CN104111621A

CN104111621A - Automation equipment and control system thereof, and control device

Info

Publication number: CN104111621A
Application number: CN201410267333.0A
Authority: CN
Inventors: 唐宝桃
Original assignee: Fujian Raynen Technology Co Ltd
Current assignee: Fujian Raynen Technology Co Ltd
Priority date: 2014-06-16
Filing date: 2014-06-16
Publication date: 2014-10-22
Anticipated expiration: 2034-06-16
Also published as: CN104111621B

Abstract

The invention discloses automation equipment and a control system thereof, and a control device. the automation equipment comprises a main control circuit board and a core board, wherein the main control circuit board comprises a bottom board and an auxiliary host chip arranged on the bottom board; the core board and the bottom board are detachably connected via a universal interface and are connected with the auxiliary host chip via the bottom board; and the core board is not arranged on the bottom board. In the above mode, the problems that partial control elements in the automation equipment are damaged and updated and thus other elements need to be replaced can be solved, and replacement after partial control elements are damaged and replaced is facilitated.

Description

Automation equipment and control system thereof, control device

Technical field

The present invention relates to field of mechanical technique, particularly a kind of automation equipment and control system thereof, control device.

Background technology

Weaving device is if knitting machine etc. is as the one of automation equipment, the equipment for knitted or woven fabrics, consult Fig. 1, the lathe 106 that it mainly comprises power circuit 101, operating case 102, main control board 103, head 104, motor 105 and the said elements except operating case 102 is installed.

Power circuit 101 provides suitable power supply for operating case 102, main control board 103, head 104, motor 105.Main control board 103 comprises base plate 1031, is arranged on core board 1032 and secondary host chip 1033 on base plate 1031.Head 104 comprises machine head plate 1041 and the executive component 1042 for weaving.Operating case 102 comprises display screen 1021 and man-machine interaction circuit 1022.On operating case 102 and main control board 103, be equipped with demonstration modular converter, on main control board 103, be also provided with the slot 1035 that shows data line.Demonstration modular converter 1023 on operating case 102 is connected by the demonstration data line of differential signal transmission with the slot 1035 on main control board 103.Demonstration modular converter 1023 on operating case 102 also connects display screen 1021, and the demonstration modular converter 1034 on main control board 103 connects respectively slot 1035 and the core board 1032 on main control board 103.Man-machine interaction circuit 1022 on operating case 102 is connected to the slot 1035 on main control board 103 by data line, then is connected to core board 1032 by slot 1035.Core board 1032, by patching or welding manner is fixed on base plate 1031, is generally connected with base plate 1031 by parallel port mode, and secondary host chip 1033 is welded on base plate 1031.

The base plate 1031 of main control board 103 also comprises data-interface 1036, arrive core board 1032 for information such as independent input weave datas, then resolve weave data, issue the machine head plate 1041 in head 104 by resolving the data that obtain after weave data through secondary host chip 1033, machine head plate 1041 drives executive component 1042 to carry out knit operation.Meanwhile, main control board 103 is also controlled the various operations of motor 105 elements such as grade, exports to external unit such as the display screen 1021 on operating case 102 after gathering various operating state datas and various sensing data.

Particularly, 1032 of core boards on main control board 103 show the relevant informations such as various operating state datas and various sensing datas by showing that data line is transferred on the display screen 1021 of operating case 102, man-machine interaction circuit 1022 is inputted user's instruction, and instruction is passed to core board 1032 by data line and carry out respective handling.

In said structure, because core board 1032 is welded on the base plate 1031 of main control board 103, once because core board 1032 is upgraded or damages, must cause the replacing of whole main control board 103, further increase cost, and because base plate 1031 is generally larger, the transportation cost that therefore maintenance or replacing cause is higher, also inconvenient.Be plugged on the situation on base plate 1031 for core board 1032, the interface that different core boards 1032 is pegged graft with base plate 1031 is not identical yet, although therefore can change core board 1032, but in the time that needs are changed another kind of core board 1032, because the interface of new core board changes, in the time redesigning core board 1032, equally must cause the whole redesign of main control board 103; Can change in the scheme of core board 1032, can not ensure that the rear base plate 1031 of core board 1032 damage can be iImmune, still can involve and damage base plate 1031 in some cases; And main control board 103 be generally placed on Weaving device back under, may there is manual operation space not or more difficult situation changing when core board 1032.

Summary of the invention

A kind of automation equipment and control system thereof, control device are the object of the present invention is to provide, can reduce part in automation equipment and control component wear, upgrade the problem that causes other elements together to be changed, and facilitate the replacing after part control element damages, upgrades.

In order to solve the problems of the technologies described above, the present invention adopt a kind of technical scheme be, a kind of automation equipment is provided, comprising: main control board and core board; Wherein, described main control board comprises base plate and is arranged at the secondary host chip on base plate, described core board and described base plate removably connect by general-purpose interface, and connect described secondary host chip by described base plate, and described core board is not arranged on described base plate.

Wherein, the matching relationship of described core board and described base plate is master control and PLC pattern matching relationship.

Wherein, comprise the I/O expansion board being arranged on described main control board.

Wherein, the described I/O expansion board described main control board that removably connects.

Wherein, comprise the stepper motor driver being arranged on described main control board, described stepper motor driver comprises driving chip and power driving circuit, described driving chip connects respectively described secondary host chip and described power driving circuit, the control signal of the described secondary host chip of described driving chip input, output multi-channel drives signal to described power driving circuit, and feedback signal is fed back to described secondary host chip, described secondary host chip is exported described control signal according to described feedback signal, and exports matching parameter to described driving chip.

Wherein, described core board is for moving the control process of auto-control equipment and moving the collection process outside described control process, at least one process of interprocess communication; Wherein, described control process is for the operation of auto-control equipment, comprise the executive component driving for operating, described collection process is used for gathering described control process work at present status data and current sensing data, and by the described work at present status data collecting, current sensing data respectively with last time operating state data, last time sensing data comparison, and at least in the time that described comparative result is difference, by described interprocess communication, described comparative result is sent, or described work at present status data and current sensing data are sent; Wherein, at least one process in described control process and described interprocess communication, described collection process is separate.

Wherein, described automation equipment further comprises storer, in described storer, at least comprise memory mapping area, described control process specifically adopts memory-mapped technology that work at present status data and current sensing data in described control process are stored to described memory mapping area, and described collection process specifically adopts memory-mapped technology to gather work at present status data and the current sensing data of described memory mapping area; Or described collection process specifically gathers work at present status data and current sensing data in described control module by pipeline or queue message technology.

Wherein, described automation equipment is Weaving device.

