A servo controller for a five-axis medium-low speed fully automatic dispensing robot

Abstract

The invention discloses a five-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a plurality of LM 629 chips, a plurality of motor drivers and a plurality of high-speed direct current motors, wherein the singlechip is in communication connection with the LM 629 chips; the LM 629 chips transmit control signals to the motor drivers; the motor drivers drive the high-speed direct current motors; and the singlechip comprises an image acquisition and processing module. According to the invention, a dual-core processor is formed on the basis of the singlechip and the LM 629 chips, so as to release the singlechip out of heavy workload, thereby enhancing capacity of resisting disturbance greatly.

Description

Technical field [0001] The invention relates to the field of automatic beds, in particular to a five-axis medium and low speed automatic glue dispensing robot servo controller. Background technique [0002] Today, with the rapid development of high technology, traditional production methods have fallen behind, and new automated production will become an important way to accept market challenges in the new century. Automation is not only a means to improve labor productivity, but also plays an important role in the company's long-term development strategy. Since robots are the main tools of new automation, the development of industrial robots and their application engineering has turned robots into direct productivity. It has shown great advantages in changing traditional production modes, improving productivity and adapting to the market. . At the same time, it replaces people from the harsh and dangerous working environment and conducts civilized production, which is of great ...

AI Technical Summary

Problems solved by technology

However, due to the lack of domestic research and development units of this robot, the relative research and development level is relatively backward, and the structure of the automatic dispensing robot developed is as follows: figure 1 , running for a long time found that there are many security problems, namely:

[0008] (1) In the early stage of dispensing, the dispensing valve is manually moved to the initial position, and then the initial position is corrected only by human eyes, which greatly reduces the accuracy

[0009] (2) As the power supply of the automatic dispensing robot, the DC power supply after rectification of the general AC power supply is used. When a sudden power failure occurs, the entire dispensing movement will fail.

[0010] (3) As the actuator of the automatic dispensing robot, a stepping motor is used, which often encounters the problem of missing pulses, resulting in errors in the memory of the position

[0012] (5) Due to the use of stepping motors, the motor body is generally a multi-phase structure, and the control circuit needs to use multiple power tubes, which makes the control circuit relatively complicated and increases the price of the controller.

[0013] (6) Due to the use of stepping motors, the system is generally not suitable for high-speed operation

[0022] (15) Since the automatic dispensing robot needs to brake and start frequently, which increases the workload of the single-chip microcomputer, a single single-chip microcomputer cannot meet the requirements of the automatic dispensing robot for quick start and stop

[0023] (16) In all dispensing processes, there is no automatic observation and compensation for the dispensing results, and sometimes the amount of glue on the entire curve is inconsistent, and then artificial secondary glue is used

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