CN110221550B - Robot system - Google Patents
Robot system Download PDFInfo
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- CN110221550B CN110221550B CN201810302110.1A CN201810302110A CN110221550B CN 110221550 B CN110221550 B CN 110221550B CN 201810302110 A CN201810302110 A CN 201810302110A CN 110221550 B CN110221550 B CN 110221550B
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- encoder
- network
- robot
- protocol
- voltage
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40221—Profibus
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention relates to a robot system comprising: the control end is connected with the robot through a power line and a network protocol; the robot comprises a network encoder device and an actuating device, wherein the network encoder device is connected with the actuating device; the actuating device comprises a servo motor and an encoder, the encoder is connected with the servo motor, the encoder collects servo motor information, generates encoder signals and sends the encoder signals to the network encoder device. The robot system provided by the invention solves the problems of complicated wiring between the control end and the robot, voltage reduction of a field bus and electromagnetic radiation interference. The control end and the robot are transmitted by adopting a single voltage and a network protocol, so that the wiring quantity is greatly reduced, the wiring complexity is reduced, the connection between the control end and the robot is more stable, and the failure rate is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot system.
Background
In a traditional robot system, an encoder, a band-type brake power supply and a signal are usually connected to the motor side of a robot body from an electric cabinet directly. The encoder protocol adopts a communication protocol, and is easily interfered by electromagnetic radiation during transmission. Two field buses are connected between a conventional robot control end and a robot body and respectively are a motor power field bus and an encoder field bus, the number of cores of an encoder and a power wire of a servo motor is large, wiring is complicated, and mutual interference is easy to generate.
Disclosure of Invention
Based on this, it is necessary to provide a robot system for the problems of complicated wiring between the control end and the robot, voltage reduction of the field bus, and electromagnetic radiation interference.
A robotic system, comprising: the control end is connected with the robot through a power line and a network protocol;
the robot comprises a network encoder device and an actuating device, wherein the network encoder device is connected with the actuating device;
the actuating device comprises a servo motor and an encoder, the encoder is connected with the servo motor, acquires servo motor information, generates an encoder signal and sends the encoder signal to the network encoder device;
the network encoder device comprises a power supply/signal conditioning module, a processor and a network communication module, wherein the power supply/signal conditioning module is used for converting power supply voltage into voltage for supplying power to the encoder, the processor and the network communication module, conditioning encoder signals transmitted by the actuating device and sending conditioned encoder signals to the processor; the processor is used for receiving the conditioned encoder signals, performing protocol analysis and repackaging on the encoder signals and then sending the encoder signals to the network communication module; the network communication module is used for sending the encoder signals subjected to protocol analysis and repackaging to the control end through the network protocol.
In one embodiment, the network encoder device includes at least one of an ethernet interface, a fieldbus interface, an I/O interface, and an encoder interface.
In one embodiment, the robot performs data interaction with the control terminal through a network protocol.
In one embodiment, the network protocol comprises any one of a TSN protocol, a TCP/IP protocol, and a MAC protocol.
In one embodiment, the control terminal is connected with the robot through a power line with a single voltage.
In one embodiment, the robot system is further provided with a power supply, and the power supply is connected with the control end and used for supplying electric energy to the robot and the control end.
In one embodiment, the power/signal conditioning module is provided with a voltage conversion circuit, and the voltage conversion circuit is connected with the control terminal and the encoder and is used for converting the voltage provided by the control terminal into the voltage for the encoder to operate.
The robot system provided by the invention solves the problems of complicated wiring between the control end and the robot, voltage reduction of a field bus and electromagnetic radiation interference. The control end and the robot are transmitted by adopting a single voltage and a network protocol, so that the wiring quantity is greatly reduced, the wiring complexity is reduced, the connection between the control end and the robot is more stable, and the failure rate is reduced.
Drawings
FIG. 1 is a schematic view of a robotic system;
fig. 2 is a schematic diagram of a network encoder device of the robotic system of fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Fig. 1 shows a schematic diagram of a robot system in an embodiment, the robot system includes a control terminal 20 and a robot 10, the control terminal 20 is connected with the robot 10 through a power line 30 and a network protocol, and the power line 30 is a single voltage. The robot 10 includes a network encoder device 120 and an actuating device 110, wherein the network encoder device 120 is connected with the actuating device 110. The actuating device 110 is actuated according to the command of the control end 20.
