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Intelligent blade multi-robot collaborative operation control system

A multi-robot and control system technology, applied in the field of control systems, can solve problems such as high cost, failure to eliminate secondary clamping positioning errors, and low equipment efficiency, so as to save costs, improve reconfigurability and flexibility, The effect of improving operating efficiency

Inactive Publication Date: 2017-12-15
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing blade processing and testing equipment is usually a cluster combination of independent equipment. For example, the patent "Blade Intelligent Grinding Flexible Manufacturing System" with application number 201410771795.6 fails to eliminate the secondary assembly that occurs when blades are processed between clustered equipment. clamp positioning error
Although some cluster combination equipment can complete the milling, grinding, polishing and inspection processing of the blade under one clamping and positioning of the blade, it is formed by the direct combination of multiple sets of independent control robots, and each robot needs to be equipped with an independent control system. The robots rely on external communication methods for collaborative operations, resulting in low equipment efficiency and high costs

Method used

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  • Intelligent blade multi-robot collaborative operation control system
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  • Intelligent blade multi-robot collaborative operation control system

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Embodiment Construction

[0023] Below in conjunction with accompanying drawing and a specific embodiment, the present invention will be further elaborated:

[0024] like figure 1 As shown, this embodiment is a blade multi-robot intelligent cooperative operation control system, including a process control layer 26 , a combined configuration layer 27 , and a drive interface layer 28 . The process control layer 26 is only responsible for sending control information to axes 1, 2, 3, 4, 5, and 6 in the combined configuration layer 27. The axes in the combined configuration layer 27 are the interfaces of artificially defined axes. The moving axes are the axes in the drive interface layer 28. Therefore, the multi-robot servo axis cooperative controller 29 in the process control layer 26 only needs to send control information to the 1st and 2nd axes in the interface layer 27 according to the processing function of the equipment. , 3 shafts, 4 shafts, 5 shafts, 6 shafts, the interfaces of the shafts in the co...

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Abstract

Disclosed is an intelligent blade multi-robot collaborative operation control system. The intelligent blade multi-robot collaborative operation control system comprises a process control layer, a composition configuration layer and a drive connector layer; according to the process control layer, according to the blade machining process needs, servo shaft time-sharing composition and linkage control information is sent to the composition configuration layer; according to the servo shaft composition linkage requirements, the composition configuration layer can configure corresponding servo shaft driver connectors in the drive connector layer in real time in a connected manner, a multi-robot servo shaft linkage control set is formed in a time-sharing manner, linkage control information of the process control layer is transmitted to a servo shaft driver designated in the drive connector layer, and a servo shaft is driven to move. The layered grouped and time-shared configuration linkage control manner is adopted, time-shared composition servo shaft linkage control over multiple servo shafts in one control system can be achieved according to the coordinated process needs, and the problem that multiple servo shafts are combined and linked in a time-shared manner, and multiple control systems need to be arranged is effectively solved.

Description

technical field [0001] The invention relates to a control system, in particular to a multi-robot intelligent collaborative operation control system for blades. Background technique [0002] In the field of multi-axis linkage machining of blades, multi-axis linkage robots control the linkage of axes by controlling the robot to send control information according to the machining posture of the blades to realize the machining of blades. Existing blade processing and testing equipment is usually a cluster combination of independent equipment. For example, the patent "Blade Intelligent Grinding Flexible Manufacturing System" with application number 201410771795.6 fails to eliminate the secondary assembly generated when blades are processed between clustered equipment. Clamp positioning error. Although some cluster combination equipment can complete the milling, grinding, polishing and inspection processing of the blade under the one-time clamping and positioning of the blade, it...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1682B25J11/0065
Inventor 陈珂杨耀凯
Owner SICHUAN UNIV
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