TWI490097B - Distributed manipulator control system - Google Patents

Description

Decentralized robot control system

This invention relates to a robotic control device and, more particularly, to a decentralized robotic control system.

With the rapid advancement of technology, automation equipment has become more and more popular in many factories. Among these automated devices, the robot is particularly important because it can replace the heavy labor of the workers, increase production efficiency, and even avoid the dangers that occur during construction.

As the processing industry is increasingly demanding precision, the control accuracy requirements for robots are also increasing. In general, the control modes of robots currently used for industrial reclaiming are mainly divided into two types.

The first type uses hydraulic or pneumatic pressure for drive control. The advantage is that the structure is simple and the system is easy to control, but the disadvantage is that the positioning accuracy is low. In addition, once the user requests to change the type or path of the reclaiming work, the hydraulic pressure or air pressure must be readjusted. The positioning switch of the cylinder is adapted to the new work task and is not conducive to the automation of the production process.

The second type uses an all-electric control method that uses a hand-held teaching box to control the servo controller and instructs it to manipulate the robot. This type of system uses a hand-held teaching box to control the servo controller in a pulsed manner, and its accuracy is improved. However, the biggest worry of this kind of system is that the wiring of the external connection of the servo controller is too complicated, resulting in poor stability of the system, and excessive wiring will also cause a cost burden.

As can be seen from the above, in the existing robot control system, there is still a part It is difficult to overcome.

In view of this, one aspect of the present invention provides a distributed robot control system.

It is an object of the present invention to provide a distributed robot control system that uses a bus to communicatively connect a human machine controller, an all-in-one servo driver, and an input/output (I/O) interface. Therefore, the man-machine controller only needs to communicate with the bus to control the robot, so that complicated wiring can be eliminated, thereby overcoming the difficulties encountered in the prior art.

According to an embodiment of the present invention, a distributed robot control system includes a bus, a human machine controller, an all-in-one servo driver, a plurality of servo motors, an input/output interface, a plurality of sensors, and a one-handed jaw driver. In this embodiment, the bus has a first node, a second node, and a third node. The man-machine controller is communicatively connected to the first node. The all-in-one servo drive is communicatively coupled to the second node. The input and output interface is connected to the third node. The servo motor is controlled by an all-in-one servo drive to move a robot. The complex sensor system is connected to the input and output interface. The gripper driver is communicatively connected to the input and output interface.

According to one or more embodiments of the present invention, a distributed robot control system includes a programmable logic controller (PLC) and a touch display panel. The programmable logic controller is set inside the human machine controller. The touch display panel is formed on the surface of the human machine controller.

One-in-one servo driver according to one or more embodiments of the present invention A position feedback module is included for transmitting the instantaneous position data of the robot to the human machine controller through the bus and presented by the touch display panel.

According to one or more embodiments of the present invention, the human-machine controller includes a path recording module for recording a movement path of the robot movement caused by the user operating the touch display panel.

According to one or more embodiments of the present invention, the human-machine controller includes a path recording module for recording a movement path of the robot movement caused by the user operating the touch display panel.

According to one or more embodiments of the present invention, the distributed robot control system further includes a Serial Peripheral Interface (SPI), a communication connection programmable logic controller, and a touch display panel.

According to one or more embodiments of the present invention, an all-in-one servo driver includes a motion control module including a motion path database, an instruction receiving module, and an instruction delivery module. The motion path database is used to store complex motion paths, each of which marks a proprietary code. The command receiving module is used for the human machine controller to specify the exclusive code. The command release module is configured to command the servo motor to move the robot along the motion path corresponding to the exclusive code according to the exclusive code.

According to one or more embodiments of the present invention, the motion control module further includes a synchronization command module for controlling the synchronous operation of the plurality of servo motors.

According to one or more embodiments of the present invention, the bus is a CAT-5e STP Ethernet cable.

In accordance with one or more embodiments of the present invention, the speed of the bus is approximately 20 Mbps.

