CN205674208U - A kind of serial-parallel machining robot controls device - Google Patents
A kind of serial-parallel machining robot controls device Download PDFInfo
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- CN205674208U CN205674208U CN201620242689.3U CN201620242689U CN205674208U CN 205674208 U CN205674208 U CN 205674208U CN 201620242689 U CN201620242689 U CN 201620242689U CN 205674208 U CN205674208 U CN 205674208U
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Abstract
The utility model discloses a kind of serial-parallel machining robot and control device, belong to technical field of robot control.Control device and include central processing unit, centerized fusion module and communication module: described central processing unit includes centerized fusion module and distributed control module, described centerized fusion module is provided with at least one and drives control passage, the described quantity driving the quantity controlling passage to be more than or equal to described first kind joint, each driving controls passage and a centralized joint drive module connection, each centralized joint drive module electrically connects with the servomotor in a described first kind joint, to realize the centralized Control to described first kind joint；Described distributed control module is by the distributed joint drive connection of described communication module Yu described Equations of The Second Kind joint, to realize the distributed AC servo system to described Equations of The Second Kind joint.This utility model control device, therefore, it is possible to control the robot of any amount of articulation, has higher versatility.
Description
Technical field
This utility model relates to technical field of robot control, particularly relates to a kind of serial-parallel machining robot and controls device.
Background technology
Along with the development of society's science and technology, the application of robot is more and more extensive.From daily life to commercial production, people couple
Machine Man's Demands is increasing.How to reduce serial-parallel machining robot control device cost, improve its versatility, improving it can
The most all the more become important by property.
The joint of robot is generally compared many, has more than two joints in theory, and therefore robot just can be in certain district
Interior any point carries out the operation in any orientation.Serial-parallel machining robot control device needs to control each shutdown and completes difference
Action, therefore when joint of robot is more, often lead to control device more complicated, and, when the joint of robot
When increasing and reduce, the demand that serial-parallel machining robot controls device is the most different, causes in prior art, to robot control
The structure of device is complicated, and development cost and production cost are higher.
Utility model content
Main purpose of the present utility model is that proposing a kind of serial-parallel machining robot controls device, it is intended to solve prior art
The problem that the structure complexity of middle robot controller, development cost and production cost are higher.
For achieving the above object, a kind of serial-parallel machining robot that this utility model provides controls device, is used for having mixing
Control function multiarticulate robot, described robot include use centerized fusion at least one first kind joint and/
Or at least one Equations of The Second Kind joint of employing distributed AC servo system, described control device includes central processing unit, centerized fusion
Module and communication module:
Described central processing unit includes that centerized fusion module and distributed control module, described centerized fusion module set
Having at least one to drive and control passage, described driving controls the quantity quantity more than or equal to described first kind joint of passage,
Each driving controls passage and connects with centralized joint drive module, described in each centralized joint drive module and one
The servomotor electrical connection in first kind joint, to realize the centralized Control to described first kind joint；
Described distributed control module is driven even by the distributed joint of described communication module with described Equations of The Second Kind joint
Connect, to realize the distributed AC servo system to described Equations of The Second Kind joint.
Thering is provided one to control device as above, described central processing unit is additionally provided with internet-based control module, described control
Device processed also includes that gateway, described internet-based control module are connected with described communication module, described communication module and described gateway
Connecting, described internet-based control module is by described gateway and internet communication and accepts the signal of described internet-based control to collection
Chinese style and distributed joint drive controller carry out respectively with coordinate control.
Thering is provided one to control device as above, described centralized joint drive module is provided with four and drives control logical
Road.
Thering is provided one to control device as above, described communication module passes through controller area network bus and distribution
Formula control module communication connects.
Thering is provided one to control device as above, described control device is additionally provided with signal processing module, at described signal
Reason module is connected with described central processing unit communication, will be sent to described central processing unit after the signal processing of reception.
Thering is provided one to control device as above, described control device is additionally provided with additional control modules, described additional control
Molding block is connected with described central processing unit communication.
Thering is provided one to control device as above, described control device is additionally provided with shell, and described shell is provided with first and connects
Mouth and the second interface, described central processing unit, described centralized joint drive module and described communication module are located at described shell
Among, described first interface controls passage with the driving of described centralized joint drive module and is connected, described second interface and institute
State communication module to connect.
