CN211916858U - Arm controlgear - Google Patents

Abstract

The utility model provides a mechanical arm control device, which comprises an acquisition module and a control module; the acquisition module is used for acquiring environmental parameters and operating parameters of the mechanical arm; the control module is respectively connected with the acquisition module and the cloud management platform and is used for acquiring the environmental parameters and the operation parameters and sending the environmental parameters and the operation parameters to the cloud management platform so as to gather the environmental parameters and the operation parameters on the cloud management platform and realize the control of the mechanical arm; adopt the utility model discloses a scheme can realize going up to cloud management platform and gathering the processing to producing various types of data of line, and the user of being convenient for more convenient browses whole data, for the arm formulates more reasonable control command, realizes the accurate effective control to the arm.

Description

Arm controlgear

Technical Field

The utility model relates to a terminal technology field relates to but not limited to a mechanical arm controlgear.

Background

The industrial internet platform is used as a hub for industrial full-system connection and is the core of industrial resource allocation. Industrial robot arms (hereinafter referred to as robot arms) are widely used in various production lines to solve the problems of high repeatability, high labor intensity, low efficiency and high risk of manual operation. Programmable Logic Controllers (PLCs) are also widely used in production line control as Programmable Logic controllers.

At present, the control of the mechanical arm is also generally realized by adopting a PLC (programmable logic controller), the PLC is used as a controller, and the industrial mechanical arm is controlled by adopting programming modes such as a step instruction and the like to realize tasks such as workpiece conveying, carrying control and the like.

However, the traditional mechanical arm control based on the PLC cannot send the relevant data of the mechanical arm to the cloud end, so that the relevant data of the mechanical arm is summarized through the cloud management platform, and therefore, operators cannot make more reasonable control instructions for the mechanical arm, and the mechanical arm cannot be accurately and effectively controlled.

Disclosure of Invention

In view of this, the embodiment of the present invention provides a robot arm control apparatus.

The embodiment of the utility model provides a technical scheme is so realized:

an embodiment of the utility model provides a manipulator controlgear, include:

the acquisition module is used for acquiring environmental parameters and operation parameters of the mechanical arm;

and the control module is respectively connected with the acquisition module and the cloud management platform and used for acquiring the environmental parameters and the operation parameters and sending the environmental parameters and the operation parameters to the cloud management platform, so that the cloud management platform collects the environmental parameters and the operation parameters to realize the control of the mechanical arm.

In some embodiments, the environmental parameter comprises environmental data, and the acquisition module comprises a data acquisition module for acquiring the environmental data;

the control module includes: the first control submodule is used for sending the environmental data and the operating parameters acquired by the data acquisition module to the cloud management platform.

In some embodiments, the environmental parameters further include environmental image information, the acquisition module further includes an image acquisition module for acquiring the environmental image information;

the control module further comprises: and the second control submodule is used for sending the environment image information acquired by the image acquisition module to the cloud management platform.

In some embodiments, the environmental parameters further include environmental voice information, and the collection module further includes a voice collection module for collecting the environmental voice information;

the second control submodule is further used for sending the environment voice information acquired by the voice acquisition module to the cloud management platform.

In some embodiments, the second control sub-module interfaces with the first control sub-module;

the second control submodule is further configured to receive the environment data and the operation parameters acquired by the first control submodule, and send the environment data and the operation parameters to the cloud management platform.

In some embodiments, the apparatus further comprises a connector;

the first control submodule is connected with an input port of the connector, and any output port of the connector is connected with the second control submodule.

In some embodiments, the environmental parameters further include location information, the acquisition module further includes a location acquisition module for acquiring the location information;

the control module is further used for sending the position information to the cloud management platform.

In some embodiments, the control module comprises an input and an output; correspondingly, the control module further comprises:

and the optical isolation chip is used for isolating the input end and the output end of the control module.

In some embodiments, the optical isolation chip comprises an input optical isolation chip and an output optical isolation chip;

the input end optical isolation chip is connected with the input end and is used for carrying out optical isolation on the input end of the control module;

and the output end optical isolation chip is respectively connected with the output end and the relay and is used for optical isolation of the output end of the control module.

In some embodiments, the apparatus further comprises:

and the communication module is respectively connected with the control module and the cloud management platform and is used for realizing that the control module sends the environmental parameters and the operating parameters to the cloud management platform.

The mechanical arm control equipment provided by the embodiment of the application, because control module is connected with collection module and cloud management platform, can send the environmental parameter who acquires and the operating parameter of arm to cloud management platform, so, realize gathering environmental parameter and operating parameter to cloud management platform through control module, and then make the operating personnel of arm can acquire complete data from cloud management platform, thereby carry out accurate analysis to the motion condition of arm, and can formulate more reasonable control command for the arm according to cloud management platform's complete data, realize the accurate effective control to the arm.