In order to solve the problems of the technologies described above, the present invention adopt another kind of technical scheme be, a kind of control system of automation equipment is provided, comprising: first control circuit, second control circuit, first substrate and second substrate; Described first control circuit is arranged on described first substrate, in the described automation equipment of control, has the first real-time and the first arithmetic capability; Described second control circuit is arranged on described second substrate, in the described automation equipment of control, has the second real-time and the second arithmetic capability; Wherein, described the first real-time is higher than described the second real-time, and described the first arithmetic capability is lower than described the second arithmetic capability; Described second substrate and described first substrate wireless connections or removably connect by the data line with general-purpose interface, make the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

In order to solve the problems of the technologies described above, the present invention adopt another technical scheme be, a kind of control device of automation equipment is provided, comprising: first control circuit and first substrate; Described first control circuit is arranged on described first substrate, in the described automation equipment of control, there is the first real-time and the first arithmetic capability, described the first real-time is higher than the second real-time, described the first arithmetic capability is lower than the second arithmetic capability, and described the second real-time, the second arithmetic capability are respectively real-time and the arithmetic capabilities of the second control circuit on second substrate; Wherein, described first substrate is for described second substrate wireless connections or removably connect by general-purpose interface, makes the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

Wherein, comprise the I/O expansion board of the described first substrate that removably connects.

Wherein, comprise the stepper motor driver being arranged on described first substrate, described stepper motor driver comprises driving chip and power driving circuit, described driving chip connects respectively described first control circuit and described power driving circuit, described driving chip is inputted the control signal of described first control circuit, output multi-channel drives signal to described power driving circuit, and feedback signal is fed back to described first control circuit, described first control circuit is exported described control signal according to described feedback signal, and export matching parameter to described driving chip.

In order to solve the problems of the technologies described above, the present invention adopt another technical scheme be, a kind of control device of automation equipment is provided, comprising: second control circuit and second substrate; Described second control circuit is arranged on described second substrate, in the described automation equipment of control, there is the second real-time and the second arithmetic capability, described the second real-time is lower than the first real-time, described the second arithmetic capability is higher than the first arithmetic capability, and described the first real-time, the first arithmetic capability are respectively real-time and the arithmetic capabilities of the first control circuit on first substrate; Wherein, described second substrate is for described first substrate wireless connections or removably connect by general-purpose interface, makes the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

Wherein, described second circuit is for moving the control process of auto-control equipment and moving the collection process outside described control process, at least one process of interprocess communication; Wherein, described control process is for the operation of auto-control equipment, comprise the executive component driving for operating, described collection process is used for gathering described control process work at present status data and current sensing data, and by the described work at present status data collecting, current sensing data respectively with last time operating state data, last time sensing data comparison, and at least in the time that described comparative result is difference, by described interprocess communication, described comparative result is sent, or described work at present status data and current sensing data are sent; Wherein, at least one process in described control process and described interprocess communication, described collection process is separate.

In order to solve the problems of the technologies described above, the present invention adopt another technical scheme be, a kind of control device of automation equipment is provided, comprising: first control circuit and first substrate; Described first control circuit is arranged on described first substrate, at least for controlling the operation of described automation equipment; Wherein, described first substrate is for removably connecting with second substrate wireless connections or by the data line with general-purpose interface, makes the second control circuit on described second substrate can be by the operation of automation equipment described in described first control circuit control.

The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention by core board and base plate directly fixing structure change to core board and removably connect by general-purpose interface and base plate, described core board is not set directly on described base plate, also make the mutual independence of core board and other circuit of base plate significantly strengthen, even if thereby core board damages or redesign, also can not involve base plate and upper circuit thereof; And the mode removably connecting by general-purpose interface can make the replacing of core board easy, significantly saves manpower.

Brief description of the drawings

Fig. 1 is the structural representation of a kind of Weaving device of prior art;

Fig. 2 is the structural representation of automation equipment one embodiment of the present invention;

Fig. 3 is the structural representation of another embodiment of automation equipment of the present invention;

Fig. 4 is the structural representation of the another embodiment of automation equipment of the present invention;

Fig. 5 is the structural representation of the another embodiment of automation equipment of the present invention;

Fig. 6 is the structural representation of the another embodiment of automation equipment of the present invention;

Fig. 7 is in the another embodiment of automation equipment of the present invention, the perspective view of operating case;

Fig. 8 is in the another embodiment of automation equipment of the present invention, the perspective view of operating case;

Fig. 9 is the structural representation of the another embodiment of automation equipment of the present invention;

Figure 10 is the structural representation of control system one embodiment of automation equipment of the present invention;

Figure 11 is the structural representation of control device one embodiment of automation equipment of the present invention;

Figure 12 is the structural representation of another embodiment of control device of automation equipment of the present invention;

Figure 13 is the structural representation of the another embodiment of control device of automation equipment of the present invention

Figure 14 is in the another embodiment of automation equipment of the present invention, the structural representation of operating case.

Embodiment

Below in conjunction with drawings and embodiments, the present invention is described in detail.It should be noted that for the ease of clear description automation equipment of the present invention, below will describe as an example of Weaving device example, certainly, automation equipment of the present invention is not limited to Weaving device, is also applicable to other automation equipment, such as dyeing apparatus etc.

Consult Fig. 2, in automation equipment one embodiment of the present invention, taking automation equipment as Weaving device as example describes, mainly comprise main control board 1 and core board 2, wherein, core board 2 is mainly used in the core control to equipment operation, is the equal of the CPU of opertaing device running, controls function as adopted arm chip to realize it.

Main control board 1 comprises base plate 11 and is arranged on the secondary host chip 12 on base plate 11.Base plate 11, as the substrate of main control board 1, is mainly used in carrying the various devices of main control board 1, and base plate 11 is also the circuit board with circuit structure simultaneously.Secondary host chip 12 can be by patching or the mode such as welding is fixed on base plate 11.

Core board 2 and base plate 11 removably connect by general-purpose interface, and by base plate 11 auxiliary connection host chips.Particularly, the general-purpose interface of connection universal data line can be set on core board 2, also the general-purpose interface of relative set connection universal data line on base plate 11, connect the general-purpose interface on general-purpose interface and the base plate 11 on core board 2 by general-purpose data line, thereby core board 2 and base plate 11 are coupled together, to realize the communication between core board 2 and base plate 11.Wherein, this general-purpose interface can be CAN interface, and general-purpose data line corresponds to the data line with CAN general-purpose interface.General-purpose data line is with pluggable mode connection universal interface, thereby realizes removably connecting of core board 2 and base plate 11.In addition, core board 2 is not arranged on base plate 11.Be understandable that, core board 2 is fixed on other devices except base plate 11, for example can be arranged on operating case or on other positions, non-back of Weaving device, core board 2 is separate design with base plate 11, between itself and base plate 11, is to be only connected by general-purpose interface.

Wherein, being also provided with the data-interface for receiving colored type file on core board 2, for example, can be USB interface, can certainly be WAP, can adopt wireless mode to receive flower type file.In the process of operation of weaving, core board 2 is controlled the control process of Weaving device and moves at least one process in collection process, the interprocess communication outside this control process specifically for operation.

Wherein, described control process, for controlling the textile operation of Weaving device, comprises the executive component driving for weaving.Particularly, first operating personnel by the storer that stores the colored type file that need to weave as on the insertion core boards 2 such as USB flash disk for receiving the USB interface of colored type file, core board 2 is by reading colored type file and flower type file being resolved.In addition, in this control process, secondary host chip 12 receives the work at present status data of each executive component feedback, and this current operating state data is the operational factor relevant data current to executive component, and work at present status data is sent to core board 2.Separately, core board 2 also receives the current sensing data of various sensors.The data that core board 2 obtains according to the work at present status data receiving, current sensing data and parsing flower type file generate braid movement instruction, and the braid movement instruction of generation is sent to secondary host chip 12 by base plate 11.Secondary host chip 12 generates and carries out instruction according to the braid movement instruction receiving, and this execution instruction is sent to the machine head plate of head.Machine head plate receives from the execution instruction of secondary host chip 12, with according to this execution order-driven for the executive component of the weaving operation of weaving.