The serial-parallel machining robot that the utility model proposes controls device and robot, supports the control of integrated form, supports again
Distributed control, has the biggest mobility, controls device and can directly control up to four by motor-driven joint with many
Individual distributed joint of robot.The increase of joint of robot can use building block system to increase at any time.And this control device has
The function of standby the Internet, can provide channel for Intelligent Machining, quality management.Four articulation set accepted way of doing sth control to decrease controller
Cost, alleviates the weight of controller, reduces the volume of controller, reduces the energy consumption of controller, and can realize remotely
Coordinative operation.
Accompanying drawing explanation
The module knot of a kind of feasible embodiment controlling device that Fig. 1 provides for this utility model embodiment one
Structure schematic diagram；
The module of a kind of another feasible embodiment controlling device that Fig. 2 provides for this utility model embodiment one
Structural representation；
Fig. 3 is the shell schematic diagram controlling device shown in this utility model embodiment one；
The schematic diagram of a kind of robot that Fig. 4 provides for this utility model embodiment two；
Fig. 5 is the structural representation of an electricity powered actuator of robot shown in this utility model embodiment two；
Fig. 6 is the connection diagram controlling device and each actuator of robot shown in this utility model embodiment two.
The realization of this utility model purpose, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this
Utility model.
The mobile terminal realizing each embodiment of this utility model is described referring now to accompanying drawing.In follow-up description,
Use the suffix being used for representing such as " module ", " parts " or " unit " of element only for theory the most of the present utility model
Bright, itself do not have specific meaning.Therefore, " module " can mixedly use with " parts ".
This utility model embodiment one proposes a kind of serial-parallel machining robot and controls device, it is adaptable to have hybrid control system
Robot, this robot includes at least one first kind joint using centerized fusion and/or uses distributed AC servo system
At least one Equations of The Second Kind joint.
In a feasible scheme, refer to Fig. 1, control device and include central processing unit 11 and gateway 12.
Central processing unit includes centerized fusion module 111, distributed control module 112, communication module 113, the Internet
Control module 114.
Centerized fusion module 111 is provided with four and drives control passage, and each driving controls passage and a centralized pass
Machine drives module 1111 to connect.Each centralized joint drive module 1111 is electrically connected with the servomotor in a first kind joint
Connect, to realize the centralized Control to described first kind joint.
It should be noted that in actual application, the quantity driving control passage and centralized joint drive module can root
It is configured according to needs, drives the quantity controlling passage more than or equal to the quantity in described first kind joint.
Distributed control module 112 drives 191 by the distributed joint of communication module 113 with Equations of The Second Kind joint, 192,
19n connects, to realize the distributed AC servo system to described Equations of The Second Kind joint.
In actual application, communication module 13 can use controller local area network (Controller Area Network,
CAN) bus and distributed control module 112 carry out communication.
Internet-based control module 114 is connected with described communication module 113, and described communication module 113 is with described gateway 12 even
Connecing, described internet-based control module 114 is by described gateway 12 and internet communication the signal accepting described internet-based control
It is adjusted respectively controlling to centerized fusion module and distributed control module.
By internet-based control module 114, detection automatically and statistics in robot system can be converged by the Internet
Offer the Internet module.The renewal of new procedures, the processing technique of new product, quality testing, also by the Internet module update and
Complete.
Such as product off-line test platform finds that certain processing technique has error in the detection, and data result passes through the Internet report
Accuse to this robot being responsible for processing to be automatically adjusted to eliminate error to different joints in time.
New processing scheme can remotely update, it is not necessary to more new procedures between people robot at the volley.Due to one
The activity interval change of individual robot, activity space to be also automatically adjusted by adjacent robot in order to avoid mutually collision is sent out
Raw danger.
Internet-based control module 114 is Intelligent Machining, quality management provides channel, overcomes in prior art, machine
People can only single operation, can not be mutually coordinated between robot, from quality department feedback quality problems can not adjust in time, change
Kind, new processing will be in the defect changing program than relatively hazardous scene.
