CN104111621B - Automation equipment and control system thereof, and control device - Google Patents

Automation equipment and control system thereof, and control device Download PDF

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Publication number
CN104111621B
CN104111621B CN201410267333.0A CN201410267333A CN104111621B CN 104111621 B CN104111621 B CN 104111621B CN 201410267333 A CN201410267333 A CN 201410267333A CN 104111621 B CN104111621 B CN 104111621B
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control
substrate
control circuit
automation equipment
board
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CN104111621A (en
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唐宝桃
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Fujian Raynen Technology Co Ltd
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Fujian Raynen Technology Co Ltd
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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 its control system, control device
Technical field
The present invention relates to field of mechanical technique, particularly a kind of automation equipment and its control system, control device.
Background technology
Weaving device such as knitting machine etc., as one kind of automation equipment, is the equipment for knitted or woven fabrics, refering to Fig. 1, It mainly includes power circuit 101, operating case 102, main control board 103, head 104, motor 105 and installs division operation box The lathe 106 of the said elements outside 102.
Power circuit 101 is operating case 102, main control board 103, head 104, motor 105 provide suitable power supply.Main Control circuit board 103 includes base plate 1031, the core board 1032 being arranged on base plate 1031 and secondary host chip 1033.Head 104 Including the machine head plate 1041 for weaving and executive component 1042.Operating case 102 includes display screen 1021 and man-machine interaction circuit 1022.Display modular converter is equipped with operating case 102 and main control board 103, main control board 103 is additionally provided with display number Slot 1035 according to line.The slot 1035 on display modular converter 1023 and main control board 103 on operating case 102 passes through to pass The video data line of measurement shoutage sub-signal connects.Display modular converter 1023 on operating case 102 is also connected with display screen 1021, master control Display modular converter 1034 on circuit board 103 connects slot 1035 and core board 1032 on main control board 103 respectively.Behaviour Make the slot 1035 that the man-machine interaction circuit 1022 on box 102 is connected to main control board 103 by data wire, then by inserting Groove 1035 connects to core board 1032.Core board 1032 passes through to patch or welding manner is fixed on base plate 1031, typically passes through Parallel port mode is connected with base plate 1031, and secondary host chip 1033 is then welded on base plate 1031.
The base plate 1031 of main control board 103 also includes data-interface 1036, for information such as independent input weave datas To core board 1032, then parse weave data, by the data obtaining after parsing weave data through secondary host chip 1033 To the machine head plate 1041 in head 104, machine head plate 1041 drives executive component 1042 to carry out braiding operation.Meanwhile, governor circuit The various operations of plate 103 also controlled motor 105 grade element, export after gathering various operating state datas and various sensing data to Display screen 1021 on external equipment such as operating case 102.
Specifically, the core board 1032 on main control board 103 is then by various operating state datas and various sensing data Show etc. on the display screen 1021 that relevant information is transferred to operating case 102 by video data line, and man-machine interaction circuit 1022 Then input the instruction of user, and instruction is passed to core board 1032 by data wire 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 due to core Plate 1032 is upgraded or is damaged, then necessarily lead to the replacing of whole main control board 103, increases cost further, and the bottom of due to The general ratio of plate 1031 is larger, and it is higher therefore to safeguard or change the cost of transportation that leads to, also inconvenient.For core board 1032 grafting Situation on base plate 1031, different core boards 1032 is also differed with the interface of base plate 1031 grafting, thus while permissible Change core board 1032, but when needing to change another kind of core board 1032, the interface due to new core board has occurred and that Change, equally necessarily lead to the whole redesign of main control board 103 when redesigning core board 1032；Core can be changed In the scheme of core 1032, after not ensuring that core board 1032 damage, base plate 1031 can be iImmune, in some cases Still can involve and damage base plate 1031；And main control board 103 is typically placed in the beneath of Weaving device back, changing The inadequate or relatively difficult situation in during core board 1032 it is possible that artificial working place.
Content of the invention
Object of the present invention is to provide a kind of automation equipment and its control system, control device, can reduce certainly Sub-control component wear in the middle part of dynamicization equipment, update the problem leading to other elements together to be changed, and facilitate part control element Replacing after damage, renewal.
In order to solve above-mentioned technical problem, a kind of technical scheme that the present invention adopts is to provide a kind of automation equipment, bag Include: main control board and core board；Wherein, described main control board includes base plate and the secondary host chip being arranged on base plate, Described core board is detachably connected by general-purpose interface with described base plate, and connects described pair main frame core by described base plate Piece, described core board is not arranged on described base plate.
Wherein, described core board and the matching relationship of described base plate are master control and plc pattern matching relationship.
Wherein, including the i/o expansion board being arranged on described main control board.
Wherein, described i/o expansion board is detachably connected described main control board.
Wherein, including the stepper motor driver being arranged on described main control board, described stepper motor driver bag Include driving chip and power driving circuit, described driving chip connects described pair host chip and described power drive electricity respectively Road, the control signal of described driving chip input described pair host chip, output multi-channel drive signal is to described power drive electricity Road, and by feedback signal back to described pair host chip, described pair host chip is according to described feedback signal to export State control signal, and match parameter is exported to described driving chip.
