Four-shaft intermediate and low speed full-automatic dispensing robot servo controller

Abstract

The invention discloses a four-shaft intermediate and low speed full-automatic dispensing robot servo controller, which comprises a single chip microcomputer, a first LM629 chip, a second LM629 chip, a third LM629 chip, a fourth LM629 chip, a first motor driver, a second motor driver, a third motor driver, a fourth motor driver, a first high-speed direct-current motor, a second high-speed direct-current motor, a third high-speed direct-current motor and a fourth high-speed direct-current motor, wherein the single chip microcomputer is respectively in communication connection with a plurality of LM629 chips; the LM629 chips send a control signal to the motor driver; the motor driver drives the high-speed direct-current motors; and the single chip microcomputer comprises an image acquisition and treatment module. According to the four-shaft intermediate and low speed full-automatic dispensing robot servo controller disclosed by the invention, when a double-core processor based on the single chip microcomputer+LM629, the single chip microcomputer is liberated from heavy workload, and the anti-jamming capability is greatly enhanced.

Description

technical field [0001] The invention relates to the field of automatic beds, in particular to a servo controller for a four-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 carr...

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

[0021] (14) Due to the frequent braking and starting of the automatic dispensing robot, the workload of the single-chip microcomputer is increased, and a single single-chip microcomputer cannot meet the requirements for the rapid start and stop of the automatic dispensing robot

[0022] (15) 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

[0023] (16) Relatively, some relatively large plug-in components are used, which makes the automatic dispensing robot control system occupy a large space and relatively heavy weight

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