Drawings

Fig. 1 is a schematic structural diagram of a robot arm control device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot arm control device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a robot arm control device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a robot arm control device according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a robot arm control device according to a fifth embodiment of the present invention;

fig. 6 is a frame diagram of a terminal control system of a robot arm control device according to a sixth embodiment of the present invention;

fig. 7 is a terminal hardware circuit frame diagram of a robot arm control device according to a sixth embodiment of the present invention;

fig. 8 is a circuit diagram of processing analog signals of a control module of a robot arm control device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Before explaining the embodiments of the present invention, a robot arm control apparatus in the related art is first explained:

with the rapid development of the manufacturing industry in China, the competition among enterprises is more and more intense. Besides saving material cost, the enterprises pay more attention to labor cost when manufacturing products. The industrial internet is a set of system for acquiring, gathering and analyzing mass data for the requirements of digitalization, networking and intelligent transformation of the manufacturing industry, and a cloud platform capable of being connected, elastically supplied and efficiently configured is urgently needed for supporting the manufacturing resources. For the elements of the industrial internet Platform, data acquisition and transmission are the basis, Platform as a Service (PaaS) is the core, and industrial Application (APP) is the key.

However, the demand for industrial internet, especially for production lines in factories, is increasing the number of automation devices to replace the production mode of the conventional manual work. The manual production process has high repeatability, high labor intensity and low efficiency, and particularly cannot be participated in the work with high risk and high risk, such as the work in severe environments of high temperature, high radiation and the like. Industrial robots are widely used in various production lines, and PLCs, which are programmable logic controllers, are widely used in the control of production lines. However, the development of the era will bring technological progress, the industrial internet is the iteration and upgrade of the traditional industry, and the industrial internet is used as an industrial cloud platform, and the essential characteristic of the industrial internet is to realize cloud operation.

The traditional mechanical arm operation track based on the PLC has the defects of poor stability and low precision. In addition, for the ground cloud mode capable of reducing cost and improving efficiency, the PLC is used as a core controller of the front end, and actual scene requirements cannot be met slowly.

Therefore, to these technical insufficiencies, according to producing the current scene demand of line, the utility model provides an arm controlgear can realize the cloud service on the data based on RT-Thread system. Utilize this arm controlgear, with the state such as flow control, camera, the production line personnel information, the environment of production line arm of mill, through in the mode such as honeycomb, wired with data transfer to the cloud pipe platform with OpenStack as the basis to combine field technologies such as cloud network integration, big data analysis, show for upper user provides modes such as APP, webpage.

Example one

The embodiment of the utility model provides a mechanical arm controlgear 10, as shown in figure 1, mechanical arm controlgear 10 includes collection module 11 and control module 12.

And the acquisition module 11 is used for acquiring environmental parameters 110 and operation parameters 111 of the mechanical arm.

Here, the environmental parameter refers to an environmental parameter of an environment in which the robot arm is located at a current time, or an environmental parameter of an environment in which the robot arm is located within a historical time period, for example, the environment in which the robot arm is located may be a factory environment or a laboratory environment, and then the environmental parameter may be an environmental parameter of a factory in which the robot arm is currently located, or an environmental parameter of a factory within a historical time period (for example, within a historical one-week time period).

The environmental parameter includes, but is not limited to, at least one of: the mechanical arm is located under the environment temperature, humidity, dust, air quality, cleanliness, image information, voice information, geographical position information and other parameters. Of course, in other embodiments, the environmental parameters may also include other types of environmental parameters, which may be determined according to the actual conditions of the environment where the robot arm is located and the control needs of the robot arm, and the embodiments of the present application are not limited.

The operation parameters include continuous operation parameters and discontinuous operation parameters of the mechanical arm within the self operation range under the operation and control of an operator or mechanical arm control equipment, wherein the operation parameters can include but are not limited to at least one of the following continuous motion parameters: translational motion parameters, rotational motion parameters, and any other irregular continuous motion parameters, which may further include, but are not limited to, at least one of the following intermittent motion parameters: grabbing motion parameters, releasing motion parameters and lifting arm motion parameters.

In this embodiment of the application, the above-mentioned environmental parameter 110 and the operating parameter 111 of the mechanical arm may be collected through the collection module 11, wherein the collection module 11 may include a first collection module for collecting the environmental parameter and a second collection module for collecting the operating parameter of the mechanical arm, the first collection module and the second collection module are completely different collection modules, and the first collection module and the second collection module may work simultaneously to realize data collection of respective collection objects.

In some embodiments, the acquisition module may be an acquisition module capable of continuous operation, that is, the acquisition module may perform continuous acquisition on the environmental parameters and the operating parameters without interruption, and of course, the acquisition module may also perform discontinuous acquisition on the environmental parameters and the operating parameters, that is, when an acquisition instruction is received, the acquisition module responds to the acquisition instruction to acquire the environmental parameters and the operating parameters respectively.