Wherein, described core board be used for run auto-control equipment control process and run described control process it At least one of outer collection process, interprocess communication process；Wherein, described control process is used for the behaviour of auto-control equipment Make, including the executive component driving for operation, described collection process is used for gathering current operating state in described control process Data and current sensor data, and by the described current operating state data collecting, current sensor data respectively with previous work Make status data, previous sensing data compares, and at least described comparative result for different when by described interprocess communication by institute State comparative result to send, or described current operating state data and current sensor data is activation are gone out；Wherein, described control Process processed is separate with least one of described interprocess communication, described collection process process.
Wherein, described automation equipment further includes memorizer, at least includes memory mapping area, institute in described memorizer State control process and specifically adopt memory mapping technique by current operating state data and current sensor data in described control process Store to described memory mapping area, described collection process specifically adopts memory mapping technique to gather the current of described memory mapping area Operating state data and current sensor data；Or described collection process gathers described control especially by pipeline or queue message technology Current operating state data and current sensor data in molding block.
Wherein, described automation equipment is Weaving device.
In order to solve above-mentioned technical problem, another kind of technical scheme that the present invention adopts is to provide a kind of automation equipment Control system, comprising: first control circuit, second control circuit, first substrate and second substrate；Described first controls electricity Road is arranged on described first substrate, has the first real-time and the first operational capability on controlling described automation equipment；Institute State second control circuit to be arranged on described second substrate, on controlling described automation equipment, there is the second real-time and second Operational capability；Wherein, described first real-time is higher than described second real-time, and described first operational capability is less than described second fortune Calculation ability；Described second substrate is wirelessly connected with described first substrate or is detachably connected by the data wire with general-purpose interface, Make described second control circuit can control the operation of described automation equipment by described first control circuit.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: first control circuit and first substrate；Described first control circuit is arranged on described first substrate, On controlling described automation equipment, there is the first real-time and the first operational capability, described first real-time is real-time higher than second Property, less than the second operational capability, described second real-time, the second operational capability are second substrates to described first operational capability respectively On the real-time of second control circuit and operational capability；Wherein, described first substrate is used for wirelessly connecting with described second substrate Connect or be detachably connected by general-purpose interface so that described second control circuit can be described by described first control circuit control The operation of automation equipment.
Wherein, including the i/o expansion board being detachably connected described first substrate.
Wherein, including the stepper motor driver being arranged on described first substrate, described stepper motor driver includes Driving chip and power driving circuit, described driving chip connects described first control circuit and described power drive electricity respectively Road, described driving chip inputs the control signal of described first control circuit, output multi-channel drive signal to described power drive Circuit, and by feedback signal back to described first control circuit, described first control circuit according to described feedback signal Export described control signal, and match parameter is exported to described driving chip.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: second control circuit and second substrate；Described second control circuit is arranged on described second substrate, On controlling described automation equipment, there is the second real-time and the second operational capability, it is real-time that described second real-time is less than first Property, described second operational capability is higher than the first operational capability, and described first real-time, the first operational capability are first substrate respectively On the real-time of first control circuit and operational capability；Wherein, described second substrate is used for wirelessly connecting with described first substrate Connect or be detachably connected by general-purpose interface so that described second control circuit can be described by described first control circuit control The operation of automation equipment.
Wherein, described second circuit is used for running the control process of auto-control equipment and runs described control process Outside collection process, at least one of interprocess communication process；Wherein, described control process is used for auto-control equipment Operation, including the executive component driving for operation, described collection process is used for gathering work at present shape in described control process State data and current sensor data, and by the described current operating state data collecting, current sensor data respectively with previous Operating state data, previous sensing data compare, and will by described interprocess communication at least when described comparative result is different Described comparative result sends, or described current operating state data and current sensor data is activation are gone out；Wherein, described Control process is separate with least one of described interprocess communication, described collection process process.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: first control circuit and first substrate；Described first control circuit is arranged on described first substrate, At least it is used for controlling the operation of described automation equipment；Wherein, described first substrate is used for wirelessly being connected with second substrate or logical Cross the data wire with general-purpose interface to be detachably connected so that second control circuit on described second substrate can be by described the One control circuit controls the operation of described automation equipment.
The invention has the beneficial effects as follows: it is different from the situation of prior art, core board is directly fixed by the present invention with base plate Structure be changed to core board be detachably connected by general-purpose interface and base plate so that described core board be not set directly at described On base plate, core board and the mutual independence of other circuit of base plate is also made significantly to strengthen, even if thus core board damage or weight New design, also will not involve base plate and circuit thereon；And core board can be made by way of general-purpose interface is detachably connected Replacing easy, significantly save manpower.
Brief description
Fig. 1 is a kind of structural representation 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 the perspective view of operating case in the another embodiment of automation equipment of the present invention；
Fig. 8 is the perspective view of operating case in the another embodiment of automation equipment of the present invention；
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 the structural representation of operating case in the another embodiment of automation equipment of the present invention.
Specific 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 Chu describes the automation equipment of the present invention, below will illustrate taking Weaving device as a example, certainly, the automation equipment of the present invention It is not limited to Weaving device, be also applied for other automation equipments, such as dyeing apparatus etc..
Refering to Fig. 2, in automation equipment one embodiment of the present invention, so that automation equipment is as Weaving device as a example said Bright, mainly include main control board 1 and core board 2, wherein, core board 2 is mainly used in the core to equipment operation and controls, quite Then the cpu of control device operating, such as can realize its control function using arm chip.