According to one or more embodiments of the present invention, the bus has two communications Channels have different cyclic redundancy check (CRC).

With the above technical means, the present invention not only can effectively solve the problem of complicated wiring, but also has at least the following advantages. 1. The invention integrates the programmable logic controller and the touch display panel into the man-machine controller, and can directly plan the movement path of the manipulator by the touch display panel, and can display the instantaneous position of the manipulator. 2. The all-in-one servo driver provided by the invention has a motion control module, and a plurality of motion paths are stored in the motion path database, and the human-machine controller only needs to specify the number of the specific path, and the multi-in-one servo driver can be used. The motion path to be executed is known from the motion path database, and the human machine controller does not need to control the motion path, thereby reducing the computational burden of the human machine controller.

The above description is only for clarifying the object of the present invention, the technical means for achieving the object, the effects thereof, and other advantages of the present invention, etc. The specific details of the present invention will be hereinafter described in the following embodiments and related drawings. Detailed in the introduction.

The embodiments of the present invention are disclosed in the following drawings, and for the purpose of clarity However, it should be understood that these practical details are not intended to limit the invention. In other words, these details are not necessary in some embodiments of the invention. In addition, some of the conventional structures and elements are shown in the drawings in a simplified schematic manner in order to simplify the drawings.

FIG. 1 is a diagram showing a distributed robot control according to an embodiment of the present invention. Schematic diagram of the system. As shown in the figure, in the present embodiment, the distributed robot control system includes a bus 400, a human machine controller 100, an all-in-one servo driver 200, three servo motors 500a, 500b, and 500c, and an input/output interface. 300, two sensors 600a and 600b and a hand driver 620. In this embodiment, the bus 400 has a first node 420, a second node 440, and a third node 460. The human machine controller 100 is communicatively coupled to the first node 420. The all-in-one servo driver 200 is communicatively coupled to the second node 440. The input/output interface 300 is communicatively coupled to the third node 460. The servo motors 500a, 500b, and 500c are controlled by the all-in-one servo driver 200 to move a robot (not shown). The plurality of sensors 600a and 600b are communicatively coupled to the input and output interface 300. A gripper driver 620 is communicatively coupled to the input and output interface 300.

Through the above technical means, the present invention can utilize the bus 400 to communicatively connect the human machine controller 100, the all-in-one servo driver 200, and the input/output interface 300. In other words, the human-machine controller 100 only needs to be connected to the bus 400, and then connected to the all-in-one servo driver 200 and the input/output interface 300 through the bus 400, respectively, to control the operation of the robot, so the human-machine controller 100 does not need to be connected to any other. The line, thereby overcoming the complicated wiring problem.

FIG. 2 is a functional block diagram of the human-machine controller shown in FIG. 1. As shown, the human machine controller 100 includes a programmable logic controller (PLC) 120, a touch display panel 140, a Serial Peripheral Interface (SPI) 160, and a path. Recording module 180. In the embodiment, the programmable logic controller 120 is disposed inside the human-machine controller 100, and the touch display panel 140 is disposed on the surface of the human-machine controller 100. The column peripheral interface 160 is in communication connection. Therefore, the touch display panel 140 and the programmable logic controller 120 can be integrated into the human machine controller 100 to achieve an integrated effect. In the embodiment, the path record module 180 is used to record a movement path of the robot movement caused by the user operating the touch display panel 140. For example, the user can use a pointing member (for example, a user's finger or a stylus) to slide on the touch display panel 140 to correspond to the moving robot, and the path recording module 180 can store the movement of the robot. path. Therefore, when a new motion path is to be input, the touch display panel 140 of the human machine controller 100 can be directly used for implementation, which is easy for the user to operate.

