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Distributed Robot Control System Based on Fieldbus

A fieldbus and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as complexity and closed structure, and achieve the effect of simple structure

Inactive Publication Date: 2015-12-02
上海司塔珂机器人技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a distributed robot control system based on the field bus, which uses a modular structure and forms a distributed robot control system with the help of the field bus, so as to solve the defects of relatively closed and complex structures in the existing robot control system

Method used

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  • Distributed Robot Control System Based on Fieldbus
  • Distributed Robot Control System Based on Fieldbus
  • Distributed Robot Control System Based on Fieldbus

Examples

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Embodiment

[0032] like figure 1 As shown, the robot control system includes a main controller, a servo drive controller, an input and output module, a safety module and a teaching pendant. The main control and the servo drive controller are connected through a field bus 1, and the servo drive controller and the input and output modules They are connected through field bus 2, the input and output modules and safety modules are connected through field bus 3, and the teaching pendant and the main control are connected through field bus 4.

[0033] like figure 2As shown, the main controller of the control system includes a path planning module, a communication module 1, a communication module 2, an instruction queue, a reference value buffer area 1 and a feedback value buffer area 1, and the path planning module extracts instructions from the instruction queue at a specific cycle , extract the actual position, speed and torque information of the motors corresponding to each axis of the rob...

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Abstract

The invention discloses a distributed robot control system based on field buses. The distributed robot control system comprises a main controller, a servo drive controller, an input and output module, a safety module and a demonstrator, the main controller is connected with the servo driving controller through the field bus 1, the servo drive controller is connected with the input and output module through the field bus 2, the input and output module is connected with the safety module through the field bus 3, and the demonstrator is connected with the main controller through the field bus 4. Based on an open field bus protocol and a distributed function module, the whole distributed robot control system has the advantages of being open, simple in structure and the like. Based on the structure, a user can select a servo driver, the input and output module and the safety module based on a CAN or an EtherCAT bus and other buses around the main controller according to the needs of the user, and therefore clipping cost and performance freedom are fully mastered.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a fieldbus-based distributed robot control system. Background technique [0002] The robot system is an automatic operation system composed of robots, peripheral equipment and tools. Robots, especially industrial robots, are generally multi-axis mechanical arms, and their axes are mainly composed of gearboxes and servo motors. Controller composition. A robot system is a complex mechatronic system. It is a machine that realizes various functions by its own power and control capabilities. It can accept human commands or run according to pre-programmed programs. [0003] At present, leading robot control systems at home and abroad, especially industrial robot control systems, are developing in the direction of further improvement in control accuracy, better safety, and more convenient input and output. Closed and complex robot control systems have become obstacles. Contents...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161
Inventor 陶力许士芳
Owner 上海司塔珂机器人技术有限公司
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