Main control board 1 includes base plate 11 and the secondary host chip 12 being arranged on base plate 11.Base plate 11 is as master control electricity The substrate of road plate 1, is mainly used in carrying the various devices of main control board 1, base plate 11 is also the electricity with circuit structure simultaneously Road plate.Secondary host chip 12 can be by patching or the mode such as weld is fixed on base plate 11.
Core board 2 and base plate 11 are detachably connected by general-purpose interface, and pass through base plate 11 auxiliary connection host chip.Specifically Ground, can arrange the general-purpose interface of connection universal data wire on core board 2, also relative set connection universal data wire on base plate 11 General-purpose interface, the general-purpose interface on general-purpose interface and base plate 11 on core board 2 is connected by general-purpose data line, thus by core Core 2 and base plate 11 couple together, to realize the communication between core board 2 and base plate 11.Wherein, this general-purpose interface can be Can interface, general-purpose data line corresponds to the data wire with can general-purpose interface.General-purpose data line is connected in pluggable mode General-purpose interface, thus realize being detachably connected of core board 2 and base plate 11.Additionally, core board 2 is not arranged on base plate 11.Can To be understood by, core board 2 is fixed on other devices in addition to base plate 11, for example, may be provided on operating case or spinning Knit in the non-back other positions of equipment, that is, core board 2 and base plate 11 are separate design, and it is only through leading to and base plate 11 between It is attached with interface.
Wherein, core board 2 is additionally provided with the data-interface for receiving flower pattern file, for example, can be usb interface, when Can also be so WAP, you can flower pattern file is received using wireless mode.During carrying out weaving operation, core Plate 2 specifically for run collection process outside controlling the control process of Weaving device and running this control process, communicate into At least one of journey process.
Wherein, described control process is used for controlling the textile operation of Weaving device, executes unit including driving for weave Part.Specifically, operator will store the memorizer such as insertion such as the u disk core of the flower pattern file being woven in need first The usb interface for receiving flower pattern file on plate 2, core board 2 is parsed by reading flower pattern file and to flower pattern file. Additionally, in here control process, secondary host chip 12 receives the current operating state data of each executive component feedback, this current work The related data of operational factor being current to executive component as status data, and by current operating state data is activation to core Plate 2.Separately, core board 2 also receives the current sensor data of various sensors.Core board 2 is according to the current operating state receiving Data genaration braid movement instruction obtained by data, current sensor data and parsing flower pattern file, and the braiding of generation is moved Make instruction and secondary host chip 12 is sent to by base plate 11.Secondary host chip 12 is held according to the braid movement instruction generation receiving Row instruction, and this execute instruction is sent to the machine head plate of head.Machine head plate receives the execute instruction from secondary host chip 12, To be driven the executive component for weaving to carry out operation of weaving according to this execute instruction.
Described collection process is used for current operating state data and current sensor data in acquisition controlling process, and will adopt The current operating state data collecting and current sensor data are carried out with previous operating state data, previous sensing data respectively Relatively, to be sent this comparative result by interprocess communication when comparative result is for difference, or by current operating state number Go out according to current sensor data is activation.
Specifically, in control process, core board 2 receive the collection of secondary host chip 12 current operating state data and Current sensor data, these current operating state data and current sensor data are all written into control state of a process structure In.Wherein, the data that state of a process structure is preserved is controlled to be up-to-date operating state data and sensing data, core board 2 after receiving current operating state data and current sensor data, that is, updating the data in status architecture body is work at present Status data and current sensor data.Collection process is used for reading the current work recorded in control state of a process structure Make status data and current sensor data.Additionally, previous operating state data and previous sensing number also will be recorded in collection process According to.Therefore, in collection process, after the current operating state data reading control process and current sensor data, will read Current operating state data, current sensor data is compared with previous operating state data, previous sensing data respectively.When When one of comparative result differs or the comparative result of two is different from, comparative result is sent out by interprocess communication See off, or current operating state data and current sensor data can also be sent by interprocess communication, or also Comparative result, current operating state data and current sensor data all can be sent, for example, it is possible to send to operating case Display screen, with the current operating state of real-time display Weaving device so that operator can understand the operation of grasp equipment Situation.In addition it is also possible to current operating state data, current sensor data and comparative result be sent to other equipment, example As storage device or printing device etc., with the current operating state data of outut device and current sensor data or simultaneously defeated Go out current operating state data, current sensor data and comparative result.Certainly, in the alternative, in order to real-time Grasp the ruuning situation of current device, in collection process, when comparative result phase it is also possible to by current operating state data Go out with current sensor data is activation, such as send to display screen, with the current operating situation of real-time display device.
Wherein, described control process and collection process are separate two process, that is, control process and gather into Journey is detached two processes.In existing Weaving device, it controls process and collection process to be usually same process, that is, Collection process is the part as the process of control, and Weaving device had both driven in a control process and executed unit for weave Part, also by obtained current operating state data, current sensor data during driving executive component respectively with previous Operating state data, previous sensing data are compared, and in comparative result or current operating state data, current sensor data Send, consequently, it is possible to then when comparison procedure involves a delay as gathered data not in time, or the mistake that data is activation is gone out When journey makes a mistake, then the process driving executive component to carry out weaving operation can be made to be involved, be easily caused driving execution The process that element is weaved is unstable, has influence on being normally carried out of textile operation.In the present embodiment, will gather process and Control process, as two separate processes, makes collection process separate from control process, thus in the process of control In be only by and drive executive component to carry out the related work of textile operation, by current operating state data, current sensor number Carry out as another process according to the comparison procedure with previous operating state data, previous sensing data, and, in comparative result Interprocess communication when different sending the information such as comparative result is also two separate processes with control process, thus Enable to also be not result in that when collection process or interprocess communication break down control process is involved, can be as much as possible Control process is avoided to be affected by collection process, interprocess communication, to ensure being normally carried out of textile operation.
