Light-load and four-kernel fast joint robot control system

Abstract

The invention discloses a light-load and four-kernel fast joint robot control system which comprises a master station control computer and a controller. The controller comprises a DSP chip controller, an integrated chip processor, a PLC and an ARM controller. The DSP chip controller and the ARM controller are in communication connection with the master station control computer. The DSP chip controller is in communication connection with the ARM controller. Four rare earth permanent magnetic brushless direct-current servo motors are in communication connection with the DSP chip controller. Multiple obstacle avoidance displacement sensors, positioning sensors S5, acceleration sensors A1, acceleration sensors A2 and acceleration sensors A3 are in communication connection with the DSP chip controller and the ARM controller. By means of the light-load and four-kernel fast joint robot control system, the computing speed is high, arm steering of a joint robot is flexible, actions are stable and accurate, the size is small, the performance is stable, and the anti-interference capability of the system is high.

Description

technical field [0001] The invention relates to a light-load 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 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 wrist movement joint and a wrist r...

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

[0009] (5) In the SCARA robot multi-axis servo control system, the control system based on single-chip microcomputer or DSP needs to write servo control software, which makes the system development cycle longer, and greatly reduces the operation speed of the system, and the program portability is relatively low. Difference

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