Described collection process is for gathering work at present status data and the current sensing data of control process, and by the work at present status data collecting and current sensing data respectively with operating state data last time, last time sensing data compared, by interprocess communication, this comparative result is sent during as difference at comparative result, or work at present status data and current sensing data are sent.

Particularly, in control process, core board 2 receives work at present status data and the current sensing data that secondary host chip 12 gathers, and these work at present status datas and current sensing data are all written into be controlled in state of a process structure.Wherein, the data that control state of a process structure is preserved are up-to-date operating state data and sensing data, core board 2 is receiving after work at present status data and current sensing data, and the data of upgrading in status architecture body are work at present status data and current sensing data.Collection process controls for reading in work at present status data and the current sensing data that state of a process structure records.In addition in collection process,, also will record last time operating state data and last time sensing data.Therefore, in collection process, reading after the work at present status data and current sensing data of control process, by the work at present status data reading, current sensing data respectively with operating state data last time, last time sensing data compared.In the time that one of them comparative result is not identical or the comparative result of two is identical, comparative result is sent by interprocess communication, or also work at present status data and current sensing data can be sent by interprocess communication, or comparative result, work at present status data and current sensing data all can also be sent, for example, can be sent to the display screen of operating case, to show in real time the work at present state of Weaving device, make operating personnel can know the ruuning situation of grasp equipment.In addition, also work at present status data, current sensing data and comparative result can be sent on other equipment, such as memory device or printing device etc., with work at present status data and the current sensing data of output device, or export work at present status data, current sensing data and comparative result simultaneously.Certainly, in the alternative, in order to grasp in real time the ruuning situation of current device, in collection process, in the time that comparative result is identical, also work at present status data and current sensing data can be sent, as be sent in display screen, with the current ruuning situation of real-time display device.

Wherein, described control process and collection process are two separate processes, and the process of controlling is two processes that separate with collection process.In existing Weaving device, its control process and collection process are generally same process, i.e. collection process is the part as the process of control, Weaving device had both driven the executive component for weaving in a control process, also by the work at present status data obtaining in the process of driving executive component, current sensing data respectively with operating state data last time, last time sensing data compared, and at comparative result or work at present status data, current sensing data sends, thus, when comparison procedure involve a delay as image data not in time, or when the process that data are sent makes a mistake, can make to drive the weave process of operation of executive component to be involved, the process that easily causes driving executive component to weave is unstable, have influence on normally carrying out of textile operation.In the present embodiment, using collection process and control process as two separate processes, collection process is separated from control process, in control process, be only to carry out carrying out the related work of textile operation with driving executive component thus, by work at present status data, current sensing data and last time operating state data, last time the comparison procedure of sensing data was carried out as another process, and, the interprocess communication in the time that comparative result is different, the information such as comparative result being sent and control process are also two separate processes, can make thus also can not cause control process to be involved in the time that collection process or interprocess communication break down, can avoid as much as possible control process to be subject to collection process, the impact of interprocess communication, to ensure normally carrying out of textile operation.

Pass through present embodiment, because core board 2 and base plate 11 are to adopt general-purpose interface to removably connect, compared with existing connected mode, not only be conducive to the replacing of core board 1, and when more renew core board 2 time, the interface on new core board 2 is still general-purpose interface, it still can be connected with the general-purpose interface on base plate 11, even if the core board therefore more renewing 2 does not need to redesign base plate 11 yet, can avoid thus base plate 11 and on circuit involved and be damaged.In addition, core board 2 is not arranged on base plate 11, also make the mutual independence of other circuit on core board 2 and base plate 11 significantly strengthen, even if thereby core board 2 damages or redesigns, can not involve base plate 11 and upper circuit thereof yet, and can more convenient manual operation in the time changing or keep in repair core board 2.

In above-mentioned embodiment, core board 2 and base plate 11 are wired connection, and in other embodiment, core board 2 and base plate 11 can also be wireless connections, and the mode of wireless connections can be WIFI, bluetooth etc.

In the present invention's one preferred implementation, core board 2 and base plate 11 removably connect by general-purpose serial bus USB, and by base plate 11 auxiliary connection host chips 12, core board 2 communicates by usb protocol with secondary host chip 12.Be understandable that, in present embodiment, the general-purpose interface arranging on core board 2 is the USB general-purpose interface mating with one end of usb data line, the general-purpose interface arranging on base plate 11 is the USB general-purpose interface mating with the other end of usb data line, between core board 2 and base plate 11, is connected by usb data line.In the time that needs are changed core board 2, only usb data line need be extracted to interface on core board 2 and can realize separating of core board 2 and base plate 11, thereby realize removably connecting of core board 2 and base plate 11.In addition, main control board 1 can also be powered to core board 2 by general-purpose serial bus USB.

Further, in present embodiment, between core board 2 and secondary host chip 12, send in the process of a packet by usb protocol, in sent packet, carry at least two instructions.Secondary host chip 12 is mainly used in the various instructions from core board 2 to carry out simple process, the instruction that can identify with output machine head plate, the speed of its processing instruction, and internal memory is generally less, and in present embodiment, owing to communicating by general-purpose serial bus USB between core board 2 and secondary host chip 12, if now carry out command according to existing USB standard agreement, in transmitting procedure, instruction is that the form that at every turn sends an instruction is transmitted, for example, for the core board 2 as transmit leg, core board 2 is in the time that multiple instructions that parsing flower type file is obtained send to secondary host chip 12, it while sending instruction according to existing USB standard agreement, is each packet that comprises an instruction that sends, an instruction of secondary host chip 12 each receptions, cause thus the data rate between core board 2 and secondary host chip 12 slower, and secondary host chip 12 just processes machine head plate to be exported to corresponding instruction after need to receiving multiple instructions, make thus secondary host chip 12 cannot quick obtaining from multiple instructions of core board 2, thereby may cause machine head plate cannot drive in time relevant executive component to carry out spinstry, reduce production efficiency.Therefore, for solving the slower problem of transmission speed of serial transmission mode, in present embodiment, core board 2 is in a packet that sends to secondary host chip 12, can certainly be in each packet sending, make each packet sending carry at least two instructions, secondary host chip 12 can the multiple instructions of disposable reception thus, thereby improve the efficiency of data transmission, make secondary host chip 12 can obtain in time the instruction from core board 2, and then ensured the real-time of data acquisition, enhance productivity.