By present embodiment, because core board 2 and base plate 11 are to be detachably connected using general-purpose interface, with existing company The mode of connecing is compared, and not only contributes to the replacing of core board 1, and the interface when the core board 2 more renewing, on new core board 2 It is still general-purpose interface, it still can be attached with the general-purpose interface on base plate 11, even if the core board therefore more renewing 2 Do not need to redesign base plate 11, base plate 11 and circuit thereon thus can be avoided to be involved and be damaged.Additionally, core Plate 2 is not arranged on base plate 11, so that the mutual independence of other circuit on core board 2 and base plate 11 is significantly strengthened, because Even and if core board 2 damages or redesigns, also will not involve base plate 11 and circuit thereon, and change or maintenance core board Can be more convenient when 2 manually to operate.
In above-mentioned embodiment, core board 2 and base plate 11 are wired connection, in other implementations, core board 2 He Base plate 11 can also be wireless connection, and the wireless mode connecting can be wifi, bluetooth etc..
In the present invention one preferred implementation, core board 2 and base plate 11 are detachably connected by USB (universal serial bus) usb Connect, and pass through base plate 11 auxiliary connection host chip 12, that is, core board 2 is communicated by usb agreement with secondary host chip 12.Can To be understood by, in present embodiment, on core board 2, the general-purpose interface of setting is that the usb being mated with one end of usb data wire is led to With interface, on base plate 11, the general-purpose interface of setting is usb general-purpose interface mate with the other end of usb data wire, core board 2 and Connected by usb data wire between base plate 11.When needing to change core board 2, only usb data wire need to be extracted on core board 2 Interface can achieve that core board 2 is separated with base plate 11, thus realizing being detachably connected of core board 2 and base plate 11.Additionally, Main control board 1 can also be powered to core board 2 by USB (universal serial bus) usb.
Further, in present embodiment, between core board 2 and secondary host chip 12, a number is sent by usb agreement During bag, the packet being sent carries at least two instructions.Secondary host chip 12 is mainly used in from core The various instructions of core 2 carry out simple process, to export the instruction that machine head plate is capable of identify that, the speed of its process instruction, And internal memory is typically small, and in present embodiment, due to passing through USB (universal serial bus) between core board 2 and secondary host chip 12 Usb is communicated, if now according to existing usb standard agreement carry out instruction transmission, in transmitting procedure, instruction be with The form sending an instruction every time is transmitted, such as, for the core board 2 as sender, core board 2 will solve When multiple instruction obtained by analysis flower pattern file is sent to secondary host chip 12, send instruction according to existing usb standard agreement Shi Ze is each one packet comprising an instruction of transmission, and secondary host chip 12 receives an instruction, thus every time Lead to the data transmission bauds between core board 2 and secondary host chip 12 slower, and secondary host chip 12 need to receive multiple Just processed after instruction and instructed with corresponding to machine head plate output, so that secondary host chip 12 cannot quick obtaining be derived from The multiple instruction of core board 2, consequently, it is possible to leading to machine head plate that related executive component cannot be driven in time to carry out spinstry, reduces Production efficiency.Therefore, slower for solving the problems, such as the transmission speed of serial transmission mode, in present embodiment, core board 2 exists It is sent in a packet of secondary host chip 12 naturally it is also possible to be in each packet sending, make to send every time One packet carries at least two instructions, and thus secondary host chip 12 disposably can receive multiple instruction, thus improve The efficiency of data transfer is so that secondary host chip 12 can obtain the instruction from core board 2 in time, and then ensure that data obtains The real-time taking, improve production efficiency.
Wherein, in order to realize making in the packet sending by usb agreement between core board 2 and secondary host chip 12 Carry multiple instruction, in present embodiment, before sending packet, multiple instruction is packaged.Specifically, core board 2 And secondary host chip 12 between by usb agreement send a packet before, using self-defined tunneling usb agreement it On multiple instruction is encapsulated as a packet.In the data transmission procedure of usb agreement, need before transmitting the data to transmission Data be packaged into packet after can be transmitted, recipient needs packet is solved after receiving data Analysis.The upper strata of usb agreement is referred to, that is, before using usb protocol transmission data on usb agreement described in present embodiment Data processing stage.In existing usb agreement, before transmitting the data, typically according to standard tunneling by one Instruction is packaged into a packet and is once sent, and recipient be also according to standard analysis protocol to the data receiving Bag is parsed and is obtained an instruction.In present embodiment, then it is using self-defining tunneling, multiple instruction to be encapsulated Become a packet, even if carrying multiple instruction in a packet, with transmit a packet when can by multiple instruction with When be transmitted.In addition, for the recipient of receiving data bag, it is adopted when receiving the packet being packaged with multiple instruction Intercept out multiple instruction in the packet with self-defined analysis protocol corresponding with self-defining tunneling, thus complete data Transmission.
It should be noted that the quantity of entrained instruction in each packet can according to circumstances be set, meeting Under the requirement of memory capacity of transmission speed and secondary host chip 12, in packet, the quantity of entrained instruction is more, passes Defeated efficiency is also higher.