In some embodiments, the acquisition module 11 may include a sensor, for example, the acquisition module may include an environmental parameter sensor for acquiring an environmental parameter, or the acquisition module may further include an operating parameter sensor for acquiring an operating parameter.

The control module 12 is connected with the acquisition module 11 and the cloud management platform, and is used for acquiring the environmental parameters 110 and the operating parameters 111 of the mechanical arm, and sending the environmental parameters 110 and the operating parameters 111 of the mechanical arm to the cloud management platform, so that the environmental parameters 110 and the operating parameters 111 are summarized on the cloud management platform, and the control of the mechanical arm is realized.

In this embodiment, the environmental parameters 110 and the operation parameters 111 of the robot arm may be obtained by the control module 12, and the environmental parameters 110 and the operation parameters 111 of the robot arm are sent to the cloud management platform.

In some embodiments, the control module 12 may include a first receiving module for receiving an environmental parameter, a first sending module for sending the environmental parameter, a second receiving module for receiving an operational parameter of the robot arm, and a second sending module (not shown in the drawings) for sending the operational parameter of the robot arm, where the first receiving module and the second receiving module are different receiving modules, and the first sending module and the second sending module are also different sending modules, and the first receiving module and the second receiving module may operate simultaneously, and the first sending module and the second sending module may also operate simultaneously, so as to implement data receiving and sending for respective control objects.

In some embodiments, the control module may be a control module capable of continuous operation, that is, the control module may receive and transmit the environmental parameter and the operation parameter continuously, or, of course, the control module may receive and transmit the environmental parameter and the operation parameter intermittently, that is, when a receiving instruction or a transmitting instruction is received, the environmental parameter and the operation parameter are received or transmitted respectively in response to the receiving instruction or the transmitting instruction.

The mechanical arm control equipment provided by the embodiment of the application, because control module is connected with collection module and cloud management platform, can send the environmental parameter who acquires and the running parameter of arm to cloud management platform, so, realize gathering environmental parameter and running parameter to cloud management platform through control module, and then make the operating personnel of arm can obtain complete data from cloud management platform, thereby carry out accurate analysis to the motion condition of arm, and can formulate more reasonable control command for the arm according to cloud management platform's complete data, realize the accurate effective control to the arm, and, because environmental parameter and the running parameter relevant with the arm are saved to cloud management platform, therefore, also can convenience of customers browses the relevant data of arm.

Example two

An embodiment of the utility model provides a mechanical arm control equipment 10, as shown in fig. 2, mechanical arm control equipment 10 includes data acquisition module 21 and first control submodule 22.

The data acquisition module 21 is used for acquiring environmental data 210 and operation parameters 111 of the mechanical arm;

here, the environment data 210 refers to the environment data 210 of the environment where the robot arm is located at the current time, or the environment data 210 of the environment where the robot arm is located in a historical period of time (e.g., a historical one month time); the environmental data includes 210 but is not limited to at least one of: temperature, humidity, dust, air quality, cleanliness and other data of the environment where the mechanical arm is located.

In an embodiment of the present application, the environmental data 210 may be acquired by a data acquisition module 21, where the data acquisition module 21 includes a first data acquisition module for acquiring environmental data and a second data acquisition module for acquiring an operating parameter of the mechanical arm.

In some embodiments, the data acquisition module 21 may include a sensor, for example, the data acquisition module may include an environmental data sensor for acquiring environmental data, the environmental data sensor may be a temperature sensor or a humidity sensor, or the like, or the acquisition module may further include an operating parameter sensor for acquiring an operating parameter.

The first control submodule 22 is connected with the data acquisition module 21 and the cloud management platform, and is used for acquiring the environment data 210 and the operation parameters 111 of the mechanical arm, and sending the environment data 210 and the operation parameters 111 of the mechanical arm to the cloud management platform, so that the environment data 210 and the operation parameters 111 are summarized on the cloud management platform, and the control of the mechanical arm is realized.

In this embodiment, the environment data 110 and the operation parameters 111 of the robot arm may be obtained by the first control sub-module 22, and the environment data 110 and the operation parameters 111 of the robot arm are sent to the cloud management platform, where the first control sub-module 22 may include a first receiving module for receiving the environment data, a first sending module for sending the environment data, a second receiving module for receiving the motion data of the robot arm, and a second sending module (not shown in the figure) for sending the motion data of the robot arm.

In some embodiments, the first control sub-module is a continuously operable control module, i.e., the control module may continuously receive and transmit environmental and athletic data without interruption.

In some embodiments, the first control sub-module 22 may be an MCU (micro controller Unit), for example, an MCU using an STM32 processor, wherein the STM32 processor runs an RT-Thread operating system for controlling the input and output of the robotic arm transport system.