Wherein, to carry multiple instructions in order realizing in a packet that makes to send by usb protocol between core board 2 and secondary host chip 12, in present embodiment, before sending packet, multiple instructions to be encapsulated.Particularly, before sending a packet by usb protocol between core board 2 and secondary host chip 12, adopt self-defined tunneling multiple instructions to be encapsulated as to a packet on usb protocol.In the data transmission procedure of usb protocol, after needing that the data of transmission are packaged into packet before data, transmission can transmit, and take over party after receiving data needs packet to resolve.On usb protocol described in present embodiment, refer to the upper strata of usb protocol, i.e. the data processing stage before using usb protocol transmission data.In existing usb protocol, before transmission data, normally according to the tunneling of standard, an instruction is packaged into a packet and once sends, and take over party resolves the packet receiving according to the analysis protocol of standard and obtains an instruction.In present embodiment, be to adopt self-defining tunneling that multiple instructions are packaged into a packet, even carry multiple instructions in a packet, multiple instructions can be sent in the time transmitting a packet simultaneously.In addition, for the take over party who receives packet, it adopts the self-defined analysis protocol corresponding with self-defining tunneling in packet, to intercept out multiple instructions in the time receiving the packet that is packaged with multiple instructions, completes thus the transmission of data.

It should be noted that, in each packet, the quantity of entrained instruction can according to circumstances be set, under the requirement of memory capacity that meets transmission speed and secondary host chip 12, in packet, the quantity of entrained instruction is more, and transfer efficiency is also just higher.

In addition,, in the time that multiple instructions are encapsulated according to self-defining tunneling, owing to carrying multiple instructions in each packet, the packet that therefore makes encapsulation obtain carries self-defining packet header mark and bag tail tag is known, in order to the mark as a packet.Thus, intercept out a packet when receiving packet header mark and the knowledge of bag tail tag that can carry according to each packet when a side of packet receives multiple packet successively, and then this packet is resolved to obtain the multiple instructions in packet.And, in the time carrying out packet encapsulation, also make the each instruction in a packet carry the self-defining mark that separates, in order to the mark as an instruction.Each instruction to separate mark not identical, thereby in the time that a side of reception packet resolves to obtain the multiple instruction in packet to a packet, can intercept out each instruction according to the entrained mark that separates of each instruction, can process each instruction thus.

In the present embodiment, although multiple instructions are encapsulated in a packet and are transmitted simultaneously, but because the error correcting capability of usb protocol is stronger, in usb protocol, comprise the function such as error of transmission management, mistake recovery, can process error of transmission according to different transport-types, even if therefore make a mistake and also do not need the time of costing a lot of money to retransmit simultaneously in transmitting procedure.

In the present invention's one preferred implementation, core board 2 is master control and PLC (Programmable Logic Controller with the matching relationship of base plate 11, programmable logic controller (PLC)) matching relationship of pattern, the electric-control system that is Weaving device of the present invention is PLC control system, and core board 2 carries out the control of whole fabrication processes according to PLC program.PLC control system has that antijamming capability is strong, reliability and stability advantages of higher, and PLC programming is simple, and logicality is stronger, makes to control function and more easily realizes, and therefore, the present invention adopts PLC electric-control system, can make Weaving device performance better.Certainly, in other embodiments, core board 2 also can adopt the mode such as Single-chip Controlling, PCC (Programmble Computer Controller, programmable computer controller) control to coordinate with base plate 11, to carry out the control work of fabrication processes.

Consult Fig. 3, in another embodiment of automation equipment of the present invention, still taking Weaving device as example, and the element effect of same numeral in different diagram is identical, also comprises the I/O expansion board 3 being arranged on main control board 1.I/O expansion board 3 is the abundant MCU of IO mouth, and it is connected with the secondary host chip 12 on main control board 1, and to be connected with core board 2 by secondary host chip 12, and I/O expansion board 3 is passed through I ²c bus and core board 2 communicate, to realize the function such as rotating and speed governing of the rotating of the speed governing of Yarn feeder motor, secondary roller motor and speed governing, folding motor.Make core board 2 can connect more peripherals by I/O expansion board 3.Different customer demand differences, in prior art, for the demand that meets different clients conventionally needs different connecting lines be set connect core board 2, cause circuit complicated in a jumble, in the present embodiment, by I/O expansion board 3 is set, correlation function on core board 2 is guided in I/O expansion board 3, therefore for different clients, only need, according to the corresponding I/O mouth in its demand grafting I/O expansion board 3, can either meet different clients' demand, easy to use, and can avoid complicated wiring, make connection and distribute simpler.

Wherein, in a preferred embodiment, I/O expansion board 3 can removably connect by the base plate 11 of connecting line and main control board 1, to pass through base plate 11 auxiliary connection host chips 12.Certainly, in other embodiments, I/O expansion board 3 also can directly be plugged on base plate 11, and the interface matching is set respectively on I/O expansion board 3 and base plate 11, with by can pluggable mode connecting, and then realize removably connecting of I/O expansion board 3 and base plate 11.

Because different core board 2 need to adopt different I/O expansion board 3, therefore, in the time that needs are changed core board 2, conventionally also need to change corresponding I/O expansion board 3.Present embodiment is by making to adopt removably to be connected between I/O expansion board 3 and base plate 11, dismounting that can more convenient I/O expansion board 3.

Consult Fig. 4, in the another embodiment of automation equipment of the present invention, the element effect of the same numeral in different diagrams is identical, and equipment also comprises the stepper motor driver 4 being arranged on main control board 1, and stepper motor driver 4 is specifically arranged on base plate 11.In existing Weaving device, stepper motor driver is normally arranged in the lathe of Weaving device as independent parts, comprise communication control module, drive chip and power tube (H bridge), communication control module to the signal of the secondary host chip from main control board change, data front-end processing, level match etc., and also receive the warning of self-driven chip.And in present embodiment, stepper motor driver 4 is arranged on main control board 1, it can fix stepper motor driver 4 on the base plate 11 of main control board 1 by modes such as welding, or also can stepper motor driver 4 be arranged on the base plate 11 of main control board 1 by removably.Therefore in the time of control step motor rotation, from main control board 1, control signal is out the driving signal of stepper motor, directly Driving Stepping Motor running.

Wherein, stepper motor driver 4 comprises driving chip 41 and power driving circuit 42.Drive chip 41 auxiliary connection host chip 12 and power driving circuit 42 respectively.Drive chip 41 for inputting the control signal of secondary host chip 12, and drive signal to power driving circuit 42 according to the control signal output multi-channel from secondary host chip 12, thereby power driving circuit 42 drives respectively multiple stepper motors to turn round according to multi-channel drive signal, realizes thus the control of stepper motor.In addition, drive chip 41 also for feedback signal being fed back to secondary host chip 12, this feedback signal is for feeding back every operational factor of stepper motor.Secondary host chip 12 outputs control signals to and drives in chip 41 according to feedback signal, and matching parameter is exported to and drives chip 41.By driving the acting in conjunction of chip 41 and secondary host chip 12, realize the closed-loop control to stepper motor, can control stepper motor according to the situation of stepper motor real-time motion, improve the accuracy that stepper motor rotates.

In present embodiment, stepper motor driver 4 is integrated on the base plate 11 of main control board 1, thereby secondary host chip 12 can directly connect driving chip 41, and make secondary host chip 12 increase the ability of processing the ability of feedback signal and increasing coupling driving chip 41, therefore compared with the existing, can dispense communication control module.