Additionally, when being packaged according to self-defining tunneling to multiple instruction, carrying due in each packet Multiple instruction, therefore makes the packet that encapsulation obtains carry self-defining packet header mark and the knowledge of bag tail tag, in order to as a number Mark according to bag.Thus, can be carried according to each packet when a side of receiving data bag is sequentially received multiple packet Packet header mark and bag tail tag know and intercept out a packet, and then this packet is parsed many in packet to obtain Individual instruction.And, when carrying out packet encapsulation, so that each instruction in a packet is carried and self-defining separate mark Know, in order to the mark as an instruction.The mark that separates of each instruction differs, thus when a side of receiving data bag is to one When individual packet is parsed to obtain the multiple instruction in packet, can the mark that separates according to entrained by each instruction intercept Go out each instruction, thus each instruction can be processed.
Carry out simultaneous transmission although being encapsulated in multiple instruction in one packet in the present embodiment, but due to usb The error correcting capability of agreement is stronger, contains the functions such as error of transmission management, Fault recovery in usb agreement, simultaneously can be according to not With transport-type processing error of transmission, even if therefore making a mistake also without spending the too many time to enter in transmitting procedure Row retransmits.
In the present invention one preferred implementation, core board 2 is master control and plc with the matching relationship of base plate 11 The matching relationship of (programmable logic controller, programmable logic controller (PLC)) pattern, i.e. the weaving of the present invention The electric-control system of equipment is plc control system, and core board 2 carries out the control of whole fabrication processes according to plc program.Plc controls System has the advantages that strong antijamming capability, reliability and stability are high, and plc programming is simple, logicality relatively strong so that Control function is easier to realize, and therefore, the present invention adopts plc electric-control system, so that Weaving device performance is more preferably.Certainly, In other embodiments, core board 2 can also adopt Single-chip Controlling, pcc (programmble computer Controller, programmable computer controller) mode such as control to be coordinated with base plate 11, to carry out the control of fabrication processes Work.
Refering to Fig. 3, in another embodiment of automation equipment of the present invention, still taking Weaving device as a example, and different figure The element effect of the identical label in showing is identical, also includes the i/o expansion board 3 being arranged on main control board 1.I/o expansion board 3 The mcu enriching for io mouth, it is connected with the secondary host chip 12 on main control board 1, with by secondary host chip 12 and core Plate 2 is attached, and i/o expansion board 3 passes through i2C bus is communicated with core board 2, with realize Yarn feeder motor speed governing, The function such as the rotating of secondary Lora motor and speed governing, the rotating of folding motor and speed governing.Core is made by i/o expansion board 3 Plate 2 can connect more ancillary equipment.Different customer demands is different, in prior art, for meeting the demand of different clients Typically require the different connecting line of setting and connect core board 2, cause circuit complicated in a jumble, in the present embodiment, by setting I/o expansion board 3, the correlation function on core board 2 is guided to i/o expansion board 3, therefore for different clients, only needs root According to the corresponding io mouth in its demand grafting i/o expansion board 3, the demand of different clients can either be met, easy to use, and can keep away Exempt from the wiring of complexity so that connection and distribution are simpler.
Wherein, in a preferred embodiment, i/o expansion board 3 can be removable with the base plate 11 of main control board 1 by connecting line Unload connection, with by base plate 11 auxiliary connection host chip 12.Certainly, in other embodiments, i/o expansion board 3 can also be straight Patch and be connected on base plate 11, respectively the interface matching is set in i/o expansion board 3 and base plate 11, with by pluggable Mode is attached, and then realizes being detachably connected of i/o expansion board 3 and base plate 11.
Because different core boards 2 needs, using different i/o expansion board 3, therefore when needing to change core board 2, to lead to Often it is also required to change corresponding i/o expansion board 3.Present embodiment is by making between i/o expansion board 3 and base plate 11 using detachable Mode is attached, and can be more convenient the dismounting of i/o expansion board 3.
Refering to Fig. 4, in the another embodiment of automation equipment of the present invention, the element of the identical label in different diagrams Effect is identical, and equipment also includes the stepper motor driver 4 being arranged on main control board 1, and stepper motor driver 4 specifically sets Put on base plate 11.In existing Weaving device, stepper motor driver is arranged on typically as a single part In the lathe of Weaving device, including communication control module, driving chip and power tube (h bridge), communication control module is to being derived from The signal of the secondary host chip on main control board carries out changing, Data Frontend process, level match etc., and also receive self-powered The warning of dynamic chip.And in present embodiment, stepper motor driver 4 is arranged on main control board 1, it can be by weldering The fixing stepper motor driver 4 of the mode such as connect, or can also be by removably general on the base plate 11 of main control board 1 Stepper motor driver 4 is arranged on the base plate 11 of main control board 1.Therefore when controlling motor operating, from master control electricity On road plate 1, control signal out is the drive signal of motor, can directly drive motor operating.
Wherein, stepper motor driver 4 includes driving chip 41 and power driving circuit 42.Driving chip 41 connects respectively Secondary host chip 12 and power driving circuit 42.Driving chip 41 is used for inputting the control signal of secondary host chip 12, and according to The control signal output multi-channel drive signal being derived from secondary host chip 12 is to power driving circuit 42, thus power driving circuit 42 Drive multiple motors to be operated respectively according to multi-channel drive signal, be achieved in the control of motor.Additionally, driving Chip 41 is additionally operable to feedback signal back to secondary host chip 12, and this feedback signal is used for feeding back every operation of motor Parameter.Secondary host chip 12 outputs control signals in driving chip 41 according to feedback signal, and also match parameter is defeated Go out to driving chip 41.By the collective effect of driving chip 41 and secondary host chip 12, realize the closed loop control to motor System, can be controlled to motor according to the situation of motor real-time motion, improve the accurate of motor rotation Property.