The mechanical arm control equipment provided by the embodiment of the application, because the first control submodule is connected with the data acquisition module and the cloud management platform, the acquired environmental data and the operation parameters of the mechanical arm can be sent to the cloud management platform, so that the environmental data and the operation parameters are collected to the cloud management platform through the first control submodule, further, an operator of the mechanical arm can acquire complete environmental data from the cloud management platform, thereby accurately analyzing the environmental condition of a factory and the motion condition of the mechanical arm, more reasonable control instructions can be formulated for the mechanical arm according to the complete data of the cloud management platform, and accurate and effective control over the mechanical arm is realized.

EXAMPLE III

The embodiment of the utility model provides a mechanical arm control equipment 10, as shown in fig. 3, mechanical arm control equipment 10 includes image acquisition module 31, pronunciation collection module 32, data acquisition module 21, first control submodule 22 and second control submodule 33.

An image collecting module 31, configured to collect environment image information 310; a voice collecting module 32, configured to collect environmental voice information 311; the data acquisition module 21 is used for acquiring the operation parameters 111 of the mechanical arm.

Here, the environment image information 310 refers to the environment image information 310 of the environment where the robot arm is located at the current time, or the environment image information 310 of the environment where the robot arm is located within a historical period of time (e.g., within a historical two-month time); the environment image information 310 includes, but is not limited to, at least one of: and image information of equipment, factory environment, workers and the like in the environment of the mechanical arm.

The environment voice information 311 refers to the environment voice information 311 of the environment where the mechanical arm is located at the current time, or the environment voice information 311 of the environment where the mechanical arm is located in a historical time period (for example, one and a half times of the history); the environmental voice information 311 includes, but is not limited to, at least one of the following: and voice information such as equipment alarm, personnel communication and the like under the environment of the mechanical arm.

In some embodiments, the image acquisition module 31 may include a camera, and the voice acquisition module may include a voice recorder or the like.

The first control submodule 22 is connected with the data acquisition module 21, the second control submodule 33 and the cloud management platform, and is used for acquiring the operation parameters 111 of the mechanical arm and sending the operation parameters 111 of the mechanical arm to the cloud management platform, so that the operation parameters are collected on the cloud management platform, and the control of the mechanical arm is realized.

The second control submodule 33 is connected with the image acquisition module 31, the voice acquisition module 32, the first control submodule 22 and the cloud management platform, and is used for acquiring the environment image information 310 and the environment voice information 311, and sending the environment image information 310 and the environment voice information 311 to the cloud management platform, so that the environment image information 310 and the environment voice information 311 are collected on the cloud management platform, and the control of the mechanical arm is realized.

In this embodiment, the second control sub-module 33 may acquire the environment image information 310 and the environment voice information 311, and send the environment data environment image information 310 and the environment voice information 311 to the cloud management platform, where the second control sub-module 33 may include a first receiving module for receiving the environment image information 310 and the environment voice information 311, and a first sending module for sending the environment image information 310 and the environment voice information 311.

In some embodiments, the second control sub-module is a control module capable of operating intermittently, that is, the control module may perform intermittent continuous reception and transmission of the environment image information and the environment voice information for a preset time.

In some embodiments, the second control sub-module 33 may be an MCU, for example, an MCU using a TI Cortex A8AM3352 processor, wherein the TI Cortex A8AM3352 processor is equipped with a stable Linux 4.10 version operating system, and may extend functions such as 10-way serial port, 2-way USB 2.0, 1-way 10/100M ethernet, 1-way gigabit network, and the like, and is configured to output the environment image information 310 and the environment voice information 311.

In this embodiment, the first control submodule is directly connected to the second control submodule in the following manner: two plug-in banks are reserved on a circuit board of a first control submodule and used for fixing a second control submodule, and besides a contact pin for supplying power to the second control submodule, a Universal Asynchronous Receiver/Transmitter (UART) and a digital interface are reserved in the two plug-in banks and used for communication between the Universal Asynchronous Receiver/Transmitter and the digital interface.

In some embodiments, when the first control sub-module 22 fails, the second control sub-module 33 may receive the environmental parameters 110 and the operating parameters 111 acquired by the first control sub-module, and transmit the environmental parameters 110 and the operating parameters 111 to the cloud management platform.

The mechanical arm control equipment provided by the embodiment of the application provides a double-MCU scheme design, and takes the first control submodule with weaker image processing performance and only auxiliary for a camera as the first control submodule, so that under the condition of considering economic cost, the first control submodule is taken as a bottom plate, two insertion rows are reserved for fixing the second control submodule which performs data communication with each other through a universal asynchronous receiving and transmitting transmitter and a preset communication protocol, and thus, the environment image, the voice information and the operation parameters are gathered to a cloud management platform through the first control submodule and the second control submodule, so that an operator of the mechanical arm can acquire complete environment image and voice information from the cloud management platform, the environment condition of a factory and the motion condition of the mechanical arm are accurately analyzed, and a more reasonable control instruction can be formulated for the mechanical arm according to the complete data of the cloud management platform, the accurate and effective control of the mechanical arm is realized.

