A servo controller of a three-axis medium-low speed automatic dispensing robot

Abstract

The invention discloses a three-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a first LM 629 chip, a second LM 629 chip, a third LM 629 chip, a first motor driver, a second motor driver, a third motor driver, a first high-speed direct current motor, a second high-speed direct current motor and a third high-speed direct current motor, wherein the singlechip is in communication connection with the first LM 629 chip, the second LM 629 chip and the third LM 629 chip respectively; 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 servo controller for a three-axis medium-low speed automatic dispensing robot. Background technique [0002] Today, with the rapid development of high technology, the traditional production methods have become increasingly backward, and the new automatic 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 long-term development strategy of enterprises in the future. Since the robot is the main tool of new automation, the development of industrial robot and its application engineering turns the robot into a direct productive force. It shows great advantages in changing the traditional production mode, improving productivity and adapting to the market. . At the same time, it replaces people from the harsh and dangerous working environment and car...

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:

[0007] (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

[0008] (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.

[0009] (3) As the actuator of the automatic dispensing robot, a stepping high-speed DC motor is used, which often encounters the problem of missing pulses, resulting in errors in the memory of the position

[0010] (4) Due to the use of stepping high-speed DC motors, the body heats up more seriously, and sometimes it is necessary to dissipate heat

[0011] (5) Due to the use of stepping high-speed DC motors, the mechanical noise of the system operation is greatly increased, which is not conducive to environmental protection

[0012] (6) Due to the use of stepping high-speed DC motors, the high-speed DC 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] (7) Due to the use of stepping high-speed DC motors, the system is generally not suitable for high-speed operation, and vibrations are likely to occur during high-speed motion, resulting in failure of the high-speed DC motor

[0021] (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 frequent start and stop of the automatic dispensing robot

[0022] (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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