Control method and full-servo control system for operating multi-axis mechanical arm

Abstract

The invention relates to a control method and a full-servo control system for operating a multi-axis mechanical arm. The control method comprises the steps of setting function instruction data by the program editing window of an input / output interface or a function conversion module which is controlled by a key and transmitting the data to a plurality of groups of any memory storage modules for storage; calling the data, transmitting the data to a signal processing module after the processing by a data operation module and a data coding module and conversing the data into a function signal, later amplifying the data according to the recognizable format of a main control subsystem; calling a function execution signal and corresponding die number within a set period by a set servo module and an electric control execution mechanism to finish the control operation of the mechanical arm; arranging a multi-axis control module and providing a fixed mode to select to implement different functions; and automatically detecting the fault and memorizing the fault number by a fault detection module, implementing automatic alarming function by micro adjusting the axis position when in operation and automatically accumulating and calculating the operation times, and jumping out of an infinite circular operation state.

Description

technical field [0001] The invention relates to the field of mechanical automation control, in particular to a control method for operating a multi-axis mechanical arm, and the invention further relates to a full servo control system for realizing the method. Background technique [0002] The current numerical control device is composed of a control system that controls the machine as the main function of the numerical control device; Form the CNC system to work. In such a numerical control system, a control unit that controls the machine is connected to an external operation unit, and when a processing request is issued from the control unit to the operation unit, it is regarded as abnormal if it is not received. However, in the numerical control device, the collision prevention function of detecting the collision between mechanical parts, tools, furniture, and materials is detected by using shape data in the computer that has been in the past, and the collision prevention...

AI Technical Summary

Problems solved by technology

[0003] To sum up, because only whether the operation unit receives it is used as the judgment standard, so it can only judge its abnormality. To make high-speed judgment detection and realize fault handling, more processing time is required, resulting in mechanical control failure. The execution cycle is shorter than the fault processing time, causing system abnormality and damage to mechanical equipment

[0004] Combined with the current field of mechanical automation control, the functional operation mode of mechanical digital control is single and has no choice, because there is no perfect fault detection and repair concept, let alone the protection function of automatically controlling abnormal operations to stop the cycle process and automatically shutting down the system process. Therefore, it does not have the conditions for multiple collocation of combined functions, so it cannot meet the development trend of the machinery manufacturing industry with higher and higher standards. The automatic fault handling method that has been realized so far can only make judgments on the obvious abnormalities in its overall operation and control. There is no relatively complete solution to the signal faults in the specific execution link, such as the signal faults of the up, down, back and forward signal faults of the upper displacement of the manipulator, such as signal faults such as moving speed and acceleration exceeding the standard speed range

Images