Example four

An embodiment of the utility model provides a mechanical arm controlgear 10, as shown in fig. 4, mechanical arm controlgear 10 includes image acquisition module 31, voice acquisition module 32, data acquisition module 21, position acquisition module 41, first control submodule 22, connector 42, second control submodule 33, Geographic Information System (Geographic Information System, GIS) extension module 43 and other extension modules 44.

An image collecting module 31, configured to collect environment image information 310; a voice collecting module 32, configured to collect environmental voice information 311; the data acquisition module 21 is used for acquiring the operation parameters 111 of the mechanical arm, and the position information acquisition module 41 is used for acquiring the position information 410.

Here, the position information 410 refers to position information 410 of a position where the robot arm is located at the present time, or position information 410 of an environment where the robot arm is located within a historical period of time (e.g., within a historical day);

the position information 410 includes a plane position in a stationary state, a spatial position, and a position in a moving state of the robot arm;

for example, the position information may be represented by coordinates a (a1, b1, c1), where a1, b1, c1 represent: the distance from the origin of coordinates in the direction X, Y, Z, where the origin of coordinates may be a fixed point of the robotic arm or any point within the environment in which the robotic arm is located.

In this embodiment, the position information 410 may be acquired by a position information acquisition module 41, and the position acquisition module 41 may include a sensor, for example, a position sensor, a positioning sensor, and the like.

The first control submodule 22 is connected to the data acquisition module 21, the connector 42 and the cloud management platform, and is configured to acquire the operation parameters 111 of the robot arm, and send the operation parameters 111 of the robot arm to the cloud management platform, so that the cloud management platform summarizes the environment data and the operation parameters, and controls the robot arm, where the first control submodule may be the MCU 1.

The second control sub-module 33 is connected to the image acquisition module 31, the voice acquisition module 32, the connector 42 and the cloud management platform, and is configured to acquire the environment image information 310 and the environment voice information 311, and send the environment image information 310 and the environment voice information 311 to the cloud management platform, so that the cloud management platform 13 summarizes the environment image information 310 and the environment voice information 311 to implement control over the robot arm, where the second control sub-module may be the MCU 2.

And the GIS extension module 43 is connected with the position acquisition module 41, the connector 42 and the cloud management platform, and is used for acquiring the position information 410 of the robot and sending the position information 410 to the cloud management platform so as to summarize the position information 410 on the cloud management platform and control the mechanical arm.

In this embodiment, the GIS extension module 43 may acquire the location information 410, and send the location information 410 to the cloud management platform, where the GIS extension module 43 may include a first receiving module for receiving the location information 410 and a first sending module for sending the location information 410.

In some embodiments, the GIS extension module 43 may be an extension module of a Beidou/Global Positioning System (GPS), and is used to provide Positioning information required by a cloud GIS.

The connector 42, the first control submodule 22, the second control submodule 33, the GIS expansion module 43, and the other expansion modules 44, where the other expansion modules 44 refer to modules for acquiring any other information of the robot arm, and the embodiment does not limit the specific content and number of the other expansion modules.

The connector comprises an input end and an output end, the MCU1 is connected with the input port of the connector, and the MCU2 is connected with any output port of the connector.

In the mechanical arm control equipment provided by the embodiment of the application, the first control submodule is connected with the second control submodule and the GIS extension module through the connector, so that the operation parameters of the mechanical arm acquired by the first control submodule, the environment image and the voice information acquired by the second control submodule and the position information acquired by the GIS extension module can be sent to the cloud management platform, the operation parameters, the environment image and the voice information of the mechanical arm and the position information of the mechanical arm can be collected to the cloud management platform through the first control submodule, the second control submodule and the GIS extension module, an operator of the mechanical arm can acquire a complete environment image, the voice information and the position from the cloud management platform, the environment condition of a factory and the motion condition of the mechanical arm can be accurately analyzed, and a more reasonable control instruction can be formulated for the mechanical arm according to complete data of the cloud management platform, the accurate and effective control of the mechanical arm is realized.

EXAMPLE five

An embodiment of the utility model provides a mechanical arm controlgear 10, as shown in fig. 5, mechanical arm controlgear 10 includes data acquisition module 21, optoisolation chip 221, first control submodule 22, relay 222 and communication module 51.

The data acquisition module 21 is used for acquiring environmental data and the operating parameters of the mechanical arm;

the first control submodule 22 is connected with the data acquisition module 21, the communication module 51 and the cloud management platform, and is used for acquiring the environment data and the operation parameters of the mechanical arm, and sending the environment data and the operation parameters of the mechanical arm to the cloud management platform, so that the environment data and the operation parameters are collected on the cloud management platform, and the control of the mechanical arm is realized.

In some embodiments, the first control sub-module 22 may also be used to control the input and output of switching values, for example, to control the on or off state of an LED lamp.

In this embodiment, the first control sub-module 22 includes an input end and an output end, and correspondingly, the control module further includes: the optical isolation chip 221 may be a PC817 chip, or a chip of another type, and this embodiment is not limited.