Consult Fig. 5, in the another embodiment of automation equipment of the present invention, the element effect of the same numeral in different diagrams is identical, and equipment further comprises storer 5, and storer 5 comprises memory mapping area.Core board 2 is in the time of operation control process, and control process specifically adopts memory-mapped technology that the work at present status data in control process and current sensing data are stored to memory mapping area.Core board 2 is in the time of operation collection process, and collection process specifically adopts memory-mapped technology to gather work at present status data and the current sensing data of memory mapping area.

Certainly, in other embodiments, collection process also can not obtained work at present status data and current sensing data by memory-mapped technology, and it can be by work at present status data and current sensing data in pipeline or queue message technology collection control process.

Consult Fig. 6 and Fig. 7, in the another embodiment of automation equipment of the present invention, the element effect of the same numeral in different diagrams is identical, and equipment also comprises operating case 6, and operating case 6 is mainly used in providing input media for operating personnel input various operational orders.Operating case 6 comprises a block operations box plate 61.In the present embodiment, core board 2 is plugged on operating case base plate 61 as a part for operating case 6, it is the slot being provided with on operating case base plate 61 for the core board 2 of pegging graft, on core board 2, there is the socket matching with this slot, by coordinating of the socket on core board 2 and slot on operating case base plate 61, can realize removably connecting of core board 2 and operating case base plate 61.In the time that needs are changed core board 2, only core board 2 need be pulled away to operating case base plate 61, then by new core board 2 update box plates 61, facilitate the replacing of core board 2.In addition, operating case base plate 61 removably connects by the data line with general-purpose interface with the base plate 11 on main control board 1, realize thus removably connecting of core board 2 and secondary host chip 12, be provided with at operating case base plate 61 general-purpose interface 66 being connected with core board 2, this general-purpose interface 66 matches with a port of the data line with general-purpose interface, base plate on main control board 1 is provided with the general-purpose interface being connected with secondary host chip 12, this general-purpose interface matches with the another port of the data line with general-purpose interface, thus can be by realize removably connecting of core board 2 and secondary host chip 12 with the data line of universal port.

Wherein, as shown in Figure 9, operating case 6 also comprises display screen 62 and man-machine interaction circuit 63, and wherein, man-machine interaction circuit 63 is operation push-button, is equivalent to keyboard.Display screen 62 is connected core board 2 with man-machine interaction circuit 63 by operating case base plate 61, on operating case base plate 61, be provided with the slot that connects core board 2, display screen 62, man-machine switched circuit 63 can be connected with the associated socket on operating case base plate 61 by communication bus, thereby connect core board 2 by associated socket.

Therefore,, in present embodiment, display screen 62 and core board 2 are all arranged on operating case 6.And in the Weaving device of prior art, core board is arranged on main control board, it need to be connected by longer connecting line with the display screen in operating case, if the display on core board is directly sent in the display screen of operating case by longer connecting line, because connecting line is easily interfered display compared with long, affect the normal demonstration of data, and in prior art in order to reduce the interference of display in transmitting procedure, adopt and show modular converter and differential signal line transmitting display signal therefor, to reduce interference.Unlike the prior art, in present embodiment, display screen 62 and core board 2 are all arranged in operating case 6, display screen 62 is directly to connect core board 2 by operating case base plate 61 in operating case 6 thus, connecting line is between the two shorter, do not need thus the demonstration modular converter of prior art and longer differential signal line, display transfers TTL signal to differential signal without main control board far away outside operating case through demonstration modular converter, to operating case, transfer differential signal the complicated processes of TTL signal to display screen to through demonstration modular converter again, save at least two and shown modular converter and the differential signal line between them, also saved the slot of special this differential signal line of pegging graft on main control board, cost significantly reduces, and, because display screen 62 connects core board 2 by operating case base plate 61 in operating case, distance is very short and avoided signal interference environment, and synchronous signal connects relatively reliable, therefore display stability is ensured, significantly reduces the operational risk causing owing to showing fault.

Further, in the preferred embodiment for the present invention, man-machine interaction circuit 63 be arranged at touch-screen on display screen 62 or with the two-in-one touch display screen of display screen 62.Adopt the mode of touch-screen to realize man-machine interaction, more convenient operating personnel's operation, and can make the structure of operating case 6 simpler, reduce loaded down with trivial details wiring.

In a preferred embodiment of this invention, consult Fig. 8, operating case 6 is panel computer, display screen 62 and man-machine interaction circuit 63 unite two into one as the touch display screen of panel computer, on panel computer, be provided with the general-purpose interface 66 for being connected with base plate 11, this general-purpose interface 66 also connects the core board 2 of panel computer inside simultaneously.Wherein, in present embodiment, core board 2 is for to be fixed on operating case base plate 61 by modes such as welding.Certainly, core board 2 can be also to removably connect with operating case base plate 61, for example can be provided for plugging at the side of panel computer the socket of core board 2, on operating case base plate 61, be provided with the circuit for connecting core board 2, to make in the time that this socket inserts panel computer, core board 2 being connected at core board 2 with the circuit operating case base plate 61, so that core board 2 can normally be worked.

In a preferred embodiment of this invention, consult Fig. 9, operating case 6 also comprises the usb hub 64 and the radio communication circuit 65 that connect core board 2.Usb hub 64 and radio communication circuit 65 connect with the associated socket being connected with core board 2 being arranged on operating case base plate 61 respectively, thereby realize itself and being connected of core board 2, and core board 2 can be selected wherein a kind of communication mode and external device communication.Certainly can be also usb hub 64 to be only set be connected with core board 2 with the one in radio communication circuit 65, to realize communicating by letter of core board 2 and external unit.

In one of them embodiment of the present invention, Weaving device comprises first circuit board and the second circuit board of distributed setting, wherein on first circuit board, be provided with AC/DC change-over circuit, AC/DC change-over circuit converts the alternating voltage of reception to first DC voltage, first circuit board and second circuit board are respectively arranged with DC/DC change-over circuit, the first DC voltage is supplied to respectively the DC/DC change-over circuit on first circuit board and second circuit board, and converts the second required separately DC voltage to by DC/DC change-over circuit.By with upper type, the present invention can avoid power supply assembly is additionally set, and greatly reduces the complexity of supply line.

In wherein another embodiment of the present invention, the Poewr control method between at least two action elements in Weaving device is also provided, the method comprises: the control system of controlling at least two action elements is obtained steering order; Whether resolve steering order performs an action within least part of time for controlling at least two action elements simultaneously; If steering order is moved for controlling at least two action elements simultaneously, the execution time of the action of at least two action elements is staggered each other, make the implementation effect of at least two action elements meet the demands simultaneously.By with upper type, real power when embodiment of the present invention can avoid at least two action elements to move is simultaneously excessive, significantly reduce power consumption, particularly, under the scene for the more action element of controlling the size simultaneously, power saving effect is obvious especially.

Consult Figure 10, in control system one embodiment of automation equipment of the present invention, control system comprises first control circuit 701, second control circuit 702, first substrate 703 and second substrate 704.Wherein, first control circuit 701 is arranged on first substrate 703, has the first real-time and the first arithmetic capability on auto-control equipment.Second control circuit plate 702 is arranged on second substrate 704, on control Weaving device, has the second real-time and the second arithmetic capability.

