Flexible control system of high-speed heavy-load SCARA robot

Abstract

The utility model discloses a compliance control system of a high-speed heavy-load SCARA robot, which comprises a plurality of drivers, the drivers drive the SCARA robot to move, the drivers are electrically connected with a motion controller and an industrial personal computer in sequence, and the drivers in the other drivers are electrically connected with a coupler, a digital quantity I / O interface, a relay and a contactor in sequence; the torque sensors comprise a plurality of torque sensors, and all the torque sensors are electrically connected with an analog quantity input interface and a coupler in sequence; wherein the driver and the torque sensor are communicated with the same coupler; and the digital quantity I / O interface is also electrically connected with a control panel. According to the utility model, the driver is controlled through the motion controller, the functions of data display, real-time control and the like of the SCARA robot arm and the tail end moving rod are realized, the torque sensor is monitored in real time, and the rotating shaft angle and torque change sensing function is realized.

Description

Technical Field

[0001] This utility model relates to the fields of robotics and automation, specifically to a compliant control system for a high-speed, heavy-duty SCARA robot. Background Technology

[0002] High-speed, heavy-duty SCARA robots are generally three-degree-of-freedom serial robots, consisting of a base, a large arm, a small arm, and an end effector. SCARA robots possess excellent dynamic response capabilities and precise control over the center of mass position when grasping or placing objects. However, many existing SCARA robots lack the ability to control robot motion in combination and cannot monitor changes in angle and torque at the robot's axes under high-speed, heavy-duty conditions. The inability to monitor these axis angles and torques in real time can lead to deviations in the SCARA robot's movements, affecting its positioning accuracy and repeatability. Prolonged operation under high-speed, heavy-duty conditions without accurate monitoring of the axis status can result in accelerated wear of bearings, gears, and related components. Utility Model Content

[0003] The problem to be solved by this utility model is to provide a compliant control system for a high-speed heavy-duty SCARA robot. The system controls the driver through a motion controller to realize functions such as data display and real-time control of the SCARA robot arm and end effector. It also monitors the torque sensor in real time and has the function of sensing changes in shaft angle and torque.

[0004] To address the aforementioned problems, this utility model provides a compliant control system for a high-speed, heavy-duty SCARA robot. The technical solution adopted by this utility model to solve its technical problems and achieve the above objectives is as follows:

[0005] A compliant control system for a high-speed, heavy-duty SCARA robot includes: a driver, comprising several drivers that drive the SCARA robot to move; each driver is sequentially electrically connected to a motion controller and an industrial computer to form an electrical structure; the remaining drivers are sequentially electrically connected to a coupler, a digital I / O interface, a relay, and a contactor to form an electrical structure; a torque sensor, comprising several torque sensors, all of which are sequentially electrically connected to an analog input interface and a coupler to form an electrical structure; wherein the driver and the torque sensor are connected to the same coupler; the digital I / O interface is also electrically connected to a control panel to form an electrical structure.

[0006] As a further improvement of this utility model, the driver includes a first driver, a second driver, and a third driver, with the first driver being electrically connected to the motion controller.

[0007] As a further improvement of this utility model, the torque sensor includes a first torque sensor and a second torque sensor, both of which are electrically connected to the same analog input interface.

[0008] As a further improvement of this utility model, the torque sensor is electrically connected to the analog input interface in one direction.

[0009] As a further improvement of this utility model, the first driver, the second driver, and the third driver are bidirectionally electrically connected to each other; the first driver is sequentially bidirectionally electrically connected to the motion controller and the industrial computer; the third driver is sequentially bidirectionally electrically connected to the coupler, the digital I / O interface, the relay, and the contactor; the coupler is bidirectionally electrically connected to the analog input interface; and the control panel is bidirectionally electrically connected to the digital I / O interface.

[0010] As a further improvement of this utility model, the control system of the industrial control computer includes an industrial control computer and a motion controller.

[0011] As a further improvement of this utility model, the motion controller is the CK3M-CPU121 motion controller.

[0012] As a further improvement of this utility model, the coupler is an NX-ECC203 expansion unit.

