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The PMC driver-control integrated integrated link module cooperates with ASIC to control the control technology using insensitive sensor-assisted control technology. Through the built-in Mad Assisted Controller function, external overshooting collision events can be detected; Mad hardware adopts hollow axle design and EthrCAT communication technology, which greatly simplifies the complexity of the internal line configuration in the machine arm connection, which not only improves space utilization, but also greatly reduces the cost and difficulty of machine arm equipment maintenance. Currently, it has successfully assisted many cooperative robot factories to complete the development.
1. Four major features of this module
(I) The system is simple and reduces the number of connections
The Mada hardware adopts hollow axle design and EthrCAT communication technology to greatly simplify the complexity of the internal circuit configuration in the machine arm link, which not only improves space utilization, but also greatly reduces the cost and difficulty of machine arm equipment maintenance.
(II) Drive safety technology of realizing insensitive sensors
The mechanical arms can be roughly divided into a meticulous mechanical arms, a safety mechanical arms and a flexible mechanical arms. The three can be classified simply as:
1. Machinery arm: Strong and powerful, can work in bad environments, and is inaccessible to people.
2. Safety Arm: Sensor, safe, replace or work with others, expensive.
3. Flexible arms: No sensor, safe, replace or work with others, assist in control technology.
In the power-assisted control system, the power can be divided into computing power and controller. The computing power is to compensate known loads, while the control power is to compensate unknown interference (or negative loads), as shown in Figure 1; the known loads are the weight of the mechanical arm, which can be evaluated and calculated in advance, accounting for 95% of the required output of the motor; and unknown interference (or negative loads) accounts for about 5% of the required output of the motor; therefore, a closed switch is set in the power-assisted control system for detecting and limiting and this unknown interference. For example, the system shutdown limit is <10%, and the following state descriptions are given:
1. Under normal conditions: the output of control force is <5%, and the system will not interfere with the normal operation of the mechanical arm.
2. Anomalous conditions: When the worker reaches out to block the mechanical hand, the system will cause additional errors and plans to increase its efforts, but due to the 10% closure switch, the system cannot provide greater efforts, thereby ensuring the safety of the worker and avoiding injury. When the control force is once again less than the turn-off limit, the system returns from abnormal conditions to normal conditions.
★The features of this module assist control system include:
1. No need to use a specified torque sensor to detect torque external interference resistance.
2. By adjusting the closing ring, the amount of the arm's assist/resistance can be adjusted.
3. Through the power control system, the operator can easily adjust the arm posture with his hands.
(III) Has the safety function of the installation of the human machine
The module with assisted control module can be called flexible links. It can ensure the safety of the operator and can be used in any brand or specification mechanical arm system; for example, when the switch of the shutter in the assisted control system is set to 10%, it means that the additional output of Marda is 10%, and the material is used. In terms of theory, the 60W mada has only 6W control power, which is the source of the safety of the mechanical arm; from the operator's perspective, the resistance of the mechanical arm has been reduced from 60W mada to 6W mada, and at this time, anyone can naturally block the operation with their hands.
The elastic setting of the shut-off switch can be used, that is, the resistance force of the mechanical arm can be adjusted freely according to the needs.
2. About the design structure and specifications of driver-control integrated integrated link modules
The hollow-conne module hardware or software features include integrating motor, sensational speed reducer, absolute and incremental rotary coder, and other components combined with components, as well as integrating control board and power supply module.
3. The PMC link module is suitable for all work areas where people and work together
The PMC link module not only has built-in sensorless control technology, but can be directly applied to human-machine joint arm development, and at the same time, it opens the integrated power sensor to obtain information about external contact forces and provides different application design flexibility and options. Modular design can also allow the integration of arm design to be more refined and faster, helping the application to quickly create collaborative arm products. It can be applied to all work areas where people work together, such as assembly production lines.
4. Successfully assisted many large cooperative robot industry factories to complete the development
1.ASIX
It is an integrated IC design company, including IC design, manufacturing and marketing, and has developed a series of network communication chips for home appliances, portable devices, factory/building automation, industrial control, maintenance systems, remote monitoring management, streaming media, multimedia network, high-frequency wide transmission and other fields. In recent years, in order to expand the scope of operation, based on its own motor drive IC, we have cooperated with PMC to develop motor drive modules, arm link modules, and mechanical arms.
2. Creating a blog
Creative provides open and intelligent solutions based on EtherCAT for industrial and educational robot applications. Its products include module components of a fully functional industrial robot system, ranging from controller platform, robot control and simulation software, teaching instruments, control cabinets to robot main body. Like ordinary robots, cobots are also supported by advanced robot control functions and software of Creative Solutions. |
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