CN108000535A - A kind of six-joint robot intelligent controller - Google Patents
A kind of six-joint robot intelligent controller Download PDFInfo
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- CN108000535A CN108000535A CN201711400188.9A CN201711400188A CN108000535A CN 108000535 A CN108000535 A CN 108000535A CN 201711400188 A CN201711400188 A CN 201711400188A CN 108000535 A CN108000535 A CN 108000535A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
The present invention relates to Industrial Robot Technology field, and in particular to a kind of six-joint robot intelligent controller.A kind of six-joint robot intelligent controller, including bottom plate, microprocessor, motor output module, sensor processing module, memory, display screen and power supply module, it is characterized in that, microprocessor, motor output module, sensor detection are installed on bottom plate with processing module, memory, touch-screen and power supply module, and motor output module, sensor detection are electrically connected with processing module, memory and touch-screen with microprocessor；Microprocessor operation has PLC unit, configuration unit and motion control unit；Sensor processing module includes at least six sensor interfaces, sensor communication protocol module and sensor parameters setting module.The beneficial effects of the invention are as follows：With highly compatible and real-time, interactive, enable different machines people's work compound of different manufacturers on production line.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to a kind of six-joint robot intelligent controller.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work, is to realize a kind of machine of various functions by self power and control ability.It can receive mankind commander, also may be used
To be run according to the program of advance layout.Industrial robot can be flexibly generated complex space track, can complete various dynamic
Make.And its movement is quick, steady, repeatable accuracy is high, load-carrying is big, can fully ensure that production efficiency demand, stablize product quality,
It has been widely used in transport, welding processing and semiconductor applications at present.Robot control system is known as the brain of robot,
It is the principal element for determining robot function and performance.The main task of industrial robot control technology is exactly to control industrial machine
Time of movement position, posture and track of the people in working space, operation order and action etc..With programming is simple, software
The features such as menu operation, friendly human-computer interaction interface, on-line operation prompt and are easy to use.
103092174 A of China Patent No. CN, on May 8th, 2013, industrial robot is wireless teaching control device, including nothing
Line holds teaching box and master controller two parts, and wireless handheld teaching box is touched by hand, style of writing display screen, central processing unit, wireless
Transmitting and receiving module, USB interface, 1394 interfaces, high capacity lithium ion battery and Switching Power Supply charger etc. form；Master controller
By central processing unit, wirless transmitting and receiving module, display, control keyboard, memory, USB interface, multipath servo control output
Interface, I/O control interfaces, Switching Power Supply etc. form.Wireless handheld teaching box can realize that 50 meters effectively wirelessly add with master controller
Close communication, prevents from covering interfering with each other for control system in same environment more.Wireless handheld teaching box passes through channel radio with master controller
Control industrial robot to realize teaching playback programming, data acquisition and manual/auto control when proving to be true after interrogation, while also can display real-time
With the working status and running parameter of modification robot.Wireless real time communication is realized, without between teaching box and master controller
Communication cable constraint, greatly facilitate robotic programming operating personnel, while improve a security for robot manipulation,
Also embody modern science and technology brought to production work it is convenient.But its application range has certain limitation, does not possess expansible
The function of property and real-time, interactive.
The content of the invention
The technical problem to be solved in the present invention is current industrial robot controller general geological coodinate system is not high and poor compatibility is asked
Topic.Propose a kind of six-joint robot intelligent controller for the highly compatible for running and having configuration unit, nc unit and PLC unit.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of six-joint robot intelligent controller,
It is described micro- including bottom plate, microprocessor, motor output module, sensor processing module, memory, display screen and power supply module
Processor, motor output module, sensor detection are installed on the bottom with processing module, memory, touch-screen and power supply module
On plate, the motor output module, sensor detection are electrically connected with processing module, memory and touch-screen with microprocessor；Institute
Stating microprocessor operation has PLC unit, configuration unit and motion control unit；The sensor processing module includes at least six
Sensor interface, sensor communication protocol module and sensor parameters setting module.Motor output module is held with robot
Row motor is electrically connected, and controls the executing agency of robot to be acted, and sensor detection can pass through sensor with processing module
Detect robot and correlation behavior, and then form feedback, auxiliary intelligent controller is controlled.Touch-screen can show machine
People's working status, and allow operator scene modification robot program or change relevant parameter setting, carry out real-time, interactive.Configuration
Unit allows the instruction set of robot execution various protocols, improves the compatibility of robot controller.