[0013] As a further improvement of this utility model, the digital I / O interface is an NX-ID5442 interface or an NX-OD5256 interface.

[0014] As a further improvement of this utility model, the analog input interface is the NX-AD2608 interface.

[0015] The beneficial effects of the compliant control system for the high-speed, heavy-duty SCARA robot of this application are:

[0016] Driven by a motion controller, the first to third actuators are controlled by the motion controller, enabling data display and real-time control of the SCARA robot arm and end effector. It also monitors the first to second torque sensors in real time, providing the ability to sense changes in shaft angle and torque.

[0017] By monitoring the axis angle in real time, the motion controller can precisely control the position of the SCARA robot arm and end effector, thereby improving positioning accuracy. Under high-speed and heavy-load conditions, this precise control helps ensure that the robot can accurately and repeatedly complete predetermined actions, improving production efficiency and product quality.

[0018] The power distribution has been optimized. Based on torque demand, the controller can dynamically adjust the driver output, thereby optimizing power distribution and avoiding unnecessary energy consumption.

[0019] It facilitates preventative maintenance because real-time monitoring of shaft angle and torque changes helps to detect potential mechanical failures or wear in a timely manner. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0022] 1-Industrial control computer; 2-Motion controller; 3-Coupled; 4-Analog input interface; 5-Digital I / O interface; 6-First driver; 7-Second driver; 8-Third driver; 9-First torque sensor; 10-Second torque sensor; 11-Relay; 12-Control panel; 13-Contactor. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to specific embodiments:

[0024] See Figure 1 This utility model provides a technical solution: a compliant control system for a high-speed, heavy-duty SCARA robot, comprising an industrial computer 1, a motion controller 2, a coupler 3, an analog input interface 4, a digital I / O interface 5, a first driver 6, a second driver 7, a third driver 8, a first torque sensor 9, a second torque sensor 10, a relay 11, a control panel 12, and a contactor 13. The industrial computer 1 is bidirectionally electrically connected to the motion controller 2, and the motion controller 2 is bidirectionally electrically connected to the first driver 6, the second driver 7, the third driver 8, and the coupler 3. The coupler 3 is bidirectionally electrically connected to the analog input interface 4 and the digital I / O interface 5. The analog input interface 4 is unidirectionally electrically connected to the first torque sensor 9 and the second torque sensor 10. The digital I / O interface 5 is bidirectionally electrically connected to the relay 11 and the control panel 12. The relay 11 is bidirectionally electrically connected to the contactor 13.

[0025] In some other embodiments of this utility model, the compliant control system of the high-speed heavy-duty SCARA robot adopts the form of "IPC + motion controller", where IPC is an industrial control calculator.

[0026] In some other embodiments of this invention, the industrial computer 1 communicates with the CK3M-CPU121 motion controller 2 via an EtherCAT interface. The CK3M-CPU121 motion controller 2 communicates in series with three drives (first drive 6, second drive 7, and third drive 8) and the NX-ECC203 coupler 3 via the EtherCAT interface, and controls the Panasonic servo system (i.e., first drive 6, second drive 7, and third drive 8) in speed control mode. The CK3M-CPU121 motion controller is a programmable multi-axis motion controller, part of the CK3M series CPU unit. The EtherCAT interface refers to an interface using the EtherCAT (Ethernet for Control Automation Technology) communication protocol. EtherCAT is an Ethernet-based industrial real-time communication technology consisting of a master station device and multiple slave station devices, enabling high-speed, efficient data transmission and control. The NX-ECC203 coupler is an EtherCAT coupler module that supports the EtherCAT communication protocol and enables high-speed remote I / O control with a communication cycle as fast as 125μs. It also supports EtherCAT distributed clock (DC) and propagates it to synchronous I / O units.

