A light-load wireless transmission quad-core fast joint robot control system

Abstract

The invention discloses a light-load wireless-transmission control system for a quad-core fast joint robot. The control system comprises a master control computer and a controller. The controller comprises a DSP chip controller, an integrated control chip, a PLC, an image acquisition module, a wireless transmission module and an ARM controller. The DSP chip controller and the ARM controller are both in communication connection with the master control computer; the DSP chip controller, the integrated control chip and the ARM controller are in communication connection; four rare-earth permanent magnet brushless direct current servo motors are all in communication connection with the DSP chip controller; and a plurality of obstacle avoidance displacement sensors, positioning sensors and acceleration sensors are all in communication connection with the DSP chip controller and the ARM controller correspondingly. The light-load wireless-transmission control system for the quad-core fast joint robot is high in calculation speed, arms of the joint robot are flexible in steering and are stable and precise in action, and wireless monitoring is convenient.

Description

Technical field [0001] The invention relates to a light-load wireless transmission four-core fast joint robot control system, which belongs to the application field of four-joint robot arms for assembly operations. Background technique [0002] In industrial production, industrial robots can replace humans to do long-term operations that are relatively monotonous, frequent and repetitive, or operations in dangerous and harsh environments. They are generally used for parts and assembly work. Electronic manufacturing, plastics industry, automobile industry, electronic product industry, pharmaceutical industry, food industry and other fields are widely used. It is useful for improving the level of production automation, labor productivity and economic benefits, ensuring product quality, ensuring personal safety, and improving the labor environment. It is of great significance to reduce labor intensity, save raw material consumption and reduce production costs. [0003] The SCARA indu...

AI Technical Summary

Problems solved by technology

[0005] (1) When the SCARA robot performs zero position homing, or when the robot is reset, it relies on manual visual inspection, which makes the zero position setting of the robot wrong

[0006] (2) Although the permanent magnet DC servo motor has improved functions compared with DC motors and stepping motors, the ordinary permanent magnet DC servo motor has a brush structure. Due to the carbon brush structure of the collector ring, sparks are generated when the motor is running, especially It will produce serious ring fire and radio interference at high speed. It is not suitable for high-speed rotation and is not suitable for SCARA robots running with load.

[0007] (3) The permanent magnet DC servo motor has a brush structure, and the collector ring and the carbon brush are in direct contact with each other and move relative to each other at high speed. This mechanical structure causes mechanical friction and generates large mechanical noise, which makes the noise of the SCARA robot Increased pollution

[0008] (4) The permanent magnet DC servo motor has a brush structure, and the carbon brush needs to be replaced regularly. The motor can only be used in the form of open protection, and the efficiency of the brush DC motor is low, so it is not suitable for SCARA robots running on load

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