The actuating device 110 comprises a servo motor 112 and an encoder 111, and the encoder 111 acquires information of the servo motor 112, generates an encoder signal and sends the encoder signal to the network encoder device 120.
The robot system is further provided with a power supply, and the power supply is connected with the control end 20 and used for providing electric energy for the robot 10 and the control end 20.
The control terminal 20 is connected to the robot 10 through a single-voltage fieldbus to supply operating voltage to the robot 10. The network encoder device 120 converts the voltage transmitted by the control terminal 20 for supplying the network encoder device 120 with operation. The control terminal 20 is connected to the actuating device 110 through a field bus, and directly supplies the operating voltage to the actuating device 110.
The network encoder device 120 may be connected to a plurality of actuating devices 110, and receive feedback information of the actuating devices 110.
The control end 20 interacts data with the network encoder device 120 and the actuating device 110 by using a network protocol.
Specifically, the network protocol can be selected from a TSN protocol, a TCP/IP protocol, a MAC protocol or other protocols capable of data transmission. In one embodiment, the network protocol is a MAC protocol, and the MAC protocol accesses a data link layer through a physical layer to complete data transmission, so as to improve the real-time performance of data transmission.
Fig. 2 is a schematic diagram of an embodiment of a network encoder device 120, where the network encoder device 120 includes a power/signal conditioning module 121, a processor 122, and a network communication module 123, where the power/signal conditioning module 121 is configured to convert a power voltage into a voltage for powering the encoder 111, the processor 122, and the network communication module 123, condition an encoder signal transmitted by the actuator 110, and send the conditioned encoder signal to the processor 122; the processor 122 is configured to receive the conditioned encoder signal, perform protocol analysis and repackaging on the encoder signal, and send the encoder signal to the network communication module 123; the network communication module 123 is configured to send the encoder signal after protocol parsing and repackaging to the control end 20 through the network protocol.
The network encoder device 120 includes an ethernet interface, a fieldbus interface, an I/O interface, an encoder interface, or other communication interface.
The I/O interface is used for receiving I/O signals, and the network encoder device 120 performs input and output of I/O signals through the I/O interface.
The fieldbus interface is used for connecting a physical layer of the fieldbus, and the network encoder device 120 performs data interaction with the control end 20 through the fieldbus interface.
The ethernet interface is used for a physical layer connection interface of the ethernet, and the network encoder device 120 sends and receives network data through the ethernet interface.
The encoder interface is used for connecting the physical layer of the encoder, and the network encoder device 120 receives the encoder signal input and the brake output through the encoder interface.
The power/signal conditioning module 121 includes a transmission signal sampling and voltage converting circuit, where the transmission signal sampling is used to collect a signal state; the voltage conversion circuit is connected to the control terminal 20 and the encoder 111, and is configured to convert the voltage provided by the control terminal 20 into a voltage for the encoder 111 to operate. In the present embodiment, the voltage conversion circuit converts a 24V voltage into a 5V voltage. It can be understood that if the operating voltage of the encoder 111 changes, the voltage conversion circuit converts the voltage to adapt to the operating voltage of the encoder 111.
The robot system provided by the invention solves the problems of complex wiring between the control end 20 and the robot 10, field bus voltage reduction and electromagnetic radiation interference. The control end 20 and the robot 10 adopt single voltage and network protocol to transmit, so that the wiring quantity is greatly reduced, the wiring complexity is reduced, the control end 20 and the robot 10 are more stably connected, and the failure rate is reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A robotic system, comprising: the control end is connected with the robot through a power line and a network protocol; the control end is connected with the robot through a power line with single voltage, and the control end supplies the robot with operating voltage through the power line;
the robot comprises a network encoder device and an actuating device, wherein the network encoder device is connected with the actuating device;
the actuating device comprises a servo motor and an encoder, the encoder is connected with the servo motor, acquires servo motor information, generates an encoder signal and sends the encoder signal to the network encoder device;
the network encoder device comprises a power supply/signal conditioning module, a processor and a network communication module, wherein the power supply/signal conditioning module is used for converting power supply voltage into voltage for supplying power to the encoder, the processor and the network communication module, conditioning encoder signals transmitted by the actuating device and sending conditioned encoder signals to the processor; the processor is used for receiving the conditioned encoder signals, performing protocol analysis and repackaging on the encoder signals and then sending the encoder signals to the network communication module; the network communication module is used for sending the encoder signals subjected to protocol analysis and repackaging to the control end through the network protocol.