[0027] In some other embodiments of this invention, the NX-ECC203 coupler 3 is directly connected to the NX-AD2608 analog input interface 4 and the NX-ID5442 / NX-OD5256 digital I / O interface 5. Commands from the control panel 12 are returned to the CK3M-CPU121 motion controller 2 via the NX-ID5442 / NX-OD5256 digital I / O interface 5 and coupler 3; commands returned to the control panel 12 via the NX-ID5442 / NX-OD5256 digital I / O interface 5 are displayed on the panel indicator lights. The NX-ID5442 / NX-OD5256 digital I / O interface 5 connects to and controls the on / off state of the relay 11, thereby controlling the on / off state of the contactor 13. Both the NX-ID5442 and NX-OD5256 interfaces are interface modules in industrial automation products, each with different functions and characteristics. The NX-ID5442 is a digital input unit with a DC input, PNP type. Input points: 8 points. Terminal block type: Screwless terminal block for easy wiring and maintenance. Power supply voltage: DC24V. Refresh method: Supports synchronous I / O refresh or free-run refresh, selectable according to application requirements. The NX-OD5256 is a digital output unit with the following output type: Transistor output, PNP type. Output points: 16 points. Terminal block type: Screwless terminal block, simplifying the wiring process. Power supply voltage: DC24V. Refresh method: Supports synchronous I / O refresh or free-run refresh, selectable according to application requirements. It features load short-circuit protection, improving system stability and reliability. The NX-ID5442 interface is mainly used to receive digital signals from external sensors and convert them into signals recognizable by the controller, thereby achieving precise control of industrial automation equipment.

[0028] In some other embodiments of this utility model, the NX-AD2608 analog input interface 4 connects to two torque sensors, namely a first torque sensor 9 and a second torque sensor 10, receiving analog signals from the torque sensors to monitor the angle and torque changes at the robot's axis in real time. The NX-AD2608 analog input interface is an industrial automation product, belonging to the NX series of analog input units. Its input points: 2 analog input channels, capable of receiving two analog signals simultaneously. Input type: Supports voltage input, with a typical input range of -10V to +10V (the specific range may vary depending on the application). Resolution: This interface has high resolution, capable of accurately identifying minute changes in analog signals. Accuracy: Overall high accuracy, meeting the precision measurement needs of industrial automation. Refresh method: Supports synchronous I / O refresh or free-run refresh, selectable according to application requirements. Terminal block type: Employs screwless terminal blocks, simplifying the wiring process and improving work efficiency.

[0029] In some other embodiments of this invention, the SCARA robot is RRP, which means that the SCARA robot has a structural layout with two rotary joints (R) and one linear joint (P).

[0030] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A compliant control system for a high-speed heavy-duty SCARA robot, characterized in that, Include: The driver includes several drivers, the driver drives the SCARA robot movement, there is a driver in turn electrically connected with motion controller, industrial computer and forms an electrical configuration, among the rest of the driver, there is a driver in turn electrically connected with coupler, digital I / O interface, relay, contactor and forms an electrical configuration; Torque sensor, including several torque sensors, all torque sensors in turn electrically connected with analog input interface, coupler and form an electrical configuration; Wherein, the driver and torque sensor communicate with the same coupler; the digital I / O interface is also electrically connected with the control panel and forms an electrical configuration; The driver includes a first driver, a second driver and a third driver, the first driver is electrically connected with the motion controller and forms an electrical configuration; The torque sensor includes a first torque sensor and a second torque sensor, the first torque sensor and the second torque sensor are electrically connected with the same analog input interface and form an electrical configuration.

2. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The torque sensor is unidirectional electrically connected with the analog input interface.

3. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The first driver, the second driver and the third driver are bidirectional electrically connected with each other; The first driver is bidirectional electrically connected with the motion controller and the industrial computer in turn; The third driver is bidirectional electrically connected with the coupler, digital I / O interface, relay and contactor in turn; The coupler is bidirectional electrically connected with the analog input interface; The control panel is bidirectional electrically connected with the digital I / O interface.

4. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The control system of the industrial computer includes industrial control computer and motion controller.

5. The soft control system of the high-speed heavy-duty SCARA robot according to claim 4, characterized in that: The motion controller is CK3M-CPU121 motion controller.

6. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The coupler is NX-ECC203 expansion unit.

7. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The digital I / O interface is NX-ID5442 interface or NX-OD5256 interface.

8. The soft control system of the high-speed heavy-duty SCARA robot according to claim 1, characterized in that: The analog input interface is NX-AD2608 interface.

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