CN2447131Y - Open-type control platform for industrial robot - Google Patents

Abstract

The open industrial robot control platform belongs to the general industrial robot control system. Its outstanding feature is to introduce general-purpose industrial computer into the traditional robot control system, and adopt a unique open and modular structure to expand the original closed-structure controller into an open-structure control platform. As a control system for robots, it can control various types of servo packages, control industrial robots more flexibly, and increase its functions more conveniently, so that the existing robot production can further adapt to the requirements of modern industrial production in small batches and multiple varieties.

Description

Open industrial robot control platform

The utility model belongs to a general industrial robot control system. Its outstanding feature is to introduce general-purpose industrial computer into the traditional robot control system, and adopt a unique open and modular structure to expand the original closed-structure controller into an open-structure control platform.

The traditional industrial robot controller (CONTROLLER) lacks uniqueness, and the robot controller and manipulator (MANIPULATOR) are integrated. Figure 1 shows the typical configuration of the traditional robot control system. R1 is the industrial robot, and A1 is the controller. It integrates a servo package, a special computer with a closed structure and some other electrical equipment. The controller in it can only be used for a certain type of fixed servo package, and it can drive a specific servo motor. Generally only applicable to a specific robot. The function of the controller depends on the tasks that the robot needs to complete, and the parameters used in the servo and planning algorithms of the controller are directly from the ontology: the low-level position servo algorithm should be customized according to the characteristics of the servo motor and servo amplifier of the manipulator, and the upper-level planning program It should be compiled according to the parameters such as the mechanism and size of the manipulator.

If both the job task and the job object are fixed, then this kind of closed robot controller has the advantages of simplicity, reliability and efficiency. However, with the development of the economy, people's requirements for product diversification are getting higher and higher. The manufacturing industry has developed from the original large-scale assembly line operation with relatively fixed tasks and objects to the small and medium-scale flexible manufacturing (FM) and computer integrated manufacturing (CIM) models with frequently changing tasks and objects. This requires industrial robots, which play a vital role in advanced manufacturing systems, to be able to perform ever-changing tasks, that is, functional flexibility. During the purchase stage of robots, it is impossible for robot users to fully consider changes in future production tasks. In this way, a controller robot with a closed structure is useless once the new task is not included in the control function of the existing robot. In addition, the configuration of the original robot control system is shown in Figure 1, in which the model of the robot R1 is fixed.

The purpose of this utility model is as follows: if the function of the robot can be expanded, through the function expansion of the controller, the original robot can be put into new production tasks. However, if the function of the controller is scalable, the controller needs to be open. For the robot to be flexible, the controller must also be open. In addition, as a control system for robots, the utility model can control various types of servo packages, control industrial robots more flexibly, increase its functions more conveniently, and make existing robot production further adapt to modern industrial production with small batches and multiple varieties. requirements.

The technical points of the utility model are as shown in Figure 2: I1 is a general industrial computer, A2 is a control cabinet, in which the servo package and the computer host are installed, and R2 is an industrial robot. The difference in configuration from Figure 1 is that an external industrial computer is added, so that users can compile and modify control programs according to their actual needs, and the model of robot R2 in Figure 2 can be flexibly selected.

The technical core of the utility model is to realize the control of various servo packages by a controller through an industrial computer and several interface boards. Figure 3 is the specific connection schematic diagram, in which C1 is the multi-axis motion controller PMAC2-PCR (PMAC for short), which can be inserted into the slot of the ISA bus on the industrial computer, and C2 and C3 are YASKAWA absolute code disc converters ACC-8D-OPTION9, C4 is the signal matching converter ACC-8E, C5 is also the signal matching converter ACC-8F; S1 and S2 are two different types of servo packages, S1 is a voltage signal input type servo package, the input voltage 0-6V, S2 is a PWM input type servo package, the input is PWM wave; M1 and M2 are servo motors, E1 and E2 are the encoder signal output units (ENCODER) of M1 and M2 respectively.

Figure 3 works as follows:

The voltage control signal is issued by running the control program compiled on the industrial computer, which is transmitted to C4 through the JMAC2 interface on C1, and then amplified by C4 and transmitted to the servo package S1 to form the drive pulse of the servo motor M1. In addition, the computer also controls the PMAC. Generate another PWM signal, and transmit it to the interface board C5 through JMAC4, and then output it to the servo package S2 that needs PWM input signal through the P5 port of C5, and the driving signal of the servo motor M2 comes from S2.

In addition, the robot control system also needs to determine the change of the position of each joint of the robot. The signal is generated by the code disc installed on the servo motor. Since the servo package is different, the transmission path of the code disc signal is also different. The code disc signal of M1 generated by E1 is first sent to S1, and then transmitted to the absolute code disc converter C2 through the EO (ENCODE OUTPUT) port of S1, C2 converts the absolute code disc signal into an incremental code disc signal, and the absolute code disc Both the signal and the incremental code wheel signal are transmitted back to the PMAC; while the code wheel signal of M2 is generated by E2 and then directly transmitted to C3, and the signal of C3 generates an absolute signal and an incremental signal through C2 and C5 respectively, and finally passes through the PMAC. JMAC1 and JMAC4 aggregate to PMAC. In this way, the computer has obtained the code disc signals of the two servo motors, and these code disc signals can be interpreted through the computer program to determine the position and motion state of each joint of the robot.

