Intelligent blade multi-robot collaborative operation control system

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...

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

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