2. The robotic system as claimed in claim 1, wherein the network encoder device includes at least one of an ethernet interface, a fieldbus interface, an I/O interface, and an encoder interface.
3. The robotic system as claimed in claim 1, wherein the robot interacts data with the control end via a network protocol.
4. A robotic system according to claim 3, wherein said network protocol comprises any one of TSN protocol, TCP/IP protocol and MAC protocol.
5. The robotic system as claimed in claim 1, wherein the robotic system is further provided with a power supply connected to the control terminal for providing electrical power to the robot and the control terminal.
6. The robotic system as claimed in claim 1, wherein the power/signal conditioning module is provided with a voltage conversion circuit connected to the control terminal and the encoder for converting the voltage provided by the control terminal into a voltage for the encoder to operate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810302110.1A CN110221550B (en) | 2018-04-04 | 2018-04-04 | Robot system |
| PCT/CN2018/124159 WO2019192220A1 (en) | 2018-04-04 | 2018-12-27 | Robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810302110.1A CN110221550B (en) | 2018-04-04 | 2018-04-04 | Robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110221550A CN110221550A (en) | 2019-09-10 |
| CN110221550B true CN110221550B (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810302110.1A Active CN110221550B (en) | 2018-04-04 | 2018-04-04 | Robot system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110221550B (en) |
| WO (1) | WO2019192220A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101226398A (en) * | 2008-01-17 | 2008-07-23 | 上海交通大学 | Distributed soldering point quality monitoring system and method |
| CN102862161A (en) * | 2012-09-10 | 2013-01-09 | 王伟栋 | Field bus-based PAC (Programmable Automation Controller) industrial robot control system |
| CN107450378A (en) * | 2017-09-14 | 2017-12-08 | 浙江国自机器人技术有限公司 | A kind of controller and robot |
| CN107516977A (en) * | 2016-06-16 | 2017-12-26 | 上海安浦鸣志自动化设备有限公司 | A kind of discrete motor driver based on PoE power supplies |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100514236C (en) * | 2006-08-31 | 2009-07-15 | 天津市天锻压力机有限公司 | Control system of four-door two-cover flexible molding manufacturing system of vehicle |
| KR100850971B1 (en) * | 2007-06-13 | 2008-08-12 | 고종선 | Intelligent robot motion controller |
| CN102052923B (en) * | 2010-11-25 | 2013-02-27 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| CN205438540U (en) * | 2016-01-06 | 2016-08-10 | 上海优爱宝智能机器人科技股份有限公司 | Control system and robot of robot |
| CN106444536B (en) * | 2016-11-17 | 2023-08-11 | 上海新时达电气股份有限公司 | Flexible servo drive system |
| CN106426184B (en) * | 2016-12-13 | 2019-03-22 | 广州中国科学院先进技术研究所 | A kind of robot control system |
-
2018
- 2018-04-04 CN CN201810302110.1A patent/CN110221550B/en active Active
- 2018-12-27 WO PCT/CN2018/124159 patent/WO2019192220A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101226398A (en) * | 2008-01-17 | 2008-07-23 | 上海交通大学 | Distributed soldering point quality monitoring system and method |
| CN102862161A (en) * | 2012-09-10 | 2013-01-09 | 王伟栋 | Field bus-based PAC (Programmable Automation Controller) industrial robot control system |
| CN107516977A (en) * | 2016-06-16 | 2017-12-26 | 上海安浦鸣志自动化设备有限公司 | A kind of discrete motor driver based on PoE power supplies |
| CN107450378A (en) * | 2017-09-14 | 2017-12-08 | 浙江国自机器人技术有限公司 | A kind of controller and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110221550A (en) | 2019-09-10 |
| WO2019192220A1 (en) | 2019-10-10 |
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Address after: Room W211, second floor, west block, Shenzhen Hong Kong industry university research base, South District, high tech Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Solid High Tech Co.,Ltd. Address before: Room W211, second floor, west block, Shenzhen Hong Kong industry university research base, South District, high tech Zone, Nanshan District, Shenzhen City, Guangdong Province Applicant before: GOOGOL TECHNOLOGY (SHENZHEN) Ltd. |
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