In a feasible scheme, as in figure 2 it is shown, be additionally provided with such as lower module on the basis of controlling apparatus structure:
Signal processing module 13 is connected with this central processing unit 11 communication, will be sent to these central authorities after the signal processing of reception
Processor 11.This signal processing module can receive the sensor arranged on the first kind joint of robot and Equations of The Second Kind joint
The signal that (such as position sensor and/or angular transducer) sends, and after the signal processing that will receive, it is sent to central authorities' process
Device 11, central processing unit 11 can be according to the motion in each joint of data point reuse received.
Additional control modules 14, additional control modules 14 is connected with this central processing unit 11 communication, is used for controlling robot
Other application in system, such as coolant switch, display lamp, trouble light etc..
Power module 15, for each element offer electric power support for controlling device.
In a feasible scheme, refer to Fig. 3, control device and one shell 31 can be set.This shell 31 is provided with
Interface 32.This interface 32 includes first interface and the second interface, and each element controlling device is located among this shell 31, should
First interface electrically connects with this centralized joint drive module 1111, and this second interface is connected with this communication module 113.
The serial-parallel machining robot of the present embodiment controls device can either support the control of integrated form, can support again distributed
Control, there is the biggest motility.And owing to have employed distributed control, therefore, it is possible to control any amount of articulation
Robot, has higher versatility.
On the basis of above-described embodiment, this utility model additionally provides a kind of robot, refers to Fig. 4, the present embodiment
Illustrate as a example by the robot in 6 joints.
This robot has four first kind joints and two Equations of The Second Kind joints.Four first joint corresponding diagram 3 respectively
In electricity powered actuator 410,420,430 and 440, these four electricity powered actuators use centerized fusion.
Specifically refer to 5, be the structural representation of an electricity powered actuator.Including: for driving motor 510, passing
Motivation structure 520, position sensor feedback 530 and mechanical arm 540.Motor 510 is driven to turn under driving the control controlling passage
Dynamic, moved by drive mechanism 520 driving mechanical arm 540, position sensor feedback 530 then gathers electricity powered actuator
Positional information and feed back information to central controller.
In the present embodiment, controlling device and be provided with up to four driving control passages, each control passage can control one respectively
The rotating of the servomotor of individual electricity powered actuator and speed speed, position etc..Each power of motor is up to 400W.Real
In the application of border, these four drive the control that control passage can also be directly used in hydraulic valve or electrical switch, as to hydraulic system
With greater power motor carry out on-off control.
It should be noted that according to can the simplest principle (except the versatility requirement of flexiblesystem), one
As have only to the robot in a joint and avoid the need for configuring two joints.In most cases, the joint drive in robot
Power varies.The actuator of end is generally less than the actuator power on basis.Therefore, it can according to robot each
The power demand that drives in joint selects the output of all-purpose robot controller to control passage.No matter power is big with traditional robot
Little most employing hydraulic pressure is different, and present low power actuator can use the type of drive of electronically controlled motors.
Two Equations of The Second Kind joint correspondence distributed AC servo system actuators 450 and 460 of this robot, the most each distributed
Control actuator and be equipped with a distributed joint driving.
In actual application, for powerful joint, use distributed AC servo system.Distributed AC servo system actuator uses band point
The outer drive circuit of cloth joint drive controller.Central processing unit controls distributed AC servo system by CAN or other communication modes
Actuator 450,456.These distributed AC servo system actuators can be the pneumatic of hydraulic pressure or more powerful electronic execution
Mechanism, for controlling base joint and the bigger joint of Altitude control joint even load.
In actual application, first kind joint and this Equations of The Second Kind joint all can arrange position sensor and/or angle sensor
Device, the signal of position sensor and/or angular transducer collection is sent to the signal processing module of this controller.So control dress
Put the motion that just can adjust, revise each joint according to these signals.
The base of this robot is provided with controller mounting groove, and this control device is arranged in this mounting groove.
Please continue to refer to Fig. 6, for controlling the annexation signal between device 470 and robot each joint actuator
Figure.
Control four of device 470 drivings control passages respectively with four electricity powered actuators 410 of robot,
420,430 and 440 electrical connection.
Control device 470 central processing unit by CAN respectively with two distributed AC servo system actuators 450 and
460 communications connect.
The Internet module controlling device 470 is connected with gateway 480 communication.