The input end is the input end of the circuit signal of the first control submodule 22, and the circuit signal at least comprises a switching value and an analog signal; which is the output of the circuit signal of the first control submodule 22.

And the optical isolation chip 221 is used for isolating the input end and the output end of the first control submodule.

In some embodiments, the optical isolation chip may isolate General-purpose input/output (GPIO) signals for ensuring isolation and stability of the terminal device.

The optical isolation chip comprises an input end optical isolation chip and an output end optical isolation chip;

the input end optical isolation chip is connected with the input end and is used for carrying out optical isolation on the input end of the first control submodule 22; the output end optical isolation chip is respectively connected with the input end and the relay 222 and is used for carrying out optical isolation on the output end of the first control submodule 22.

In some embodiments, the output circuit employs both the optical isolation chip 221 and the relay 222, on one hand, to isolate GPIO signals, and on the other hand, to drive the robot arm through the relay; here, the relay 222 may be a MY4-J chip in model and support for either Alternating Current (AC) or Direct Current (DC).

The communication module 51 in this embodiment is connected to the first control submodule 22 and the cloud management platform, respectively, and is configured to enable the first control submodule 22 to send the environment data and the operation parameter to the cloud management platform.

In some embodiments, the communication module includes a wireless communication module and a wired communication module, where the wireless communication module may be WiFi, a wireless network card, etc.; the wired communication module may be: network cables, optical fibers, etc.

The mechanical arm control equipment provided by the embodiment of the application carries out optical isolation, modules such as a relay and the like, the environmental data acquired by the first control submodule and the operation parameters of the mechanical arm can be sent to the cloud management platform, so the environmental data and the mechanical arm operation parameters are gathered to the cloud management platform through the first control submodule, and then an operator of the mechanical arm can acquire complete environmental data and operation parameters from the cloud management platform, thereby accurate analysis is carried out on the environment of a factory and the motion condition of the mechanical arm, more reasonable control instructions can be formulated for the mechanical arm according to the complete data of the cloud management platform, and accurate and effective control over the mechanical arm is realized.

EXAMPLE six

The utility model provides a novel produce line arm control terminal, according to the real scene demand, in the hardware acquisition control module of front end, the hardware design is carried out to the method that proposes a two MCU, wherein, the controlgear that the method through this two MCU formed includes MCU1 (corresponds foretell first control submodule piece) and MCU2 (corresponds foretell second control submodule piece), MCU1 is a high performance's STM32 treater, operation RT-Thread operating system, a control input and output to arm conveying system, and to relevant button, the LED lamp starts the equal state control and the input and output signal instruction. The input end of the MCU1 also collects analog signals, such as the temperature and humidity of a production line; the MCU1 also has a reserved serial port circuit for expanding the Beidou/GPS module to provide the positioning information required by the cloud GIS. And the system information, the related key and LED control signal information, the analog signal information and the positioning information transmitted by the mechanical arm are transmitted to a mobile cloud (corresponding to the cloud management platform) by a preset protocol (for example, MQTT/LWM2M protocol) through a cellular wireless chip (for example, BC35-G chip) to process data.

The camera is needed to carry out real-time monitoring in a part of scenes in a production line, so that the requirements of processing such as real-time monitoring of the state of the production line and personnel information identification are met, two plug rows can be reserved on the MCU1 board for fixing the MCU2 board, besides a plug pin for supplying power to the MCU2, a UART interface and a KEY interface are reserved in the two plug rows for communication between the MCU1 and the MCU 2.

Fig. 6 is a frame diagram of a terminal control system of a robot arm control device, the robot arm control terminal includes an MCU 1601 and an MCU 2602, and the MCU1 is connected to the MCU 2.

The MCU1 is directly connected to the digital processing module 603, the analog processing module 604, and the robot driving module 605, stores the acquired data in the data storage module 607, and transmits the data to the mobile cloud platform (corresponding to the cloud management platform) 61 through the wireless transmission module 606.

The MCU2 is connected to the camera access module 608, and a hardware reserved interface 609 is reserved for expanding more control functions, and the MCU2 uploads the acquired data to the mobile cloud platform 61 through the network transmission module 610.

The mobile cloud platform 61 comprises an OpenStack-based mobile cloud management platform 613, a data collection layer 612, a data processing layer 611 and an application layer 610, wherein the data processing layer 611 comprises production line real-time data, cloud service information, equipment personnel information, GIS information and the like; the application layer 610 includes applications such as Product Lifecycle Management (PLM), Enterprise Resource Planning (ERP), Camera-Ready Mechanical (CRM), and APP.

For the hardware circuit design of the system terminal, consideration needs to be given to the aspects of real input and output interfaces, stability, expandability and the like. The MCU1 may be a powerful chip with rich interfaces (for example, STM32L431RC chip), a FLASH Memory with 256KB, a Random Access Memory (RAM) with 64KB, and an 80MHz host frequency, and carry a stable RT-Thread operating system, which completely meets the control requirements of the robot arm in terms of precision, stability, and other properties.

