A heavy-duty wireless transmission quad-core constant-speed joint robot control system

Abstract

The invention discloses a heavy-load wireless-transmission quad-core constant-speed joint robot control system. The control system comprises a master station control computer and a controller, wherein the controller comprises a DSP chip controller, a speech recognition processor, 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 station control computer; the DSP chip controller, the speech recognition processor and the ARM controller are in communication connection with one another; four rare-earth permanent-magnet synchronous servo motors are all in communication with the DSP controller; and a plurality of obstacle-avoiding displacement sensors, a positioning sensor, gyroscopes and acceleration sensors are all in communication with the DSP chip controller and the ARM controller. The heavy-load wireless-transmission quad-core constant-speed joint robot control system is high in computing speed, enables a joint robot arm to be flexible in turning and stable and accurate in movement and facilitates wireless monitoring.

Description

technical field [0001] The invention relates to a heavy-duty wireless transmission quad-core constant-speed 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 some relatively monotonous, frequent and high-repetition long-term operations, or operations in dangerous and harsh environments. It is widely used in the fields of electronics manufacturing, plastics industry, automobile industry, electronic product industry, pharmaceutical industry and food industry. , It is of great significance to reduce labor intensity, save raw material consumption and reduce production costs. [0003] The SCARA industrial robot, that is, the robot arm for assembly operations, is a cylindrical coordinate industrial robot. It relies on the rotating joint arm and forearm to achieve rapid positioning in the X-Y plane, and relies on a wr...

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) Although the permanent magnet brushless DC servo motor has improved performance compared with stepper motors, DC motors and DC servo motors, its load capacity is relatively weak and cannot meet the requirements of heavy-duty SCARA robot systems

[0009] (5) When the robot encounters an emergency and needs to stop or start after parking, it is all done by pressing the button, and the intelligence of the robot is not high

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