By, in present embodiment, stepper motor driver 4 being integrated on the base plate 11 of main control board 1, thus secondary Host chip 12 can be directly connected to driving chip 41, and makes secondary host chip 12 increase the ability processing feedback signal and increase The ability of coupling driving chip 41, therefore compared with the existing, can dispense communication control module.
Refering to Fig. 5, in the another embodiment of automation equipment of the present invention, the element of the identical label in different diagrams Effect is identical, and equipment further comprises memorizer 5, and memorizer 5 includes memory mapping area.Core board 2 operation control into Cheng Shi, controls process specifically to adopt memory mapping technique by the current operating state data in control process and current sensor data Store to memory mapping area.When running collection process, collection process specifically adopts memory mapping technique to gather internal memory to core board 2 The current operating state data of map section and current sensor data.
Certainly, in other embodiments, collection process can not also obtain work at present shape by memory mapping technique State data and current sensor data, it can be by the current operating state in pipeline or queue message technology acquisition controlling process Data and current sensor data.
Identical label refering to Fig. 6 and Fig. 7, in the another embodiment of automation equipment of the present invention, in different diagrams Element effect identical, equipment also includes operating case 6, operating case 6 be mainly used in for operator input various operational orders carry For input media.Operating case 6 includes one piece of operation box plate 61.In the present embodiment, core board 2 is as the one of operating case 6 Part is plugged on operation box plate 61, is provided with the slot for grafting core board 2, core board 2 on operation box plate 61 On be there is the socket being matched with this slot, by the socket on core board 2 with operation box plate 61 on slot cooperation, can Realize core board 2 and operate being detachably connected of box plate 61.When needing to change core board 2, only core board 2 need to be pulled away behaviour Make box plate 61, then by new core board 2 update box plate 61, facilitate the replacing of core board 2.Additionally, operating case Base plate 61 is detachably connected by the data wire with general-purpose interface with the base plate 11 on main control board 1, is achieved in core board 2 With being detachably connected of secondary host chip 12, operation box plate 61 is provided with the general-purpose interface 66 being connected with core board 2, should General-purpose interface 66 is matched with the Single port of the data wire with general-purpose interface, and the base plate on main control board 1 is provided with and secondary master The general-purpose interface that movement piece 12 connects, this general-purpose interface is matched with the another port of the data wire with general-purpose interface, thus may be used Being detachably connected of core board 2 and secondary host chip 12 is realized by the data wire with universal port.
Wherein, as shown in figure 9, operating case 6 also includes display screen 62 and man-machine interaction circuit 63, wherein, man-machine interaction electricity Road 63 is operation button, is equivalent to keyboard.Display screen 62 and man-machine interaction circuit 63 pass through to operate box plate 61 to connect core board 2, it is provided with, on operation box plate 61, the slot connecting core board 2, display screen 62, human-computer exchange circuit 63 can be by communications Bus is connected with the associated socket on operation box plate 61, thus connecting core board 2 by associated socket.
Therefore, in present embodiment, display screen 62 and core board 2 are all provided on operating case 6.And in prior art In Weaving device, core board is provided on main control board, and it needs longer connecting line to enter with the display screen in operating case Row connects, if the display signal on core board is directly sent to the display screen of operating case by longer connecting line, Due to connecting line longer and make display signal be easily interfered, impact data normal display, and in prior art in order to Reduce display interference in transmitting procedure for the signal, using display modular converter and differential signal line transmitting display signal therefor, to drop Low interference.Unlike the prior art, in present embodiment, display screen 62 and core board 2 are arranged in operating case 6, It is to pass through to operate box plate 61 to be directly connected to core board 2 in operating case 6 by this display screen 62, connecting line between the two is relatively Short, thus without the display modular converter and longer differential signal line of prior art, display signal need not from operating case it Ttl signal is switched to differential signal through display modular converter on outer main control board farther out, on operating case again through aobvious Show that differential signal is switched to the complicated processes to display screen for the ttl signal by modular converter, that is, save at least two display moduluss of conversion Block and the differential signal line between them, also save the slot of special this differential signal line of grafting on main control board, cost It is greatly reduced；It is additionally, since display screen 62 to pass through to operate box plate 61 to connect core board 2 in operating case, distance is very short and keeps away Opened signal interference environment, synchronous signal connects relatively reliable, therefore shows that signal stabilization is ensured, be greatly reduced due to Show the operational risk leading to that breaks down.
Further, in the preferred embodiment for the present invention, man-machine interaction circuit 63 is disposed on touching on display screen 62 Touch screen or the touch display screen two-in-one with display screen 62.Realize man-machine interaction by the way of touch screen, more convenient operator The operation of member, and so that the structure of operating case 6 is simpler, reduce loaded down with trivial details wiring.
