Stacking robot driving method and driving system

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...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a driving method and a driving system for a palletizing robot, so as to solve the shortcomings of the low control precision of the palletizing robot existing in the prior art

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