Preferably, the microprocessor includes CPU, GPU and FPGA, the CPU operations have configuration unit, the GPU
Operation has graphics processing unit, and the FPGA operations have motion control unit.GPU can be more efficient carry out graphics calculations, energy
Work efficiency is enough improved, FPGA has the flexibility of higher, can more easily perform the motion control of Different Rule.
Preferably, the microprocessor operation has CANopen, Profibus, EtherCAT, Modbus, Ethernet/
IP, DeviceNet and serial communication protocol.By supporting various communications protocols enable product lines to easily combination to have not
With the device of agreement, raising production line disposes efficiency and can screening device scope.
Lead to preferably, being integrated with the bottom plate and outputting and inputting interface, SIM card unit, WIFI unit and Zigbee
Believe unit, the interface that outputs and inputs is electrically connected with the microprocessor；The interface that outputs and inputs includes numeral input
Interface, 1 digital output interface, 12 analog output interface circuits, 12 Universal Die analog quantity input interfaces, RS232 interface, RS485
Interface and CAN interface, the digital input interface include at least one high-frequency input interface.Can by near field wireless telecommunications
The convenient data transmission channel for establishing production line, accelerates the assembling of production line, and facilitates follow-up upgrading, and abundant connects
Mouth permission controller extends a variety of peripheral devices.
Preferably, the configuration unit includes figure transform engine and 3D Model Transformation Engine in MDA；The PLC unit operation
There are nc unit and ethernet communication agreement；The nc unit operation has motion control and gesture stability program.Figure transform engine
Allow intelligent controller that the figure of importing is directly changed into action command collection, accelerate the deployment of robot control program.
Preferably, the microprocessor operation has PLC programmed environments and NC programmed environments, the PLC programmed environments bag
Include PLC program editing machine, text conversion engine and PLC program compiler.By integrated PLC programmed environments, can allow for operating
Member carries out the editor of simple control program at the scene, can also be to having controlled program to modify, or to controlling program
Field adjustable is carried out, avoids the modification of control program from being only capable of the trouble carried out in PC machine, improves work efficiency.
Preferably, the microprocessor operation has the communications protocol of adaptation Zigbee communication unit, the communications protocol
Form is<protocol>://<address>:<Instrument>, wherein<Instrument>For Optional Field, microprocessor
The Content of Communication received is captured and matched by regular expression, and the calculating formula of the regular expression is：\b(\S+)://
([^:]+)(::(\S+))\b.Production line field device is complicated, if connected using restricted manner, wiring will be brought greatly
Trouble, it has not been convenient to wiring and later stage extension and unload some devices, using near field wireless telecommunications can to avoid the trouble of wiring,
The efficiency of production line assembling is improved, facilitates the transformation of production line.
Preferably, the workflow of the 3D Model Transformation Engine in MDA is：That A1) reads importing includes target 3D models
File, identify file type, exited such as the file type not support if, as support file type if enter step
A2；A2 matched conversion map algorithm) is chosen from conversion map algorithms library, by target 3D model conversions into intermediate form；A3)
By intermediate format conversion into motion control code collection；The motion control code collection includes motion control instruction and gesture stability refers to
Order.By the way that 3D models are directly changed into action command collection, the operation of complicated shape can be caused to save the centre of code building
Operation, improves work efficiency.
Preferably, the workflow of the figure transform engine is：B1 the text for including targeted graphical imported) is read
Part, identifies file type and background, denoising, discoloration and the processing for increasing contrast is carried out to file；B2) from the text after processing
Part extracts graph curve, is matched using the standard curve in shape library with the graph curve extracted；B3) matching is completed
Afterwards, the set of matches that standard curve forms is exported as a result；The standard curve is marked with motion control.
Preferably, the workflow of the text conversion engine is：C1 the text for including program documentaion imported) is read
Part, the program documentaion in extracted file；C2) according to program documentaion and motion control code mapping set, program documentaion is changed
Into motion control code collection；The motion control code collection includes motion control instruction and gesture stability instructs.
The present invention substantial effect be：By configuration unit and PLC unit, highly compatible and real-time, interactive are realized,
Enable different machines people's work compound of different manufacturers on production line.
Brief description of the drawings
Fig. 1 is six-joint robot intelligent controller structure figure.
Embodiment
Below by specific embodiment, and with reference to attached drawing, the embodiment of the present invention is further described in detail.