The robot of the present embodiment had both supported the control of integrated form, supported again distributed control, had the biggest motor-driven
Property, control device and can directly control up to four by motor-driven joint and multiple distributed joint of robot.Robot
The increase in joint can use building block system to increase at any time.Further, this control device possesses the function of the Internet, can add for intelligence
Work, quality management provide channel.Four articulation set accepted way of doing sth control to decrease the cost of controller, alleviate the weight of controller,
Reduce the volume of controller, reduce the energy consumption of controller.Its versatility is more beneficial for machine man-based development.
These are only preferred embodiment of the present utility model, not thereby limit the scope of the claims of the present utility model, every
Utilize equivalent structure or equivalence flow process conversion that this utility model description and accompanying drawing content made, or be directly or indirectly used in
Other relevant technical fields, are the most in like manner included in scope of patent protection of the present utility model.
Claims (7)
1. a serial-parallel machining robot controls device, it is adaptable to multiarticulate robot, and described robot includes using centralized
At least one first kind joint controlled and/or at least one the Equations of The Second Kind joint using distributed AC servo system, it is characterised in that institute
State control device and include central processing unit, centerized fusion module and communication module:
Described central processing unit include centerized fusion module and distributed control module, described centerized fusion module be provided with to
Few one drives control passage, and described driving controls the quantity quantity more than or equal to described first kind joint of passage, each
Drive and control passage and a centralized joint drive module connection, each centralized joint drive module and one described first
The servomotor electrical connection in class joint, to realize the centralized Control to described first kind joint；
Described distributed control module by the distributed joint drive connection of described communication module Yu described Equations of The Second Kind joint, with
Realize the distributed AC servo system to described Equations of The Second Kind joint.
Control device the most as claimed in claim 1, it is characterised in that described central processing unit is additionally provided with internet-based control mould
Block, described control device also includes that gateway, described internet-based control module are connected with described communication module, described communication module with
Described gateway connects, and described internet-based control module is by described gateway and internet communication and accepts described internet-based control
Signal centralized and distributed joint drive controller is carried out respectively with coordinate control.
Control device the most as claimed in claim 1, it is characterised in that described centralized joint drive module is provided with four drivings
Control passage.
Control device the most as claimed in claim 1, it is characterised in that described communication module is total by controller area network
Line is connected with distributed control module communication.
Control device the most as claimed in claim 1, it is characterised in that described control device is additionally provided with signal processing module, institute
State signal processing module to be connected with described central processing unit communication, process being sent to described central authorities after the signal processing of reception
Device.
6. the control device as described in any one of claim 1 to 5, it is characterised in that described control device is additionally provided with additional control
Molding block, described additional control modules is connected with described central processing unit communication.
Controlling device the most as claimed in claim 6, it is characterised in that described control device is additionally provided with shell, described shell sets
First interface and the second interface, described central processing unit, described centralized joint drive module and described communication module is had to be located at
Among described shell, described first interface controls passage with the driving of described centralized joint drive module and is connected, and described second
Interface is connected with described communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620242689.3U CN205674208U (en) | 2016-05-06 | 2016-05-06 | A kind of serial-parallel machining robot controls device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620242689.3U CN205674208U (en) | 2016-05-06 | 2016-05-06 | A kind of serial-parallel machining robot controls device |
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| Publication Number | Publication Date |
|---|---|
| CN205674208U true CN205674208U (en) | 2016-11-09 |
Family
ID=57438669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620242689.3U Withdrawn - After Issue CN205674208U (en) | 2016-05-06 | 2016-05-06 | A kind of serial-parallel machining robot controls device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729470A (en) * | 2016-05-06 | 2016-07-06 | 广东戈兰玛汽车系统有限公司 | Hybrid robot control device |
-
2016
- 2016-05-06 CN CN201620242689.3U patent/CN205674208U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729470A (en) * | 2016-05-06 | 2016-07-06 | 广东戈兰玛汽车系统有限公司 | Hybrid robot control device |
| CN105729470B (en) * | 2016-05-06 | 2018-03-09 | 广东戈兰玛汽车系统有限公司 | A kind of serial-parallel machining robot control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161109 Effective date of abandoning: 20180309 |
|
| AV01 | Patent right actively abandoned |