Electric six-axis robot control system and control method based on TherCAT

A six-axis robot and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of motion accuracy and corresponding speed effects, and achieve the effect of good data compatibility

Pending Publication Date: 2022-03-29
国网浙江省电力有限公司海宁市供电公司
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the action accuracy and corresponding speed of industrial robots in the prior art are affected by traditional communication methods and control methods, and provide a TherCAT-based electric six-axis robot control system and control method with high precision and fast response

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  • Electric six-axis robot control system and control method based on TherCAT
  • Electric six-axis robot control system and control method based on TherCAT

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Embodiment

[0025] Such as Figure 1~2 Shown is a TherCAT-based electric six-axis robot control system, PC, PLC main control system, several indicator lights, several sensors, several servo motors, position feedback modules corresponding to the servo motors, and all six joints of the six-axis robot is a rotary joint, and the two joints are connected by a connecting rod. The six-axis robotic arm has high control precision, high safety and reliability, and can replace the operator in operations with a high risk factor. The end effector of the robot can be connected to different actuators to realize different functions of electrical work.

[0026] The PC performs data interaction with the PLC system through the ADS protocol, and the PLC main control system includes a PLC master station and several PLC slave stations, and EtherCAT is used for data interaction between the PLC master station and several PLC slave stations respectively. The PLC master station and the PLC slave station perform d...

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Abstract

The invention discloses an electric six-axis robot control system based on EtherCAT, and the system is characterized in that the system comprises a PC and a PLC master control system, the PC and the PLC system carry out data interaction through an ADS protocol, the PLC master control system comprises a PLC master station and a plurality of PLC slave stations, the PLC master station and the plurality of PLC slave stations carry out data interaction through the EtherCAT, and the PLC master station and the plurality of PLC slave stations are connected with the PLC master station. The PLC master station and the PLC slave station perform data interaction with the PC based on an ADS protocol; and the PLC slave station comprises a motion controller and a logic controller which respectively correspond to the joints of the six-axis robot. Data transmission between the PLC master station and the PLC slave station is realized by adopting an EtherCAT communication mode, and the data compatibility is good. A six-axis robot joint injection variable error analysis algorithm provides data reference for installation and debugging of robot joints and opening of a control algorithm. And the TwinCAT is used as a main control core, and a distributed clock technology is adopted to ensure clock synchronization among the EtherCAT slave station modules.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to a TherCAT-based electric six-axis robot control system and control method. Background technique [0002] With the increasing scale of the State Grid, the concept of safety has become the core part of the corporate culture of the power grid. Personal, power grid, and equipment safety are the premise and foundation of all work. However, at present, there are still practical problems such as misoperation by operators, high risk factor of climbing operations, and foreign objects hanging on transmission lines are not easy to clean. With the improvement of industrial automation level, industrial robots are used in more fields to replace manual work, but the control of robots Higher and higher requirements are put forward for speed and precision. In order to ensure that industrial robots can accurately complete actions and operations, the corresponding control system is part...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1605B25J9/1664
Inventor 黄旻江杰迪杨帆陈磊蔡启孙圆正孙明广高攀施海峰袁国珍高忠旭王晓明樊卡
Owner 国网浙江省电力有限公司海宁市供电公司
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