As shown in Figure 1, be six-joint robot intelligent controller structure figure, including bottom plate, microprocessor, motor output mould
Block, sensor processing module, memory, display screen and power supply module, microprocessor, motor output module, sensor detection with
Processing module, memory, touch-screen and power supply module are installed on bottom plate, motor output module, sensor detection and processing mould
Block, memory and touch-screen are electrically connected with microprocessor；Microprocessor operation has PLC unit, configuration unit and motion control list
Member；Sensor processing module is set including at least six sensor interfaces, sensor communication protocol module and sensor parameters
Cover half block.Motor output module is electrically connected with robot actuating motor, controls the executing agency of robot to be acted, sensor
Detection can detect robot and correlation behavior with processing module by sensor, and then form feedback, aid in intelligent control
Device is controlled.Touch-screen can show robot working status, and allow operator scene modification robot program or change
Relevant parameter is set, and carries out real-time, interactive.Configuration unit allows robot to perform the instruction set of various protocols, improves robot control
The compatibility of device processed.
As the embodiment of recommendation, microprocessor operation have CANopen, Profibus, EtherCAT, Modbus,
Ethernet/IP, DeviceNet and serial communication protocol.By supporting various communications protocols to enable product lines to easily
Device of the combination with different agreement, raising production line dispose efficiency and can screening device scopes.
As the embodiment of recommendation, be integrated with bottom plate output and input interface, SIM card unit, WIFI unit and
Zigbee communication unit, outputs and inputs interface and is electrically connected with microprocessor；Output and input interface include digital input interface,
1 digital output interface, 12 analog output interface circuits, 12 Universal Die analog quantity input interfaces, RS232 interface, RS485 interfaces and
CAN interface, digital input interface include at least one high-frequency input interface.Can easily it be established by near field wireless telecommunications
The data transmission channel of production line, accelerates the assembling of production line, and facilitates follow-up upgrading, and abundant interface allows to control
Device extends a variety of peripheral devices.
As the embodiment of recommendation, configuration unit includes figure transform engine and 3D Model Transformation Engine in MDA；PLC unit is run
There are nc unit and ethernet communication agreement；Nc unit operation has motion control and gesture stability program.Figure transform engine allows
The figure of importing is directly changed into action command collection by intelligent controller, accelerates the deployment of robot control program.
As the embodiment of recommendation, microprocessor operation has PLC programmed environments and NC programmed environments, PLC programmed environment bags
Include PLC program editing machine, text conversion engine and PLC program compiler.By integrated PLC programmed environments, can allow for operating
Member carries out the editor of simple control program at the scene, can also be to having controlled program to modify, or to controlling program
Field adjustable is carried out, avoids the modification of control program from being only capable of the trouble carried out in PC machine, improves work efficiency.
As the embodiment of recommendation, microprocessor operation has the communications protocol of adaptation Zigbee communication unit, communications protocol
Form is<protocol>://<address>:<Instrument>, wherein<Instrument>For Optional Field, microprocessor
The Content of Communication received is captured and matched by regular expression, and the calculating formula of regular expression is：\b(\S+)://([^:]
+)(::(\S+))\b.Production line field device is complicated, if connected using restricted manner, wiring will bring great fiber crops
It is tired, it has not been convenient to which that wiring and later stage extend and unload some devices, can be improved using near field wireless telecommunications to avoid the trouble of wiring
The efficiency of production line assembling, facilitates the transformation of production line.
As the embodiment of recommendation, the workflow of 3D Model Transformation Engine in MDA is：That A1) reads importing includes target 3D
The file of model, identifies file type, is exited if the file type not support, step is entered if the file type to support
Rapid A2；A2 matched conversion map algorithm) is chosen from conversion map algorithms library, by target 3D model conversions into intermediate form；
A3) by intermediate format conversion into motion control code collection；Motion control code collection includes motion control instruction and gesture stability refers to
Order.By the way that 3D models are directly changed into action command collection, the operation of complicated shape can be caused to save the centre of code building
Operation, improves work efficiency.
As the embodiment of recommendation, the workflow of figure transform engine is：That B1) reads importing includes targeted graphical
File, identification file type simultaneously file is carried out background, denoising, discoloration and increase contrast processing；B2) after processing
File extract graph curve, matched using the standard curve in shape library with the graph curve extracted；B3) match
After the completion of, the set of matches that standard curve forms is exported as a result；Standard curve is marked with motion control.
As the embodiment of recommendation, the workflow of text conversion engine is：That C1) reads importing includes program documentaion
File, the program documentaion in extracted file；C2) according to program documentaion and motion control code mapping set, by program documentaion
It is converted into motion control code collection；Motion control code collection includes motion control instruction and gesture stability instructs.
Embodiment described above is a kind of preferable scheme of the present invention, and not the present invention is made in any form
Limitation, also has other variations and remodeling on the premise of without departing from the technical solution described in claim.
