CN100419605C - Control apparatus for position of field bus - Google Patents
Control apparatus for position of field bus Download PDFInfo
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- CN100419605C CN100419605C CNB2005100476663A CN200510047666A CN100419605C CN 100419605 C CN100419605 C CN 100419605C CN B2005100476663 A CNB2005100476663 A CN B2005100476663A CN 200510047666 A CN200510047666 A CN 200510047666A CN 100419605 C CN100419605 C CN 100419605C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
This invention discloses one spot bus position control device, which uses single machine as core and comprises connected series controller, data memory, program memory, logic I/O coder, data bus driver, and series bus converter, first and second series D/A converters, first to second code disc signal processors, first to second difference receivers, photoelectricity insulation output device, control signal converter, spot bus communication controller.
Description
Technical field
The present invention relates to the industrial robot position control, specifically on robot system and robot production line, use, be used for each joint motions of control robot and make the entire machine robot system finish the functional unit-control apparatus for position of field bus of required movement for a kind of.
Background technology
In the existing robots system, generally adopt parallel bus structure.This structure makes and be not easy to robot switch board wiring relative complex expand and use on robot production line.Have the occasion of specific (special) requirements need redesign automatically controlled part at some, the complicated and parallel route bus makes system be subjected to external interference easily in addition.
Summary of the invention
In order to overcome above-mentioned deficiency, the purpose of this invention is to provide a kind of control apparatus for position of field bus, it adopts the universal serial bus new construction, have the repertoire of original structure, and have wiring simply, be easy to expansion, characteristics such as antijamming capability is strong are easy to expand and use on robot production line.
To achieve these goals, the technical solution adopted for the present invention to solve the technical problems comprises:
Single-chip microcomputer, described single-chip microcomputer links to each other with data-carrier store, program storage, control signal converter by data bus, address bus, control bus, single-chip microcomputer links to each other with the logical I/O code translator by control bus, address bus, single-chip microcomputer links to each other with data bus driver by data bus, control bus, and single-chip microcomputer directly links to each other with first serial controller, second serial controller;
Data-carrier store, described data-carrier store links to each other with single-chip microcomputer, and links to each other with data bus driver by data bus by data bus, address bus, control bus;
Program storage, described program storage links to each other with single-chip microcomputer, and links to each other with data bus driver by data bus by data bus, address bus, control bus;
The first serial controller, described first serial controller directly links to each other with the serial line interface of single-chip microcomputer;
The second serial controller, described second serial controller directly links to each other with the serial line interface of single-chip microcomputer;
The logical I/O code translator, described logical I/O code translator links to each other with single-chip microcomputer by control bus, address bus, logic control signal that is translated and data bus driver, first, second code-disc signal processor, the universal serial bus converter links to each other;
The universal serial bus converter, described universal serial bus converter one end links to each other with data bus driver, and the other end links to each other with first and second serial D/A converter;
First and second code-disc signal processor, described first and second code-disc signal processor one end links to each other with the logical I/O code translator with data bus driver, and the other end is isolated follower and is linked to each other with first and second differential receiver, photoelectricity;
Photoelectricity is isolated follower, and described photoelectricity is isolated follower and linked to each other with first and second code-disc signal processor;
First and second differential receiver, described first and second differential receiver link to each other with first and second code-disc signal processor respectively;
The control signal converter, described control signal converter one end links to each other with single-chip microcomputer by control bus, data bus, address bus, and the other end links to each other with the Fieldbus Control device;
The Fieldbus Control device, described Fieldbus Control device links to each other with the control signal converter.
The present invention has following beneficial effect:
1. the present invention has simplified the complexity of original parallel routing by the wire laying mode of serial, can be used as the position control or the control of other device locations in each joint of robot, and the automatically controlled partial design structure of the occasion of specific (special) requirements is particularly arranged applicable to some.
2. the present invention adopts tandem routing, has reduced wiring quantity, has promptly reduced between line and has disturbed, and has strengthened the antijamming capability of system.
3. because the present invention adopts the fieldbus connected mode, can realize convenient configuration at the scene in the scope of number of nodes that bus allows, carry out corresponding software adjustment, not need to carry out again resetting of electrical equipment hardware again, reduce the construction cycle.
Description of drawings
Fig. 1 is the control apparatus for position of field bus overall construction drawing.
Fig. 2 is control apparatus for position of field bus cpu system circuit theory diagrams.
Fig. 3 is control apparatus for position of field bus bus driver and address decoding schematic diagram.
Fig. 4 is control apparatus for position of field bus analog quantity control principle figure.
Fig. 5 accepts circuit theory diagrams for the control apparatus for position of field bus code-disc.