In the present embodiment, the serial peripheral interface 160 is a synchronous data protocol interface, and generally has four lines for transmitting four kinds of logic signals, namely SCLK (Serial Clock) signal, MOSI/SIMO (Master Output, Slave). Input) signal, MISO/SOMI (Master Input, Slave Output) signal, and SS (Slave Select) signal, wherein the SCLK signal is output from the master device connected to the serial peripheral interface to the slave device; MOSI The /SIMO signal is output from the main device connected to the serial peripheral interface to the slave device: the MISO/SOMI signal is output from the slave device connected to the serial peripheral interface to the main device; the SS signal is connected by the serial peripheral interface. The main device is output to the slave device.

In the present embodiment, the human-machine controller 100 can use the FPGA-EP4CP6 as the chip of the programmable logic controller 120, and can use the FlexCC MFR4310 manufactured by ALTERA® as the chip, and the RJ45 is the communication connection.埠, and can use static random access memory (SRAM) and ferroelectric random access memory (Ferroelectric Random Access Memory, FRAM) for data storage.

FIG. 3 is a functional block diagram of the all-in-one servo driver shown in FIG. 1. As shown, the all-in-one servo driver 200 includes a motion control module 220 that includes a motion path database 226, an instruction receiving module 222, an instruction delivery module 224, and a synchronization command module 228. The motion path database 226 is used to store complex motion paths, each of which marks a proprietary code. The command receiving module 222 is configured to allow the human machine controller 100 to specify a proprietary code. The command release module 224 is configured to command the servo motor 500a, 500b, and/or 500c to drive the robot to move along the motion path corresponding to the exclusive code according to the exclusive code.

More specifically, the motion path database 226 can store data of a plurality of motion paths, and each motion path marks a dedicated code. The so-called "exclusive" code in the above indicates that each motion path is marked with a code, and the codes of each motion path are different from each other. The human machine controller 100 can designate a specific code to the command receiving module 222, and then the command release module 224 drives the mechanical motor 500a, 500b, and/or 500c according to the exclusive code received by the command receiving module 222. The hand moves along the motion path corresponding to the exclusive code. With the above technical means, the human-machine controller 100 only needs to specify a single or a plurality of exclusive codes, and the multi-in-one servo driver 200 can drive the servo motors 500a, 500b, and/or 500c to drive the robot along the human-machine controller. 100 specifies the movement path corresponding to the exclusive code. Thereby, the present embodiment can reduce the computational load of the human machine controller 100.

In the embodiment, the all-in-one servo driver 200 further includes A position feedback module 240 is configured to transmit the instantaneous position data of the robot to the human machine controller 100 via the bus 400 (see FIG. 1), and the touch display panel 140 thereof (see FIG. 2) ) to present. Specifically, the position feedback module 240 can know the instantaneous position of the robot through the motion control module 220 and transmit it to the human machine controller 100 via the bus 400 (refer to FIG. 1).

In this embodiment, the motion control module 220 of the all-in-one servo driver 200 may further include a synchronization command module 228 for controlling the synchronous operation of the servo motors 500a, 500b, and 500c. More specifically, the synchronization command module 228 will request the command release module 224 to simultaneously provide commands to the servo motors 500a, 500b, and 500c to operate to improve synchronism between the servo motors 500a, 500b, and 500c.

Figure 4 is a partial schematic view of the bus shown in Figure 1. As shown in the figure, the bus 400 of the present embodiment can provide two communication channels, which are a first communication channel 412 and a second communication channel 414, both of which are bidirectionally transmitted, and have different cyclic redundancy check codes respectively. Cycle redundancy check, CRC). In some embodiments, the bus 400 is a CAT-5e STP Ethernet cable with a speed of approximately 20 Mbps and a communication distance of approximately 30 meters. Thereby, the bus 400 of the present embodiment can provide high speed and stable data transmission.

In one or more embodiments of the invention, servo motors 500a, 500b, and 500c are controlled by an all-in-one servo drive 200 to move the robot in three dimensions. For example, servo motors 500a, 500b, and 500c are respectively used to move a robot in three mutually orthogonal directions, such as x, y, and z axes in a Cartesian coordinate system.