Wherein, the first real-time is higher than the second real-time, and the first arithmetic capability is lower than the second arithmetic capability.Second substrate 704 removably connects by the data line with general-purpose interface with first substrate 703, makes second control circuit 702 can pass through the operation of first control circuit 701 auto-control equipment.Preferably, this general-purpose interface is USB interface, certainly, can be also CAN interface.Certainly, second substrate 704 and first substrate 703 can be also wireless connections, for example, connect by WIFI or bluetooth.

Particularly, in present embodiment, automation equipment is taking Weaving device as example, and first control circuit 701 is the secondary host chip on the main control board in Weaving device.Second control circuit 702 corresponds to the core board in Weaving device, and the weaving operation of Weaving device is played to core control action.First substrate 703 is the base plate of the main control board in Weaving device.Second substrate 704 is that this base plate can be the operating case base plate of the operating case in Weaving device, can certainly be other substrates different from first substrate 703 in Weaving device for the base plate of fixing second control circuit 702.Wherein, the base plate of described main control board, core board, secondary host chip, operating case base plate and main control board can be respectively the base plate of main control board, core board, secondary host chip, operating case base plate and main control board in the arbitrary embodiment shown in above-mentioned Fig. 2-Fig. 9.Therefore, second control circuit 702 is controlled the detailed process of the textile operation of Weaving device and can be carried out with reference to the respective embodiments described above by first control circuit 701, do not repeat one by one at this.

Present embodiment, due to the second substrate 704 for second control circuit 702 is set with removably connect by the data line with general-purpose interface for the first substrate 703 that first control circuit 701 is set, therefore second control circuit 702 and first control circuit 701 are also for removably connecting, compared with the mode of existing welding or grafting, not only be conducive to the replacing of second control circuit 702, and when more renew second control circuit 702 time, be provided with general-purpose interface on the second substrate 704 of new second control circuit 702 remain with first substrate 703 on the general-purpose interface that matches, even if the second control circuit therefore more renewing 702 does not need to redesign first substrate 703 yet, can avoid thus first substrate 703 involved and be damaged.In addition, second control circuit 702 is not arranged on first substrate 703, therefore can more convenient manual operation in the time changing or keep in repair second control circuit 702.

Consult Figure 11, in control device one embodiment of automation equipment of the present invention, comprise first control circuit 801 and first substrate 802.First control circuit 801 is arranged on first substrate 802, on control Weaving device, has the first real-time and the first arithmetic capability.Wherein, the first real-time is higher than the second real-time, and the first arithmetic capability is lower than the second arithmetic capability, and the second described real-time and the second arithmetic capability are respectively real-time and the arithmetic capabilities of the second control circuit 804 on second substrate 803.

Wherein, first substrate 802 is for removably connecting by the data line with general-purpose interface with second substrate 803, thereby makes second control circuit 804 can pass through the operation of first control circuit 801 auto-control equipment.Preferably, this general-purpose interface is USB interface, certainly, can be also CAN interface.In other embodiments, between second substrate 803 and first substrate 802, can be also wireless connections, for example connect by WIFI or bluetooth.

Particularly, in present embodiment, automation equipment is still taking Weaving device as example, and first control circuit 801 is the secondary host chip on the main control board in Weaving device.Second control circuit 804 corresponds to the core board in Weaving device, and the weaving operation of Weaving device is played to core control action.First substrate 802 is the base plate of the main control board in Weaving device.Second substrate 803 is that this base plate can be the operating case base plate of the operating case in Weaving device, can certainly be other substrates different from first substrate 802 in Weaving device for the base plate of fixing second control circuit 804.Wherein, the base plate of described main control board, core board, secondary host chip, operating case base plate and main control board can be respectively the base plate of main control board, core board, secondary host chip, operating case base plate and main control board in the arbitrary embodiment shown in above-mentioned Fig. 2-Fig. 9.Therefore, second control circuit 804 is controlled the detailed process of the textile operation of Weaving device and can be carried out with reference to the respective embodiments described above by first control circuit 801, do not repeat one by one at this.

Present embodiment, due to the second substrate 803 for second control circuit 804 is set with removably connect by the data line with general-purpose interface for the first substrate 802 that first control circuit 801 is set, therefore second control circuit 804 and first control circuit 801 are also for removably connecting, compared with the mode of existing welding or grafting, not only be conducive to the replacing of second control circuit 804, and when more renew second control circuit 804 time, be provided with general-purpose interface on the second substrate 803 of new second control circuit 804 remain with first substrate 802 on the general-purpose interface that matches, even if the second control circuit therefore more renewing 804 does not need to redesign first substrate 802 yet, can avoid thus first substrate 802 involved and be damaged.In addition, second control circuit 804 is not arranged on first substrate 802, therefore can more convenient manual operation in the time changing or keep in repair second control circuit 804.

In a preferred embodiment, control device also comprises the I/O expansion board 805 of the first substrate 802 that removably connects.I/O expansion board 805 is connected with first substrate 802, and then connect first control circuit 801 by first substrate 802, thereby the output of second control circuit 804 can transfer to I/O expansion board 805 by first control circuit 801, can greatly simplify thus the output of second control circuit 804, and for different demands, only need to connect the different I/O mouth in I/O expansion board 805, easy to use, and can simplified wiring.Wherein, I/O expansion board 805 can be connected with first substrate 802 by inserting mode, to realize both removably connecting.

In a preferred embodiment, control device also comprises stepper motor driver 806.In existing Weaving device, stepper motor driver is normally arranged in the lathe of Weaving device as independent parts, comprise communication control module, drive chip and power tube (H bridge), communication control module to the signal of the secondary host chip from main control board change, data front-end processing, level match etc., and also receive the warning of self-driven chip.In the present embodiment, stepper motor driver 806 is fixed on first substrate 802, for example can stepper motor driver 806 be fixed on first substrate 802 by welding manner, also can make stepper motor driver 806 be arranged on first substrate 802 by removably.Stepper motor driver 806 comprises driving chip 8061 and power driving circuit 8062.Drive chip 8061 to connect respectively first control circuit 801 and power driving circuit 8062.Drive chip 8061 for inputting the control signal of first control circuit 801, and drive signal to power driving circuit 8062 according to the control signal output multi-channel from first control circuit 801, thereby power driving circuit 8062 drives respectively multiple stepper motors to turn round according to multi-channel drive signal, realizes thus the control of stepper motor.In addition, drive chip 8061 also for feedback signal being fed back to first control circuit 801, this feedback signal is for feeding back every operational factor of stepper motor.First control circuit 801 outputs control signals to and drives in chip 8061 according to feedback signal, and matching parameter is exported to and drives chip 8061.By driving the acting in conjunction of chip 8061 and first control circuit 801, realize the closed-loop control to stepper motor, can control stepper motor according to the situation of stepper motor real-time motion, improve the accuracy that stepper motor rotates.Simultaneously, in present embodiment, stepper motor driver 4 and first control circuit 801 are together integrated on first substrate 802, thereby first control circuit 801 can directly connect driving chip 8061, and make first control circuit 801 increase the ability of processing feedback signal and increase the ability of coupling driving chip 8061, therefore compared with the existing, can dispense communication control module.