Fig. 6 is control apparatus for position of field bus field bus communication circuit theory diagrams.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Shown in Fig. 1～6, the present invention includes: by single-chip microcomputer D1, first serial controller D2 (adopting RS232), second serial controller D3 (adopting RS485), data-carrier store D4, program storage D5, logical I/O code translator D6, data bus driver, universal serial bus converter D9, first and second serial D/A converter D10, D11, first and second code-disc signal processor D12, D13, first and second differential receiver D15, D16, photoelectricity is isolated follower D14, control signal converter D17, Fieldbus Control device D18, specific as follows:
Single-chip microcomputer D1, described single-chip microcomputer D1 links to each other with data-carrier store D4, program storage D5, control signal converter D17 by data bus, address bus, control bus, single-chip microcomputer D1 links to each other with logical I/O code translator D6 by control bus, address bus, single-chip microcomputer D1 links to each other with data bus driver by data bus, control bus, and single-chip microcomputer directly links to each other with first serial controller D2, second serial controller D3;
Data-carrier store D4, described data-carrier store D4 links to each other with single-chip microcomputer D1, and links to each other with first and second bus driver D7, D8 by data bus by data bus, address bus, control bus.
Program storage D5, described program storage D5 links to each other with single-chip microcomputer D1, and links to each other with first and second bus driver D7, D8 by data bus by data bus, address bus, control bus.
First serial controller D2, described first serial controller D2 directly links to each other with the serial line interface of single-chip microcomputer D1;
Second serial controller D3, described second serial controller D3 directly links to each other with the serial line interface of single-chip microcomputer D1;
Logical I/O code translator D6, described logical I/O code translator D6 links to each other with single-chip microcomputer D1 by control bus, address bus, the logic control signal that is translated and first and second bus driver D7, D8, first, second code-disc signal processor D12, D13, and universal serial bus converter D9 links to each other.
Data bus driver, described data bus driver is made up of first and second bus driver D7, D8, first and second bus driver D7, D8 are by data bus and single-chip microcomputer D1, data-carrier store D4, program storage D5, universal serial bus converter D9, first and second code-disc signal processor D12, D13, and logical I/O code translator D6 links to each other.
Universal serial bus converter D9, described universal serial bus converter D9 one end links to each other with bus driver D7, D8, and the other end links to each other with serial D/A converter D10, D11;
First serial D/A converter the D10 and second serial D/A converter D11, described first, second serial D/A converter D10, D11 links to each other with universal serial bus converter D9;
The first code-disc signal processor D12 and the second code-disc signal processor D13, described code-disc signal processor one end links to each other with logical I/O code translator D6 with data bus driver D7, D8, the other end and first and second differential receiver D15, D16, photoelectricity is isolated follower D14 and is linked to each other;
Photoelectricity is isolated follower D14, and described photoelectricity is isolated follower and linked to each other with the second code-disc signal processor D13 with the first code-disc signal processor D12;
First and second differential receiver D15, D16, described first and second differential receiver D15, D16 link to each other with the second code-disc signal processor D13 with the first code-disc signal processor D12 respectively;
Control signal converter D17, described control signal converter D17 one end links to each other with single-chip microcomputer D1 by control bus, data bus, address bus, and the other end links to each other with Fieldbus Control device D18;
Fieldbus Control device D18, described Fieldbus Control device D18 links to each other with control signal converter D17.
The concrete course of work of the present invention and principle are:
Single-chip microcomputer D1 and program storage D5, data-carrier store D4 form the embedded computer ultimate system, executive utility, by Fieldbus Control device D18 and control signal converter D17 finish with fieldbus on the exchanges data of other computer systems, also can realize communication by first and second serial ports controller D2, D3 as required; Logical I/O code translator D6 mainly finishes address assignment and the decoding to peripherals; Universal serial bus converter D9 mainly finishes the format conversion of parallel data to serial data; First and second serial D/A converter D10, D11 finishes the conversion from the digital quantity signal to the analog signals, and removes to control motor speed by analog signals; First and second differential receiver D15, D16 are used to receive motor code-disc differential signal, first and second code-disc signal processor D12, D13 mainly finish code-disc signal sampling and counting, calculate the position and the speed of motor by program, and by certain control algolithm control motor movement.
The described single-chip microcomputer D1 of present embodiment can adopt AT9140800, data-carrier store D4 can adopt 61LV25616, program storage D5 can adopt 49BV160, first serial controller D2 can adopt MAX232, second serial controller D3 can adopt MAX485, logical I/O code translator D6 can adopt EPM7032, control signal converter D17 can adopt EPM7032, first, two bus driver D7, D8 can adopt 74HC245, Fieldbus Control device D18 can adopt SJ1000T, first, two code-disc processor D12, D13 and universal serial bus converter D9 can adopt EPM7064, first, two differential receiver D15, D16 can adopt MC3486, first, two serial D/A converter D10, D11 can adopt MAX539, and photoelectricity is isolated follower D14 can adopt TLP280.
First and second code-disc signal processor D12, D13 receive and handle code-disc quadrature square-wave signal; Universal serial bus converter D9 realizes that parallel-to-serial, serial-to-parallel data-switching also or as the control signal converter, realizes the time-sharing operation of CPU and Fieldbus Control device address bus and data bus.
The present invention can finish general Position Control operation, has reduced the complexity of wiring, has anti-Interference performance is strong, practical, reliable, the general and characteristics being convenient to expand.