Through the connection of the above circuits, it is very convenient to provide control signals to two different servo packages, and to interpret the code disc signals of two different servo motors, and to control these two types of servo motors very flexibly. In the same way, it can also be extended to the control of multiple servo motors.

The main advantages of the robot control platform proposed by the utility model are as follows: one set of control system can control multiple servo packages at the same time; due to the completely open structure, the user can perform two operations on the basis of the control system according to the process requirements. The first development can complete some tasks that the original system does not have; because the industrial computer is introduced into the robot control system, the user can operate the robot more flexibly, perform teaching and reproduction, and has a very friendly man-machine interface; this set The control system can realize the control of up to 8-axis motion, and compared with the 6-axis controller commonly used in industrial robots, it has higher control accuracy and wider application fields; due to the robot body, servo package, Both the motion controller and the industrial computer adopt a modular design, so they can be combined freely according to actual needs, which broadens the application field of the robot control system.

Description of drawings:

Figure 1 is a configuration connection diagram of a traditional industrial robot control system;

Fig. 2 is the configuration connection diagram of this robot control platform;

Figure 3 is a connection diagram for controlling two types of servo packages through an industrial computer;

Fig. 4 is the block diagram of the structure of the six-axis servo motor control system of the robot in the embodiment;

Example:

This control platform realizes the control of two servo packages through the circuit shown in Figure 3. The structural block diagram of the industrial robot control system composed of this method is shown in Figure 4. The industrial computer in the figure can use ADVANTECH-610, and also The YASKAWA MOTOMAN SK10 robot body can be used as the control object. The two servo packages respectively use four YASKAWA CACR-SR15SZ1SD-Y214 single-axis drive servo packages and one DELTA TAU four-axis drive servo package. Y214 is a voltage-controlled servo The package is used to drive the four joints S, L, U and R of the robot, and the DELTA TAU is a PWM wave-controlled servo package used to drive the two joints B and T of the robot wrist.

The industrial computer generates control signals through PMAC, and then after being amplified by two interface boards ACC-8ED, it is transmitted to four CACR-SR15SZ1SD-Y214 single-axis drive servo packages to control the servo motors of the S, L, U and R joints. The drive signals of the servo motors of the other two axes B and T are generated by PMAC and transmitted to the four-axis drive servo package DELTA TAU through ACC-8F.

The code disc signals of the servo motors of the four joints S, L, U and R are first transmitted to ACC-8D through the servo package, and the absolute code disc signal is converted into an incremental code disc signal, and then transmitted back to PMAC through ACC-8E ; while the code disc signals of the servo motors of B and T are directly transmitted to another piece of ACC-8D, and then sent back to PMAC through ACC-8E and ACC-8F in two channels. The program running on the industrial computer can be very accurate The joint angles and motion states of the six joints of the SK10 robot are accurately determined.

Through the control program, the SK10 robot can be controlled to move in joint coordinates, Cartesian coordinates, tool coordinates and user-defined coordinates, and can complete the movement of straight lines, arcs and various spline curves. This set of robot control platform can not only control the robot to complete various tasks of the current general industrial robot, but also can be further developed on the basis of it to realize new functions.

The utility model replaces the dedicated computer in the traditional robot controller with a general-purpose open industrial computer, so that the user can not only control the robot according to the traditional method, but also flexibly adjust and change the robot's job tasks through the computer, even in the open Construct new upper-level control software that adapts to their different production requirements on the computer platform. Therefore, some functions that are not available at the factory can be conveniently added to the robot, which improves the user's ability to control the robot. This creation plays an important role in increasing the functions of industrial robots, improving their control precision, and expanding the application of robots in industrial production.

Claims (2)

1. An open industrial robot control platform composed of a general-purpose industrial computer, controller, converter, servo package, and servo motor is characterized in that the multi-axis controller C1 can be inserted into the slot of the ISA bus on the industrial computer , the multi-axis controller C1 interface is connected to the signal matching converter C4, the signal matching converter C4 is connected to the servo package S1 after amplification, and the servo package S1 is connected to the servo motor M1 to form a drive pulse; the servo motor M1 is converted through the code disc signal The unit E1 is connected with the servo package S1; the servo package S1 is connected with the absolute code disc converter C2 through the EO port; the absolute code disc converter C2 is also connected with the multi-axis controller C1 and another absolute code disc converter C3 respectively, and the signals are matched and converted The absolute code disc converter C3 is connected to the interface board C5, the interface board C5 is connected to the servo package S2, the servo package S2 is connected to the servo motor M2, and the servo motor M2 is connected to the absolute code disc converter C3 through the code disc signal output unit E2; The interface board C5 is also connected with the multi-axis controller C1. 2. The open industrial robot control platform according to the claims is characterized in that: the industrial computer is connected with the multi-axis controller through the slot of the ISA bus, and the multi-axis controller is connected with a plurality of interface boards, and the interface boards are respectively connected with the absolute The code disc converter is correspondingly connected; each interface board can be connected to a pair of servo packages to realize the control of a variety of servo packages by a controller; the servo package is also connected to the absolute code disc converter, the servo package is connected to the servo motor, and the servo The motor can also be connected with the multi-axis controller after being connected with the absolute code disc converter.

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