Consult Figure 12, in another embodiment of the control device of automation equipment of the present invention, comprise second control circuit 901 and second substrate 902.Second control circuit 901 is arranged on second substrate 902, has the second real-time and the second arithmetic capability controlling on Weaving device, and the second real-time is lower than the first real-time, and the second arithmetic capability is higher than the first arithmetic capability.Described the first real-time, the first arithmetic capability is respectively real-time and the arithmetic capability of the first control circuit 904 on first substrate 903.

Wherein, second substrate 902 is for removably connecting by the data line with general-purpose interface with first substrate 903, makes second control circuit 901 first control circuit 904 that removably connects, and by the operation of first control circuit 904 auto-control equipment.Preferably, this general-purpose interface is USB interface, certainly, can be also CAN interface.In addition between second substrate 902 and first substrate 903, also can be connected by the mode of wireless connections.

Particularly, in present embodiment, automation equipment is still taking Weaving device as example, and first control circuit 904 is the secondary host chip on the main control board in Weaving device.Second control circuit 901 corresponds to the core board in Weaving device, and the weaving operation of Weaving device is played to core control action.First substrate 903 is the base plate of the main control board in Weaving device.Second substrate 902 is that this base plate can be the operating case base plate of the operating case in Weaving device, can certainly be other substrates different from first substrate 903 in Weaving device for the base plate of fixing second control circuit 901.Wherein, the base plate of described main control board, core board, secondary host chip, operating case base plate and main control board can be respectively the base plate of main control board, core board, secondary host chip, operating case base plate and main control board in the arbitrary embodiment shown in above-mentioned Fig. 2-Fig. 9.Therefore, second control circuit 901 is controlled the detailed process of the textile operation of Weaving device and can be carried out with reference to the respective embodiments described above by first control circuit 904, do not repeat one by one at this.

Present embodiment, due to the second substrate 902 for second control circuit 901 is set with removably connect by the data line with general-purpose interface for the first substrate 903 that first control circuit 904 is set, therefore second control circuit 901 and first control circuit 904 are also for removably connecting, compared with the mode of existing welding or grafting, not only be conducive to the replacing of second control circuit 901, and when more renew second control circuit 901 time, be provided with general-purpose interface on the second substrate 902 of new second control circuit 901 remain with first substrate 903 on the general-purpose interface that matches, even if the second control circuit therefore more renewing 901 does not need to redesign first substrate 903 yet, can avoid thus first substrate 903 involved and be damaged.In addition, second control circuit 901 is not arranged on first substrate 903, therefore can more convenient manual operation in the time changing or keep in repair second control circuit 901.

In addition,, in present embodiment, second control circuit 901 is for moving the collection process outside control process and the operation control process of controlling Weaving device, at least one process of interprocess communication.

Particularly, described control process, for controlling the textile operation of Weaving device, comprises the executive component driving for weaving.Particularly, first operating personnel by the storer that stores the colored type file that need to weave as on the insertion second control circuits 901 such as USB flash disk for receiving the USB interface of colored type file, second control circuit 901 is by reading colored type file and flower type file being resolved.In addition, in this control process, first control circuit 904 receives the work at present status data of each executive component feedback, and this current operating state data is the operational factor relevant data current to executive component, and work at present status data is sent to second control circuit 901.Separately, second control circuit 901 is also accepted the current sensing data of various sensors.The data that second control circuit 901 obtains according to the work at present status data receiving, current sensing data and parsing flower type file generate braid movement instruction, and the braid movement instruction of generation is sent to first control circuit 904 by second substrate 903.First control circuit 904 generates and carries out instruction according to the braid movement instruction receiving, and this execution instruction is sent to the machine head plate of head.Machine head plate receives from the execution instruction of first control circuit 904, with according to this execution order-driven for the executive component of the weaving operation of weaving.

Particularly, in control process, second control circuit 901 receives work at present status data and the current sensing data that first control circuit 904 gathers, and these work at present status datas and current sensing data are all written into be controlled in state of a process structure.Wherein, the data that control state of a process structure is preserved are up-to-date operating state data and sensing data, second control circuit 901 is receiving after work at present status data and current sensing data, and the data of upgrading in status architecture body are work at present status data and current sensing data.Collection process controls for reading in work at present status data and the current sensing data that state of a process structure records.In addition in collection process,, also will record last time operating state data and last time sensing data.Therefore, in collection process, reading after the work at present status data and current sensing data of control process, by the work at present status data reading, current sensing data respectively with operating state data last time, last time sensing data compared.In the time that one of them comparative result is not identical or the comparative result of two is identical, comparative result is sent by interprocess communication, or also work at present status data and current sensing data can be sent by interprocess communication, or comparative result, work at present status data and current sensing data all can also be sent, for example, can be sent to the display screen of operating case, to show in real time the work at present state of Weaving device, make operating personnel can know the ruuning situation of grasp equipment.In addition, also work at present status data, current sensing data and comparative result can be sent on other equipment, such as memory device or printing device etc., with work at present status data and the current sensing data of output device, or export work at present status data, current sensing data and comparative result simultaneously.Certainly, in the alternative, in order to grasp in real time the ruuning situation of current device, in collection process, in the time that comparative result is identical, also work at present status data and current sensing data can be sent, as be sent in display screen, with the current ruuning situation of real-time display device.

Consult Figure 13, in the another embodiment of the control device of automation equipment of the present invention, comprise first control circuit 1001 and first substrate 1002.First control circuit 1001 is arranged on first substrate 1002, for the operation of auto-control equipment.Wherein, first substrate 1001, for removably connecting by the data line with general-purpose interface with second substrate 1003, makes the second control circuit 1004 on second substrate 1003 can pass through the operation of first control circuit 1001 auto-control equipment.Preferably, this general-purpose interface is USB interface.Certainly, between first substrate 1001 and second substrate 1002, also can connect by the mode of wireless connections.

Wherein, automation equipment is still taking Weaving device as example, and first control circuit 1001 corresponds to the secondary host chip on the main control board in Weaving device.Second control circuit 1004 corresponds to the core board in Weaving device, and the weaving operation of Weaving device is played to core control action.First substrate 1002 corresponds to the base plate of the main control board in Weaving device.Second substrate 1003 is that this base plate can be the operating case base plate of the operating case in Weaving device, can certainly be other substrates different from first substrate 1002 in Weaving device for the base plate of fixing second control circuit 1004.Wherein, the base plate of described main control board, core board, secondary host chip, operating case base plate and main control board can be respectively the base plate of main control board, core board, secondary host chip, operating case base plate and main control board in the arbitrary embodiment shown in above-mentioned Fig. 2-Fig. 9.Therefore, second control circuit 1004 is controlled the detailed process of the textile operation of Weaving device and can be carried out with reference to the respective embodiments described above by first control circuit 1001, do not repeat one by one at this.

Consult Figure 14, the present invention also provides an embodiment of the operating case of automation equipment, in this embodiment, taking automation equipment as Weaving device as example describes, certainly, in other embodiments, automation equipment also can make other plant equipment such as dyeing apparatus.Operating case is panel computer, and it comprises first control circuit 1101 and first substrate 1102.First control circuit 1101 is arranged on first substrate 1102.

Wherein, first control circuit 1101 can removably connect by inserting mode with first substrate 1102.