Claims (2)
1. control apparatus for position of field bus is characterized in that comprising:
Single-chip microcomputer (D1), described single-chip microcomputer (D1) links to each other with data-carrier store (D4), program storage (D5), control signal converter (D17) by data bus, address bus, control bus, single-chip microcomputer (D1) links to each other with logical I/O code translator (D6) by control bus, address bus, single-chip microcomputer (D1) links to each other with data bus driver by data bus, control bus, and single-chip microcomputer directly links to each other with first serial controller (D2), second serial controller (D3);
Data-carrier store (D4), described data-carrier store (D4) links to each other with single-chip microcomputer (D1), and links to each other with data bus driver by data bus by data bus, address bus, control bus;
Program storage (D5), described program storage (D5) links to each other with single-chip microcomputer (D1), and links to each other with data bus driver by data bus by data bus, address bus, control bus;
First serial controller (D2), described first serial controller (D2) directly links to each other with the serial line interface of single-chip microcomputer (D1);
Second serial controller (D3), described second serial controller (D3) directly links to each other with the serial line interface of single-chip microcomputer (D1);
Logical I/O code translator (D6), described logical I/O code translator (D6) links to each other with single-chip microcomputer (D1) by control bus, address bus, logic control signal that is translated and data bus driver, first and second code-disc signal processor (D12, D13), universal serial bus converter (D9) links to each other;
Universal serial bus converter (D9), described universal serial bus converter one end links to each other with data bus driver, and the other end links to each other with first and second serial D/A converter (D10, D11);
First and second code-disc signal processor (D12, D13), described first and second code-disc signal processor (D12, D13) end links to each other with logical I/O code translator (D6) with data bus driver, and the other end is isolated follower (D14) and linked to each other with first and second differential receiver (D15, D16), photoelectricity;
Photoelectricity is isolated follower (D14), and described photoelectricity is isolated follower and linked to each other with first and second code-disc signal processor (D12, D13);
First and second differential receiver (D15, D16), described first and second differential receiver (D15, D16) link to each other with first and second code-disc signal processor (D12, D13) respectively;
Control signal converter (D17), described control signal converter (D17) end links to each other with single-chip microcomputer (D1) by control bus, data bus, address bus, and the other end links to each other with Fieldbus Control device (D18);
Fieldbus Control device (D18), described Fieldbus Control device (D18) links to each other with control signal converter (D17).
2. by the described control apparatus for position of field bus of claim 1, it is characterized in that: described data bus driver is made up of first and second bus driver (D7, D8), first and second bus driver (D7, D8) by data bus respectively with single-chip microcomputer (D1), data-carrier store (D4), program storage (D5), universal serial bus converter (D9), first and second code-disc signal processor (D12, D13) and logical I/O code translator (D6) link to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100476663A CN100419605C (en) | 2005-11-09 | 2005-11-09 | Control apparatus for position of field bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100476663A CN100419605C (en) | 2005-11-09 | 2005-11-09 | Control apparatus for position of field bus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1963711A CN1963711A (en) | 2007-05-16 |
| CN100419605C true CN100419605C (en) | 2008-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100476663A Expired - Fee Related CN100419605C (en) | 2005-11-09 | 2005-11-09 | Control apparatus for position of field bus |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010055063A1 (en) * | 2000-05-26 | 2001-12-27 | Honda Giken Kogyo Kabushiki Kaisha | Position detection apparatus, position detection method and position detection program |
| JP2002005691A (en) * | 1991-03-06 | 2002-01-09 | Hitachi Ltd | Servo system and industrial robot |
| JP2004280195A (en) * | 2003-03-12 | 2004-10-07 | Yaskawa Electric Corp | Robot controller |
| CN2884280Y (en) * | 2005-11-09 | 2007-03-28 | 沈阳新松机器人自动化股份有限公司 | On-line bus position controller |
-
2005
- 2005-11-09 CN CNB2005100476663A patent/CN100419605C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002005691A (en) * | 1991-03-06 | 2002-01-09 | Hitachi Ltd | Servo system and industrial robot |
| US20010055063A1 (en) * | 2000-05-26 | 2001-12-27 | Honda Giken Kogyo Kabushiki Kaisha | Position detection apparatus, position detection method and position detection program |
| JP2004280195A (en) * | 2003-03-12 | 2004-10-07 | Yaskawa Electric Corp | Robot controller |
| CN2884280Y (en) * | 2005-11-09 | 2007-03-28 | 沈阳新松机器人自动化股份有限公司 | On-line bus position controller |
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| Publication number | Publication date |
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| CN1963711A (en) | 2007-05-16 |
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Owner name: SHENYANG XINSONG SMART DRIVER CO., LTD. Free format text: FORMER OWNER: SHENYANG XINSONG ROBERT AUTOMATION CO., LTD. Effective date: 20150521 |
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Effective date of registration: 20150521 Address after: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 city 16-1 No. Patentee after: Shenyang Siasun Robot & Automation Co., Ltd. Address before: Hunnan New District Jinhui street in Shenyang of Liaoning province 110168 City No. 16 Patentee before: Shenyang Xinsong Robert Automation Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080917 Termination date: 20171109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |