Field bus-based PAC (Programmable Automation Controller) industrial robot control system

Abstract

The invention discloses a field bus-based PAC (Programmable Automation Controller) industrial robot control system which comprises a robot axis servo control unit, a high-speed real-time Ethernet field bus, a man-machine interaction, a PAC, and a plurality of input-output modules, wherein the robot axis servo control unit is used for controlling and driving axle joints of manipulators of an industrial robot, the PAC is used for controlling the robot axis servo control unit and the man-machine interaction unit respectively and are respectively connected with the robot axis servo control unit and the man-machine interaction unit, and the plurality of input-output modules are extensibly arranged and are respectively connected with the robot axis servo control unit through the high-speed real-time Ethernet field bus. The system can be used for overcoming the defects of being unreasonable in structure, inconvenient to install and maintain, low in reliability, poor in precision, high in cost, poor in extensibility and the like in the prior art, so as to realize the disadvantages of being reasonable in structure, convenient to install and maintain, high in reliability, good in precision, low in cost and good in extensibility.

Description

technical field [0001] The present invention relates to the technical field of industrial robots, in particular to a programmable automation controller (Programmable Automation Controller, PAC for short) industrial robot control system based on field bus. Background technique [0002] Generally, the arm of an industrial robot is mainly composed of multiple mechanical arms and corresponding shaft joints. The shaft joints can be directly connected to the drive servo motor, or connected to the drive servo motor through a gearbox. By controlling the movement of the corresponding drive servo motor, It can realize the control of the motion trajectory and direction of the corresponding mechanical arm. Therefore, realizing the precise control of the corresponding driving servo motor can realize the free movement of the corresponding mechanical arm of the industrial robot. For the control principle of a single drive servo motor for an industrial robot shaft joint, see figure 1 . ...

AI Technical Summary

Problems solved by technology

[0009] ⑴ Unreasonable structure: The driver is integrated (that is, the corresponding servo driver and the motion position control module are integrated), making it impossible to place the corresponding driver at a position close to each servo motor; and, since each driver is All-in-one setup, when any one of the drives fails, the other drives will also be affected and not work properly;

[0010] ⑵Inconvenient installation and maintenance: In actual installation, many power cables need to be used, and installers often worry about choosing a suitable power cable and installation method; in addition, since each drive is integrated, when any drive When a failure occurs, it will affect other drives and cause inconvenience to maintenance and maintenance work;

[0011] (3) Low reliability: the encoder cable is long, which sometimes reduces the reliability of the speed feedback signal; in addition, since each drive is integrated, when any one of the drives fails, it will affect the reliability of other drives;

[0012] (4) Poor accuracy: the encoder is longer, which sometimes reduces the accuracy of the speed feedback signal;

[0013] ⑸High cost: Normally, the robot control unit is only a part of automation equipment and manufacturing system, with only limited input and output modules; while automation equipment and manufacturing system automation equipment require logic control units and more input and output modules In practical applications, another PLC is needed to realize the automatic control of the equipment, which increases the equipment cost; moreover, the solution of adding PLC to the robot control unit also increases the application development cycle and the complexity of the system, reducing the Reliability

[0014] ⑹ Poor scalability: Because the motion control part and the servo drive part communicate through the internal backplane bus, the multi-axis drive expansion is limited, and can only be extended to 6 axes or more at most

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