Wherein, first substrate 1102 is for removably connecting by general-purpose interface with second substrate 1103, thereby makes first control circuit 1101 can control by being arranged on second control circuit 1104 on second substrate 1103 textile operation of Weaving device.Preferably, this general-purpose interface is USB interface.Wherein, first control circuit 1101 corresponds to the core board in Weaving device, weaving operation to Weaving device plays core control action, first substrate 1102 corresponds to operating case base plate, can certainly be other base plates except second substrate 1103, second control circuit 1104 corresponds to the secondary host chip on the main control board in Weaving device, and second substrate 1103 corresponds to the base plate of the main control board in Weaving device.The base plate of described main control board, core board, secondary host chip, operating case base plate and main control board can be respectively the base plate of main control board, core board, secondary host chip, operating case base plate and main control board in the arbitrary embodiment shown in above-mentioned Fig. 2-Fig. 9.Therefore, first control circuit 1101 is controlled the detailed process of the textile operation of Weaving device and can be carried out with reference to the respective embodiments described above by second control circuit 1104, do not repeat one by one at this.

In a preferred implementation of operating case of the present invention, operating case also comprises the usb hub 1105 and the radio communication circuit 1106 that connect first control circuit 1101.Usb hub 1105 connects with the associated socket being connected with core board 2 being arranged on first substrate 1101 respectively with radio communication circuit 1106, to realize itself and being connected of first control circuit 1101, first control circuit 1101 can be selected wherein one and external device communication.Certainly can be also usb hub 1105 to be only set be connected with first control circuit 1101 with the one in radio communication circuit 1106, to realize communicating by letter of first control circuit 1101 and external unit.

Certainly, in other embodiments of the operating case of automation equipment of the present invention, first control circuit 1101 can also be fixed on first substrate 1102 by modes such as welding, and there is the first real-time and the first arithmetic capability on control Weaving device, this first real-time is lower than the second real-time, and the first arithmetic capability is higher than the second arithmetic capability.The second real-time and the second arithmetic capability are respectively real-time and the arithmetic capabilities of the second control circuit 1104 on second substrate 1103.

The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims

1. an automation equipment, is characterized in that, comprising:

Main control board and core board;

Wherein, described main control board comprises base plate and is arranged at the secondary host chip on base plate, described core board and described base plate removably connect by general-purpose interface, and connect described secondary host chip by described base plate, and described core board is not arranged on described base plate.

2. automation equipment according to claim 1, is characterized in that, the matching relationship of described core board and described base plate is master control and PLC pattern matching relationship.

3. automation equipment according to claim 1, is characterized in that, comprises the I/O expansion board being arranged on described main control board.

4. automation equipment according to claim 3, is characterized in that, the described I/O expansion board described main control board that removably connects.

5. automation equipment according to claim 1, it is characterized in that, comprise the stepper motor driver being arranged on described main control board, described stepper motor driver comprises driving chip and power driving circuit, described driving chip connects respectively described secondary host chip and described power driving circuit, the control signal of the described secondary host chip of described driving chip input, output multi-channel drives signal to described power driving circuit, and feedback signal is fed back to described secondary host chip, described secondary host chip is exported described control signal according to described feedback signal, and export matching parameter to described driving chip.

6. according to the automation equipment described in claim 1 to 5 any one, it is characterized in that, described core board is for moving the control process of auto-control equipment and moving the collection process outside described control process, at least one process of interprocess communication;

Wherein, described control process is for the operation of auto-control equipment, comprise the executive component driving for operating, described collection process is used for gathering described control process work at present status data and current sensing data, and by the described work at present status data collecting, current sensing data respectively with last time operating state data, last time sensing data comparison, and at least in the time that described comparative result is difference, by described interprocess communication, described comparative result is sent, or described work at present status data and current sensing data are sent;

Wherein, at least one process in described control process and described interprocess communication, described collection process is separate.

7. automation equipment according to claim 6, is characterized in that,

Described automation equipment further comprises storer, in described storer, at least comprise memory mapping area, described control process specifically adopts memory-mapped technology that work at present status data and current sensing data in described control process are stored to described memory mapping area, and described collection process specifically adopts memory-mapped technology to gather work at present status data and the current sensing data of described memory mapping area; Or

Described collection process specifically gathers work at present status data and current sensing data in described control module by pipeline or queue message technology.

8. according to the automation equipment described in claim 1-5 any one, it is characterized in that,

Described automation equipment is Weaving device.

9. a control system for automation equipment, is characterized in that, comprising:

First control circuit, second control circuit, first substrate and second substrate;

Described first control circuit is arranged on described first substrate, in the described automation equipment of control, has the first real-time and the first arithmetic capability;

Described second control circuit is arranged on described second substrate, in the described automation equipment of control, has the second real-time and the second arithmetic capability;

Wherein, described the first real-time is higher than described the second real-time, and described the first arithmetic capability is lower than described the second arithmetic capability;

Described second substrate and described first substrate wireless connections or removably connect by the data line with general-purpose interface, make the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

10. a control device for automation equipment, is characterized in that, comprising:

First control circuit and first substrate;

Described first control circuit is arranged on described first substrate, in the described automation equipment of control, there is the first real-time and the first arithmetic capability, described the first real-time is higher than the second real-time, described the first arithmetic capability is lower than the second arithmetic capability, and described the second real-time, the second arithmetic capability are respectively real-time and the arithmetic capabilities of the second control circuit on second substrate;

Wherein, described first substrate is for described second substrate wireless connections or removably connect by general-purpose interface, makes the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

11. control device according to claim 10, is characterized in that, comprise the I/O expansion board of the described first substrate that removably connects.

12. control device according to claim 10, it is characterized in that, comprise the stepper motor driver being arranged on described first substrate, described stepper motor driver comprises driving chip and power driving circuit, described driving chip connects respectively described first control circuit and described power driving circuit, described driving chip is inputted the control signal of described first control circuit, output multi-channel drives signal to described power driving circuit, and feedback signal is fed back to described first control circuit, described first control circuit is exported described control signal according to described feedback signal, and export matching parameter to described driving chip.

The control device of 13. 1 kinds of automation equipments, is characterized in that:

Second control circuit and second substrate;

Described second control circuit is arranged on described second substrate, in the described automation equipment of control, there is the second real-time and the second arithmetic capability, described the second real-time is lower than the first real-time, described the second arithmetic capability is higher than the first arithmetic capability, and described the first real-time, the first arithmetic capability are respectively real-time and the arithmetic capabilities of the first control circuit on first substrate;

Wherein, described second substrate is for described first substrate wireless connections or removably connect by general-purpose interface, makes the described second control circuit can be by the operation of automation equipment described in described first control circuit control.

14. control device according to claim 12, is characterized in that, described second circuit is for moving the control process of auto-control equipment and moving the collection process outside described control process, at least one process of interprocess communication;

The control device of 15. 1 kinds of automation equipments, is characterized in that, comprising:

First control circuit and first substrate;

Described first control circuit is arranged on described first substrate, at least for controlling the operation of described automation equipment;

Wherein, described first substrate is for removably connecting with second substrate wireless connections or by the data line with general-purpose interface, makes the second control circuit on described second substrate can be by the operation of automation equipment described in described first control circuit control.