Stacking robot driving method and driving system

A technology for palletizing robots and driving methods, which is applied in the field of palletizing robot driving methods and driving systems, can solve problems such as low control accuracy, and achieve the effects of ensuring real-time performance, high cost performance, and good control flexibility characteristics

Inactive Publication Date: 2020-02-21
CHINA TOBACCO ZHEJIANG IND
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The object of the present invention is to provide a driving method and a driving system for a palletizing ro

Method used

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  • Stacking robot driving method and driving system
  • Stacking robot driving method and driving system
  • Stacking robot driving method and driving system

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Embodiment Construction

[0060] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0061] Such as figure 1As shown, the applicable stacking robot structure of the present invention: X, Y, Z, A, B, C six-axis stacking robot driver card based on Altera EP2C8 series FPGA chips and ARM7TDMI-S series LPC2294 chips, applied to cigarettes A robot for unpacking and palletizing cigarette boxes in the silk production line. ARM is responsible for command or data interaction with the host computer, FPGA is used for motor control signal transmission and grating signal processing, through motor signal control, grating closed-loop feedback signal processing, limit switch and other modules to realize the function of unpacking and stacking the cigarette box . In the palletizing robot based on this architecture, the ARM compiles the program dow...

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Abstract

The invention discloses a stacking robot driving method and driving system. The system comprises an ARM module and FPGA modules, wherein the ARM module is responsible for carrying out instruction or data interaction with an upper computer, the FPGA modules carry out motor control signal transmission and grating signal processing, and the functions of unpacking and stacking cigarette boxes are realized through a motor signal control module, a grating closed-loop feedback signal processing module and a limit switch module and the like. In a stacking robot based on the framework, an ARM compilesa program downloaded by a serial port, through the upper computer, the ARM and the reconfigurable design of a configuration chip and the FPGAs, the upper computer sends a reconfiguration command and configuration data, the two FPGAs are controlled through controlling to rewrite the configuration chip by the ARM, and finally an interface board of a drive card controls an X-axis servo motor, a Y-axis servo motor, a Z-axis servo motor, an A-axis servo motor, a B-axis servo motor and a C-axis servo motor, so that strong modifiable performance and portability are achieved, bottom layer drive modification is convenient, and the system is enabled to be more expanded and maintainability, has good and open software and hardware interfaces, and has good control flexibility characteristics.

Description

technical field [0001] The invention belongs to the technical field of robot driving, and in particular relates to a driving method and a driving system of a palletizing robot. Background technique: [0002] Palletizing is to put materials on pallets according to certain rules and sequences, so as to realize logistics activities such as material transportation, loading and unloading, and storage. The cigarette box unpacking and stacking robot in the cigarette shred production line mainly separates the outer packaging of the cut cigarette packs, transports them in a certain order, and sorts and stacks cartons, plastic tapes and other cable ties to complete the function of automatic unpacking and stacking of the cigarette boxes robot. At present, the widely used palletizing robot drive cards are mainly divided into two categories. The first type is based on the PC control system, the hardware part of which is the motion control card plugged into the computer to be responsibl...

Claims

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Application Information

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IPC IPC(8): B25J9/16B65G61/00
CPCB25J9/1602B25J9/1664B65G61/00
Inventor 郭奔周小忠邵长岭李汉莹秦华朱辉平胡晓军
Owner CHINA TOBACCO ZHEJIANG IND
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