In a preferred embodiment of this invention, refering to Fig. 8, operating case 6 is panel computer, and display screen 62 and man-machine interaction are electric The touch display screen that road 63 unites two into one as panel computer, panel computer is provided with the general-purpose interface for being connected with base plate 11 66, this general-purpose interface 66 also connects the core board 2 within panel computer simultaneously.Wherein, in present embodiment, core board 2 is logical Cross the modes such as welding to be fixed on operation box plate 61.Certainly, core board 2 can also detachably be connected with operation box plate 61 Connect, for example, can be provided for plugging the socket of core board 2 in the side of panel computer, operation box plate 61 is provided with for even Connect the circuit of core board 2, so that making core board 2 and operation box plate when core board 2 is from this socket insertion panel computer Circuit on 61 connects, so that core board 2 being capable of normal work.
In a preferred embodiment of this invention, refering to Fig. 9, operating case 6 also includes connecting the usb hub 64 of core board 2 With radio communication circuit 65.Usb hub 64 and radio communication circuit 65 operate on box plate 61 and core with being arranged on respectively The associated socket that core 2 connects connects, thus realizing the connection of itself and core board 2, core board 2 can select one of which to communicate Mode and external device communication.It is of course also possible to be only to arrange one of usb hub 64 and radio communication circuit 65 and core Core 2 connects, to realize the communication of core board 2 and external equipment.
In one of embodiment of the present invention, Weaving device includes the first circuit board and second of distributed setting Ac/dc change-over circuit is provided with circuit board, wherein first circuit board, the alternating voltage receiving is changed by ac/dc change-over circuit The first DC voltage, first circuit board and second circuit board is become to be respectively arranged with dc/dc change-over circuit, the first DC voltage is respectively Supply the dc/dc change-over circuit to first circuit board and second circuit board, and be converted into by dc/dc change-over circuit each required The second DC voltage.By with upper type, the present invention, it can be avoided that additionally arranging power supply assembly, greatly reduces supply line Complexity.
In the other in which embodiment of the present invention, also in offer Weaving device between at least two action elements Poewr control method, the method includes: controls the control system of at least two action elements to obtain control instruction；Parsing control refers to Whether order is for controlling the execution action simultaneously within least part of time of at least two action elements；If control instruction is used for controlling The action simultaneously of at least two action elements, then offset one from another the execution time of the action of at least two action elements, make simultaneously The implementation effect obtaining at least two action elements meets requirement.By with upper type, embodiment of the present invention is it can be avoided that at least Actual power during two action element actions simultaneously is excessive, and power consumption is greatly reduced, especially for controlling the size simultaneously Under the scene of more action element, power savings are particularly evident.
Refering to Figure 10, in control system one embodiment of automation equipment of the present invention, control system includes the first control Circuit 701, second control circuit 702, first substrate 703 and second substrate 704.Wherein, first control circuit 701 is arranged on On first substrate 703, the first real-time and the first operational capability are had on auto-control equipment.Second control circuit plate 702 are arranged on second substrate 704, have the second real-time and the second operational capability on controlling Weaving device.
Wherein, the first real-time is higher than the second real-time, and the first operational capability is less than the second operational capability.Second substrate 704 are detachably connected by the data wire with general-purpose interface with first substrate 703 so that second control circuit 702 can be by the The operation of one control circuit 701 auto-control equipment.Preferably, this general-purpose interface is usb interface, it is of course also possible to be can Interface.Certainly, second substrate 704 and first substrate 703 can also be wireless connections, for example, carried out even by wifi or bluetooth Connect.
Specifically, in present embodiment, first control circuit 701 sets automation equipment for weaving taking Weaving device as a example The secondary host chip on main control board in standby.Second control circuit 702 corresponds to the core board in Weaving device, to weaving The weaving operation of equipment plays core control action.First substrate 703 is the base plate of the main control board in Weaving device.Second base Plate 704 is the base plate for fixing second control circuit 702, and this base plate can be the operating case bottom of the operating case in Weaving device Plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 703.Wherein, described main control board, core Core, the base plate of secondary host chip, operation box plate and main control board can be respectively arbitrary shown in above-mentioned Fig. 2-Fig. 9 Main control board in embodiment, core board, the base plate of secondary host chip, operation box plate and main control board.Therefore, It is above-mentioned that second control circuit 702 controls the detailed process of the textile operation of Weaving device to refer to by first control circuit 701 Each embodiment is carried out, and here is not repeated one by one.
Present embodiment, because the second substrate 704 for arranging second control circuit 702 controls with for setting first The first substrate 703 of circuit 701 is detachably connected by the data wire with general-purpose interface, therefore second control circuit 702 and One control circuit 701 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to the second control electricity The replacing on road 702, and when the second control circuit 702 more renewing, it is provided with the second substrate of new second control circuit 702 General-purpose interface on 704 remains and the general-purpose interface that matches on first substrate 703, even if the second control therefore more renewing Circuit 702, also without redesigning first substrate 703, thus can avoid first substrate 703 to be involved and be damaged.This Outward, second control circuit 702 is not arranged on first substrate 703, therefore can when changing or keep in repair second control circuit 702 More convenient artificial operation.
Refering to Figure 11, in control device one embodiment of automation equipment of the present invention, including first control circuit 801 He First substrate 802.First control circuit 801 is arranged on first substrate 802, has the first real-time on controlling Weaving device With the first operational capability.Wherein, the first real-time is higher than the second real-time, and the first operational capability is less than the second operational capability, institute The second real-time stated and the second operational capability are the real-time of second control circuit 804 and fortune on second substrate 803 respectively Calculation ability.
