Overloaded five-core quick joint robot control system

Abstract

The invention discloses an overloaded five-core quick joint robot control system. The control system comprises a master station control computer and a controller. The controller comprises a DSP chip controller, a permanent magnet synchronous motor closed-loop control chip, a speech recognition processor, a PLC and an ARM controller. The DSP chip controller and the ARM controller are both in communication connection with the master station control computer. The DSP chip controller is in communication connection with the ARM controller. Four rare-earth permanent magnet synchronous servo motors are all in communication connection with the DSP chip controller. A plurality of obstacle avoidance displacement sensors, a locating sensor, gyroscopes and acceleration sensors are all in communication connection with the DSP chip controller and the ARM controller. The overloaded five-core quick joint robot control system is high in calculation speed, and therefore a joint robot is flexible in arm steering, stable and accurate in movement and small in size, performance is stable, and the anti-jamming capability of the system is high.

Description

technical field [0001] The invention relates to a heavy-duty five-core fast-joint robot control system, belonging to the application field of four-joint robot arms for assembly operations. Background technique [0002] In industrial production, industrial robots can replace humans to do some relatively monotonous, frequent and high-repetition long-term operations, or operations in dangerous and harsh environments. It is widely used in the fields of electronics manufacturing, plastics industry, automobile industry, electronic product industry, pharmaceutical industry and food industry. , It is of great significance to reduce labor intensity, save raw material consumption and reduce production costs. [0003] The SCARA industrial robot, that is, the robot arm for assembly operations, is a cylindrical coordinate industrial robot. It relies on the rotating joint arm and forearm to achieve rapid positioning in the X-Y plane, and relies on a wrist movement joint and a wrist rotat...

AI Technical Summary

Problems solved by technology

[0005] (1) Although the performance of the permanent magnet brushless DC servo motor is improved compared with the stepper motor, DC motor and DC servo motor, its torque ripple is large when it starts or moves at low speed, which cannot meet the requirements of the high-precision SCARA robot system

[0006] (2) The control of the brushless DC servo motor requires position information feedback for electronic commutation. For this control system, 12 position sensors are required for position feedback, which increases the complexity of the system hardware

[0007] (3) Although the performance of the permanent magnet brushless DC servo motor is improved compared with the stepper motor, DC motor and DC servo motor, its efficiency is relatively low and cannot meet the requirements of the SCARA robot energy-saving system.

[0008] (4) Although the permanent magnet brushless DC servo motor has improved performance compared with stepper motors, DC motors and DC servo motors, its load capacity is relatively weak and cannot meet the requirements of heavy-duty SCARA robot systems

[0009] (5) When the robot encounters an emergency and needs to stop or start after parking, it is all done by pressing the button, and the intelligence of the robot is not high

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