In one or more embodiments of the present invention, the gripper driver 620 can be used to drive the gripping or releasing action of the gripper to achieve the functions of reclaiming and discharging. In some embodiments, the pawl driver 620 can be controlled by a hydraulic or pneumatic cylinder.

In one or more embodiments of the invention, sensors 600a and 600b can be used to detect the relative position between the robot and the item to assist the robot in obtaining the item.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and the present invention can be modified and modified without departing from the spirit and scope of the present invention. The scope is subject to the definition of the scope of the patent application attached.

100‧‧‧human machine controller

120‧‧‧Programmable Logic Controller

140‧‧‧Touch display panel

160‧‧‧Listing peripheral interfaces

180‧‧‧Path Recording Module

200‧‧‧All-in-one servo drive

220‧‧‧motion control module

222‧‧‧Instruction Receiver Module

224‧‧‧Command Release Module

226‧‧‧Sports Path Database

228‧‧‧Synchronous Command Module

240‧‧‧Location feedback module

300‧‧‧Output interface

400‧‧‧ bus

412‧‧‧First communication channel

414‧‧‧Second communication channel

420‧‧‧ first node

440‧‧‧second node

460‧‧‧ third node

500a‧‧‧Servo service

500b‧‧‧Servo motor

500c‧‧‧Servo motor

600a‧‧‧ sensor

600b‧‧‧ sensor

620‧‧‧Hand Drive

The above and other objects, features, advantages and embodiments of the present invention will become more <RTIgt; <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; .

FIG. 2 is a functional block diagram of the human-machine controller shown in FIG. 1.

FIG. 3 is a functional block diagram of the all-in-one servo driver shown in FIG. 1.

Figure 4 is a partial schematic view of the bus shown in Figure 1.

100‧‧‧human machine controller

200‧‧‧All-in-one servo drive

300‧‧‧Output interface

400‧‧‧ bus

420‧‧‧ first node

440‧‧‧second node

460‧‧‧ third node

500a, 500b, 500c‧‧‧ servo motor

600a, 600b‧‧‧ sensors

620‧‧‧Hand Drive

Claims (9)

A decentralized robot control system comprising: a bus having a first node, a second node and a third node; a human machine controller, the communication is connected to the first node; an all-in-one servo driver, communication Connected to the second node; an input/output (I/O) interface, the communication is connected to the third node; a plurality of servo motors controlled by the all-in-one servo driver to move a robot; a plurality of sensors connected to the communication An input/output interface; and a hand-claw driver connected to the input/output interface; wherein the all-in-one servo driver includes a motion control module, the motion control module includes: a motion path database for storing the complex motion path Each of the motion paths marks a dedicated code; an instruction receiving module for the human machine controller to specify the exclusive code; and an instruction release module for instructing the servo motors to drive the specific code according to the dedicated code The robot moves along the motion path corresponding to the exclusive code. The decentralized robot control system of claim 1, further comprising: a programmable logic controller (PLC) disposed inside the human machine controller; and a touch display panel formed on the touch display panel The surface of the man-machine controller. The distributed robot control system of claim 2, wherein the all-in-one servo driver includes a position feedback module for transmitting the instantaneous position data of the robot to the man-machine controller through the bus, and Presented by the touch display panel. The decentralized robot control system of claim 2, wherein the human machine controller comprises a path recording module for recording a movement path of the robot movement caused by the user operating the touch display panel. The distributed robot control system of claim 2 further includes a Serial Peripheral Interface (SPI), and the programmable logic controller and the touch display panel are communicatively coupled. The distributed robot control system of claim 1, wherein the motion control module further comprises a synchronization command module for controlling the synchronous operation of the servo motors. The distributed robot control system of claim 1, wherein the bus is a CAT-5e STP Ethernet cable. The distributed robot control system of claim 1, wherein the speed of the bus is about 20 Mbps. The distributed robot control system of claim 1, wherein the bus has two communication channels, each having a different cyclic redundancy check (CRC).