The MCU2 can adopt a TI Cortex A8AM3352 processor, can expand the functions of 10-path serial ports, 2-path USB 2.0, 1-path 10/100M Ethernet, 1-path gigabit network and the like, and is loaded with a stable Linux 4.10 version operating system.

The hardware circuit framework of the terminal device is shown in fig. 7. For the MCU1, the main processing circuits are the input and output of switching quantities and the input of analog quantities. For the input and output of the switching value, the design of the optical isolation chip is adopted for ensuring the isolation and stability of the terminal equipment, after all, the equipment in an industrial scene is complex to use, and the chip is slightly and carelessly subjected to the risk of being broken down by strong electricity. The optical isolation chip can use a PC 817.

Output circuit adopts optoisolation + relay bilayer to guarantee, has both kept apart GPIO signal, can drive the arm through the relay again, and the relay model of use can be ohm dragon MY4-J to all support AC or DC.

As shown in fig. 7, the switching value enters the optical isolation input circuit 701 through the GPIO interface, and simultaneously enters the optical isolation + relay driving module 702 through the GPIO interface to be output.

For the analog circuit, the analog quantity enters the analog quantity input circuit 703 through the GPIO interface, and the switch, the LED indicator light, and the reserved circuit 704 are controlled through the transmitter and the GPIO interface.

Meanwhile, the important module wireless chip circuit 706 of the MCU1 makes it possible for the information of the mechanical arm to be directly processed in the industrial production line scene. Specifically, the International Mobile Equipment Identity (IMEI) and International Mobile Subscriber Identity (IMSI) of the wireless chip are entered into the Mobile cloud platform 61, and information interaction is performed with the Mobile cloud platform safely and stably through a predetermined protocol (for example, LWM2M/MQTT protocol), where the wireless chip may be a cellular NB-IOT chip BC 35-G. Because the environment of the production line belongs to an industrial scene, the MCU1 must have a Power circuit design module 705 for reserving an Uninterruptible Power Supply (UPS) circuit, including overcurrent protection and low-voltage alarm functions, and the MCU1 must also reserve a transmitter UART socket for the insertion of the beidou/GPS module for the user to use in positioning the device.

The main purpose of the MCU2 is to meet the demands of some scenes on the camera, so that the user can monitor the production line and the personnel in real time. There are three channels for video data transmission by the MCU 2: (1) camera data 707 at a network address (IP) 1 is transmitted to the MCU2 through the physical interface chip and the portal circuit 708; (2) the camera data 709 of the IP2 is transmitted to the MCU2 through the network serial port chip circuit 710; (3) camera data 711 of a Universal Serial Bus (USB) is transmitted to the MCU2 through a USB module circuit 712. Meanwhile, the MCU2 also retains a voice playing module 713. The MCU2 uploads the acquired data to the mobile cloud platform 61 through the physical interface chip + gigabit network interface circuit 714 and the wireless network circuit design 715, or caches the data through the data cache module circuit 716.

The MCU1 and the MCU2 are fixed through a power strip and communicate through a UART transmitter 717. The AM3352 processor of the MCU2 needs to support two networks, and two conventional Physical interface (PHY) chips are added to the circuit design of the MCU2, with hundreds of megabytes for input and gigabytes for output. Because the PHY chip supports more serial ports, the PHY chip is expanded in a mode of converting the serial port into the network, a CH9121 chip and a CH9121 chip are used for integrating a Transmission Control Protocol/Internet Protocol (TCP/IP Protocol) stack, the PHY chip is built in, the PHY chip has 3 working modes of TCPCLIENT, TCP SERVER and UDP, the Baud rate of the serial port of the CH9121 chip can be supported to 921600bps at most, and finally, the bidirectional transparent Transmission of network data packets and serial port data is realized.

The voice broadcast module 713 in the MCU2 is to prompt field personnel through the voice broadcast module 713 when a user sees a production line mechanical arm or a personnel misoperation or a critical situation at an APP or web site (Website, web) end, where the chip used by the voice broadcast module may be a WTK 6900.

The wireless network circuit module 715, in a mini-PCIE interface manner, mounts a WiFi module (for example, WN6201) or a 4G module (for example, U9501P), and is also convenient to reserve for the subsequent 5G.

The data cache circuit module 716 is a conventional Secure Digital Memory Card (SD) Card, and is configured to cache network/USB camera information.

Between the MCU1 and the MCU2, there is a button and UART, the button is used for emergency. For example, when the MCU1 has the MCU2 installed therein and the MCU1 has a fault, the MCU1 interacts with the MCU2 via the UART transmitter 717 and the digital interface 718 in a predetermined protocol (e.g., ModBus protocol) by pressing the key, so that the MCU2 aggregates the data.

