Industrial robots are multi-joint manipulators or multi-degree-of-freedom devices widely used in industry, with a certain degree of automaticity, and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
Generally speaking, industrial robots are composed of three major parts and six subsystems. The three major parts are mechanical part, sensing part and control part; the six subsystems can be divided into mechanical structure system, drive system, sensing system, robot-environment interaction system, human-machine interaction system and control system. So what does the industrial robot control system consist of? What are the functions?
I. Composition of industrial robot control system
1, the control computer: the control system of the scheduling command mechanism. Generally microcomputer, microprocessor with 32-bit, 64-bit, such as Pentium series CPU and other types of CPU.
2、Teaching box: teaching the robot's work trajectory and parameter setting, as well as all human-computer interaction operations, has its own independent CPU and storage unit, and serial communication with the main computer to achieve information interaction.
3、Operating panel: It is composed of various operation buttons and status indicators, and only completes the basic function operation.
4、Hard disk and floppy disk storage: peripheral memory for storing robot work programs.
5、Digital and analog input and output: input or output of various status and control commands.
6、Printer interface: record the various information that needs to be output.
7、Sensor interface: used for the automatic detection of information to achieve robot soft control, generally force, tactile and visual sensors.
8、Axis controller: to complete the robot's joint position, speed and acceleration control.
9、Auxiliary equipment control: used for the control of auxiliary equipment with the robot, such as hand claw position changer, etc.
10、Communication interface: realize the information exchange between the robot and other devices, generally serial interface, parallel interface, etc.
11、Network interface.
Ethernet interface: It can realize direct PC communication of several or single robots through Ethernet, with data transmission rate up to 10Mbit/s. After application programming with windows library function directly on PC, it supports TCP/IP communication protocol and loads data and program into each robot controller through Ethernet interface.
Fieldbus interface: It supports many popular fieldbus specifications, such as Devicenet, ABRemoteI/O, Interbus-s, profibus-DP, M-NET, etc.
Second, the function of industrial robot control system
The robot control system is an important part of the robot, which is used for the control of the operator to accomplish specific work tasks, and its basic functions are as follows.
1、Memory function: store the operation sequence, motion path, motion mode, motion speed and information related to production process.
2、Teaching function: offline programming, online teaching, indirect teaching. Online teaching includes teaching box and guiding teaching.
3、Linking function with peripheral devices: input and output interface, communication interface, network interface, synchronization interface.
4、Coordinate setting function: there are four kinds of coordinate systems: joint, absolute, tool and user-defined. Human-machine interface: Demonstration box, operation panel, display.
5、Sensor interface: position detection, vision, tactile, force sensing, etc.
6、Position servo function: robot multi-axis linkage, motion control, speed and acceleration control, dynamic compensation, etc.
7、Fault diagnosis and safety protection functions: system status monitoring during operation, safety protection and fault self-diagnosis under fault condition.
