motion controller 11 is connected with a servo-driver 12, and this servo-driver 12 can be controlled 3 servomotor motions of manipulator 2, adjustment movement velocity that can be real-time in motion process.
2. the relevant movable information that motion controller 11 provides by touch-screen based on control personnel is planned the movement locus of manipulator, and shows the coordinate data of manipulator.
3. servo-driver 12 can be realized the motion control of manipulator single shaft or multi-axis interpolation motion based on interior location pattern and inner interpolation function.
4. the external Manual pulse generator of handwheel interface (MPG) of motion controller 11, realizes position of manipulator tutorial function.
5. motion controller 11 is by reading the activation bit from servo-driver 12, and whether each axis servomotor that can monitor manipulator 2 works well; If there is abnormal or fault to report to the police, motion controller 11 can be made in time suspending to wait and process action.
In sum, manipulator control system of the present invention adopts distributing to control framework, motion controller has man-machine display interface, can carry out I/O logical process and the collection of being responsible for exercise data, storage and sequence, by DMCnet total line traffic control servo-driver that moves, this servo-driver is equivalent to the synthesis of 3 servo-drivers, can be responsible for the processing of the motion control of 3 axis servomotors simultaneously, it utilizes the motion control that interior location pattern and inner interpolation function can complete independently complexity, comprise the motion control of manipulator single shaft or multi-axis interpolation motion, and do not need participation and the coordination of motion controller, exchanges data amount between motion controller and servo-driver reduces like this, motion controller and servo-driver are shared out the work and help one another, greatly shortened the sweep time of controlling, response and the stability of whole system have been improved, as can be seen here, the present invention has the following advantages:
1. between motion controller and servo-driver, utilize bus to connect, distribution is extremely simple, and the risk that can effectively avoid signal attenuation and be disturbed has improved real-time and the reliability of control system;
2. by means of the distributing of motion controller and servo-driver, control framework, exchanges data amount reduces, and has greatly shortened the sweep time that multiaxis is controlled, and has improved the response of whole system; Adopt existing control system and control system of the present invention to test same manipulator, the manipulator of controlling based on control system of the present invention completes a time used action cycle, with respect to the manipulator of controlling based on existing control system, complete a time used action cycle, can shorten 25%～40%, and in 10 μ, can reach requirement in precision completely;
3. can utilize safety interruption and the facilitation order of motion controller self to realize the functions such as the various tutorial functions of manipulator, safe function, fine setting correction simultaneously; And system is simple to operate, control increasingly automatedly, obtain client and well evaluate.
So the present invention has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all can, under spirit of the present invention and category, modify or change above-described embodiment.Therefore, such as in affiliated technical field, have and conventionally know that the knowledgeable, not departing from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (8)
1. a manipulator control system, is characterized in that, described manipulator control system at least comprises:
Motion controller, for planning and monitor the movement locus of manipulator;
Servo-driver, is connected with described motion controller, for the movement locus based on described manipulator, drives each motor, so that described manipulator carries out corresponding sports.
2. manipulator control system according to claim 1, is characterized in that: described servo-driver is connected with described motion controller by DMCnet bus cable.
3. manipulator control system according to claim 1, is characterized in that: described motion controller has electronic hand wheel interface.
4. according to the manipulator control system described in claims 1 to 3 any one, it is characterized in that: described motion controller builds based on Programmable Logic Controller and man-machine interaction device.
5. manipulator control system according to claim 4, is characterized in that: described man-machine interaction device comprises touch-screen.
6. manipulator control system according to claim 1, is characterized in that: manipulator is rectangular coordinate system manipulator.
7. manipulator control system according to claim 6, is characterized in that: the movement locus of described servo-driver based on described manipulator drives X servomotor, Y servomotor and Z servomotor, so that described manipulator carries out corresponding sports.
8. manipulator control system according to claim 6, is characterized in that: described manipulator is conveying robot or reclaimer robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410003040.1A CN103753584A (en) | 2014-01-03 | 2014-01-03 | Mechanical arm control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410003040.1A CN103753584A (en) | 2014-01-03 | 2014-01-03 | Mechanical arm control system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827481A (en) * | 2015-04-29 | 2015-08-12 | 东莞市智捷自动化设备有限公司 | Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller |
| CN104950801A (en) * | 2015-06-12 | 2015-09-30 | 北方重工集团有限公司 | Electric controlling device for side form placing equipment of precast member by adopting automatic path optimization |
| CN105137915A (en) * | 2015-08-27 | 2015-12-09 | 湖北中航精机科技有限公司 | Cored punch bus multi-axis servo control method and system |
| CN105643627A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Gain adjustment device and method for robot motion control |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN111596591A (en) * | 2020-05-28 | 2020-08-28 | 浙江禾川科技股份有限公司 | Motion control method, device and system of motion sensing game equipment and storage medium |
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN112571408A (en) * | 2020-12-09 | 2021-03-30 | 中电科鹏跃电子科技有限公司 | Manipulator control system and control method capable of recovering running state after power failure |
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| JP2005066819A (en) * | 2003-08-01 | 2005-03-17 | Koyama:Kk | Articulated robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643627A (en) * | 2014-11-12 | 2016-06-08 | 沈阳新松机器人自动化股份有限公司 | Gain adjustment device and method for robot motion control |
| CN104827481A (en) * | 2015-04-29 | 2015-08-12 | 东莞市智捷自动化设备有限公司 | Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller |
| CN104950801A (en) * | 2015-06-12 | 2015-09-30 | 北方重工集团有限公司 | Electric controlling device for side form placing equipment of precast member by adopting automatic path optimization |
| CN104950801B (en) * | 2015-06-12 | 2017-08-15 | 北方重工集团有限公司 | Using the prefabricated components side mould putting equipment electric control gear of path automatic optimal |
| CN105137915A (en) * | 2015-08-27 | 2015-12-09 | 湖北中航精机科技有限公司 | Cored punch bus multi-axis servo control method and system |
| CN105137915B (en) * | 2015-08-27 | 2018-11-02 | 湖北中航精机科技有限公司 | A kind of cored rushes bus multiple-axis servo control method and system |
| CN107627294A (en) * | 2016-07-18 | 2018-01-26 | 昆山鸿鑫达自动化工程科技有限公司 | The flapping articulation manipulator that a kind of sheet metal part is carried |
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN111596591A (en) * | 2020-05-28 | 2020-08-28 | 浙江禾川科技股份有限公司 | Motion control method, device and system of motion sensing game equipment and storage medium |
| CN112571408A (en) * | 2020-12-09 | 2021-03-30 | 中电科鹏跃电子科技有限公司 | Manipulator control system and control method capable of recovering running state after power failure |
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Application publication date: 20140430 |