After the data is collected on the mobile cloud platform, what is needed next is to process the data in the PaaS layer (corresponding to the data processing layer 611). In consideration of practical requirements, in the current stage, basic cutting processing is only carried out on video data, manual mode control of mechanical arms, state monitoring, abnormal alarming, service state statistics and the like, and a user can use and experience conveniently at an APP or a Web end.

The analog input circuit is designed as shown in fig. 8, the left side is 2 voltage mode analog signal inputs, the right side is 4 current mode analog signal inputs, and it should be noted that the current of the 4 current mode analog signal input port can not exceed 20 mA. After the signals are input, the MCU1 converts the analog signals into digital signals for processing, a Thread is created in the RT-Thread system of the MCU1 to specially acquire the signals of the analog ports, a shared buffer pool is established, the data acquired by the MCU1 is stored in the shared buffer pool, and the synchronization among threads is performed in an event notification mode.

In the 2-way voltage type analog signal diagram in fig. 8, the channel PA1 analog signal input has one end directly connected to pin 1 and the other end connected to the diode D1, and the diode D1 has one end connected to ground and the other end connected to pin 2.

In the 4-path current mode analog signal diagram in fig. 8, the channel PA0 analog signal is input, and one end is directly connected to pin 2 of pin 2; one end of the resistor R5 is grounded, and the other end is connected with the 2-pin 2; one end of the diode D5 is grounded, and the other end is also connected with the 2-pin 2; one end of the capacitor C1 is grounded, and the other end is connected with the 2-pin 1; here, the present embodiment provides a current limiting protection circuit for providing 24V power to the sensor when designing the 4-20mA interface acquisition circuit.

In the embodiment, a cellular internet of things technology is flexibly applied to an industrial production line, a novel production line mechanical ARM control terminal and equipment for transmitting to the cloud (corresponding to the cloud uploading to a cloud management platform) are provided, the ARM + OS design concept is adopted, a stable RT-Thread operating system is adopted, and certain realizability and foresight are achieved; according to user's different demands, use MCU1 to carry out data acquisition and last cloud operation processing in normal scene, under the scene of control demand, carry out the collection of video stream through MCU2 and handle and go up the cloud operation, under the scene of control demand, through big dipper GPS location technique, confirm positional information and go up the cloud operation, it is nimble to use, the customer of being convenient for can accurately hold the arm motion circumstances, produce the line personnel information condition, the location condition of different scenes.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A robot arm control apparatus, comprising,

the acquisition module is used for acquiring environmental parameters and operation parameters of the mechanical arm;

and the control module is respectively connected with the acquisition module and the cloud management platform and used for acquiring the environmental parameters and the operation parameters and sending the environmental parameters and the operation parameters to the cloud management platform, so that the cloud management platform collects the environmental parameters and the operation parameters to realize the control of the mechanical arm.

2. The apparatus of claim 1, wherein the environmental parameters comprise environmental data, the collection module comprising a data collection module for collecting the environmental data;

the control module includes: the first control submodule is used for sending the environmental data and the operating parameters acquired by the data acquisition module to the cloud management platform.

3. The apparatus of claim 2, wherein the environmental parameters further comprise environmental image information, the acquisition module further comprising an image acquisition module for acquiring the environmental image information;

the control module further comprises: and the second control submodule is used for sending the environment image information acquired by the image acquisition module to the cloud management platform.

4. The apparatus of claim 3, wherein the environmental parameters further comprise environmental voice information, and the collection module further comprises a voice collection module for collecting the environmental voice information;

the second control submodule is further used for sending the environment voice information acquired by the voice acquisition module to the cloud management platform.

5. The apparatus of claim 3, wherein the second control sub-module is connected to the first control sub-module;

the second control submodule is further configured to receive the environment data and the operation parameters acquired by the first control submodule, and send the environment data and the operation parameters to the cloud management platform.

6. The apparatus of claim 3, further comprising a connector;

the first control submodule is connected with an input port of the connector, and any output port of the connector is connected with the second control submodule.

7. The apparatus of claim 1, wherein the environmental parameters further comprise location information, and the acquisition module further comprises a location acquisition module for acquiring the location information;

the control module is further used for sending the position information acquired by the position acquisition module to the cloud management platform.

8. The apparatus of claim 1, wherein the control module comprises an input and an output; correspondingly, the control module further comprises:

and the optical isolation chip is used for isolating the input end and the output end of the control module.

9. The device of claim 8, wherein the optical isolation chip comprises an input optical isolation chip and an output optical isolation chip;

the input end optical isolation chip is connected with the input end and is used for carrying out optical isolation on the input end of the control module;

and the output end optical isolation chip is respectively connected with the output end and the relay and is used for carrying out optical isolation on the output end of the control module.

10. The apparatus according to any one of claims 1 to 9, characterized in that it further comprises:

and the communication module is respectively connected with the control module and the cloud management platform and is used for realizing that the control module sends the environmental parameters and the operating parameters to the cloud management platform.

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