Claims (10)
1. a kind of six-joint robot intelligent controller, including bottom plate, microprocessor, motor output module, sensor processing module,
Memory, display screen and power supply module, it is characterised in that
The microprocessor, motor output module, sensor detection are pacified with processing module, memory, touch-screen and power supply module
On the bottom plate, the motor output module, sensor detection and processing module, memory and touch-screen and microprocessor
It is electrically connected；
The microprocessor operation has configuration unit and motion control unit；
The sensor processing module includes at least six sensor interfaces, sensor communication protocol module and sensor ginseng
Number setting module.
A kind of 2. six-joint robot intelligent controller according to claim 1, it is characterised in that
The microprocessor includes CPU, GPU and FPGA, and the CPU operations have configuration unit, and the GPU operations have graphics process
Unit, the FPGA operations have motion control unit.
A kind of 3. six-joint robot intelligent controller according to claim 1, it is characterised in that
The microprocessor operation has CANopen, Profibus, EtherCAT, Modbus, Ethernet/IP, DeviceNet
And serial communication protocol.
A kind of 4. six-joint robot intelligent controller according to claim 1, it is characterised in that
It is integrated with the bottom plate and outputs and inputs interface, SIM card unit, WIFI unit and Zigbee communication unit, it is described defeated
Enter and be electrically connected with output interface with the microprocessor；The interface that outputs and inputs includes digital input interface, numeral output
Interface, 12 analog output interface circuits, 12 Universal Die analog quantity input interfaces, RS232 interface, RS485 interfaces and CAN interface,
The digital input interface includes at least one high-frequency input interface.
A kind of 5. six-joint robot intelligent controller according to claim 1, it is characterised in that
The configuration unit includes figure transform engine and 3D Model Transformation Engine in MDA；
The PLC unit operation has nc unit and ethernet communication agreement；
The nc unit operation has motion control and gesture stability program.
A kind of 6. six-joint robot intelligent controller according to claim 1, it is characterised in that
The microprocessor operation has PLC programmed environments and NC programmed environments,
The PLC programmed environments include PLC program editing machine, text conversion engine and PLC program compiler.
A kind of 7. six-joint robot intelligent controller according to claim 4, it is characterised in that
The microprocessor operation has the communications protocol of adaptation Zigbee communication unit, and the communications protocol form is<
protocol>://<address>:<Instrument>, wherein<Instrument>For Optional Field, microprocessor passes through just
Then expression formula captures and matches the Content of Communication received, and the calculating formula of the regular expression is：\b(\S+)://([^:]+)
(::(\S+))\b.
A kind of 8. six-joint robot intelligent controller according to claim 5, it is characterised in that
The workflow of the 3D Model Transformation Engine in MDA is：
A1 the file for including target 3D models imported) is read, file type is identified, is moved back if the file type not support
Go out, A2 is entered step if the file type to support；
A2 matched conversion map algorithm) is chosen from conversion map algorithms library, by target 3D model conversions into intermediate form；
A3) by intermediate format conversion into motion control code collection；
The motion control code collection includes motion control instruction and gesture stability instructs.
A kind of 9. six-joint robot intelligent controller according to claim 5, it is characterised in that
The workflow of the figure transform engine is：
B1 the file for including targeted graphical imported) is read, file type is identified and background, denoising is carried out to file, gone
Color and the processing for increasing contrast；
B2 graph curve) is extracted from the file after processing, uses the standard curve in shape library and the graph curve extracted
Matched；
B3 after the completion of) matching, the set of matches that standard curve forms is exported as a result；
The standard curve is marked with motion control.
A kind of 10. six-joint robot intelligent controller according to claim 6, it is characterised in that
The workflow of the text conversion engine is：
C1 the file for including program documentaion imported) is read, the program documentaion in extracted file；
C2) according to program documentaion and motion control code mapping set, program documentaion is converted into motion control code collection；
The motion control code collection includes motion control instruction and gesture stability instructs.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114115072A (en) * | 2021-12-10 | 2022-03-01 | 北京云迹科技有限公司 | Multifunctional integrated host and mobile robot |
| CN114840146A (en) * | 2022-05-20 | 2022-08-02 | 广东天太机器人有限公司 | Parameter modification method, system, equipment and storage medium capable of running |
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Effective date of registration: 20190516 Address after: 241100 Wuhu Machinery Industry Park, Wuhu City, Anhui Province Applicant after: Valve Machinery Group Co., Ltd. Address before: 241000 Dongwan Road 1688, Xinwu Economic Development Zone, Wuhu County, Anhui Province Applicant before: Anhui Intelligent Technology Co., Ltd. |
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