Wherein, first substrate 802 is used for being detachably connected by the data wire with general-purpose interface with second substrate 803, from And make second control circuit 804 can pass through the operation of first control circuit 801 auto-control equipment.Preferably, this is general Interface is usb interface, it is of course also possible to be can interface.In other embodiments, second substrate 803 and first substrate 802 it Between can also be wireless connect, be for example attached by wifi or bluetooth.
Specifically, in present embodiment, still, first control circuit 801 is to spin to automation equipment taking Weaving device as a example Knit the secondary host chip on the main control board in equipment.Second control circuit 804 corresponds to the core board in Weaving device, right The weaving operation of Weaving device plays core control action.First substrate 802 is the base plate of the main control board in Weaving device.The Two substrates 803 are the base plate for fixing second control circuit 804, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 802.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively shown in above-mentioned Fig. 2-Fig. 9 Any embodiment in main control board, core board, the bottom of secondary host chip, operation box plate and main control board Plate.Therefore, the detailed process of the textile operation by first control circuit 801 control Weaving device for the second control circuit 804 can Carry out with reference to the respective embodiments described above, here is not repeated one by one.
Present embodiment, because the second substrate 803 for arranging second control circuit 804 controls with for setting first The first substrate 802 of circuit 801 is detachably connected by the data wire with general-purpose interface, therefore second control circuit 804 and One control circuit 801 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to the second control electricity The replacing on road 804, and when the second control circuit 804 more renewing, it is provided with the second substrate of new second control circuit 804 General-purpose interface on 803 remains and the general-purpose interface that matches on first substrate 802, even if the second control therefore more renewing Circuit 804, also without redesigning first substrate 802, thus can avoid first substrate 802 to be involved and be damaged.This Outward, second control circuit 804 is not arranged on first substrate 802, therefore can when changing or keep in repair second control circuit 804 More convenient artificial operation.
In a preferred embodiment, control device also includes the i/o expansion board 805 being detachably connected first substrate 802.i/ O expansion board 805 is connected with first substrate 802, and then connects first control circuit 801 by first substrate 802, thus the second control The output of circuit 804 processed can be transmitted to i/o expansion board 805 by first control circuit 801, thus can greatly simplify second The output of control circuit 804, and for different demands, the different io mouths in i/o expansion board 805 only need to be connected, convenient Use, and wiring can be simplified.Wherein, i/o expansion board 805 can be attached with first substrate 802 by inserting mode, with Realize both be detachably connected.
In a preferred embodiment, control device also includes stepper motor driver 806.In existing Weaving device, Stepper motor driver is arranged in the lathe of Weaving device typically as a single part, including Control on Communication mould Block, driving chip and power tube (h bridge), communication control module enters to the signal of the secondary host chip on main control board Row conversion, Data Frontend process, level match etc., and also receive the warning from driving chip.In the present embodiment, stepping Motor driver 806 is fixed on first substrate 802, for example, can be fixed on stepper motor driver 806 by welding manner It is also possible to make stepper motor driver 806 be arranged on first substrate 802 by removably on first substrate 802.Stepping Motor driver 806 includes driving chip 8061 and power driving circuit 8062.Driving chip 8061 connects the first control respectively Circuit 801 and power driving circuit 8062.Driving chip 8061 is used for inputting the control signal of first control circuit 801, and root According to the control signal output multi-channel drive signal from first control circuit 801 to power driving circuit 8062, thus power drives Galvanic electricity road 8062 drives multiple motors to be operated according to multi-channel drive signal respectively, is achieved in the control of motor System.Additionally, driving chip 8061 is additionally operable to feedback signal back to first control circuit 801, this feedback signal is used for feeding back Every operational factor of motor.First control circuit 801 outputs control signals to driving chip according to feedback signal In 8061, and also match parameter is exported to driving chip 8061.By driving chip 8061 and first control circuit 801 Collective effect, realizes the closed loop control to motor, according to the situation of motor real-time motion, motor can be entered Row controls, and improves the accuracy of motor rotation.Meanwhile, in present embodiment, by stepper motor driver 4 and the first control Circuit 801 processed is together integrated on first substrate 802, thus first control circuit 801 can be directly connected to driving chip 8061, and Make first control circuit 801 increase process feedback signal ability and increase coupling driving chip 8061 ability, therefore with Existing compare, communication control module can be dispensed.
Refering to Figure 12, in another embodiment of control device of automation equipment of the present invention, including second control circuit 901 With second substrate 902.Second control circuit 901 is arranged on second substrate 902, has second real-time on controlling Weaving device Property and the second operational capability, and the second real-time be less than the first real-time, the second operational capability be higher than the first operational capability.Described The first real-time, the first operational capability be the real-time of first control circuit 904 and computing energy on first substrate 903 respectively Power.
Wherein, second substrate 902 is used for being detachably connected by the data wire with general-purpose interface with first substrate 903, makes Obtain second control circuit 901 and be detachably connected first control circuit 904, and set by first control circuit 904 auto-control Standby operation.Preferably, this general-purpose interface is usb interface, it is of course also possible to be can interface.Additionally, second substrate 902 and Can also be attached by way of wireless connection between one substrate 903.
Specifically, in present embodiment, still, first control circuit 904 is to spin to automation equipment taking Weaving device as a example Knit the secondary host chip on the main control board in equipment.Second control circuit 901 corresponds to the core board in Weaving device, right The weaving operation of Weaving device plays core control action.First substrate 903 is the base plate of the main control board in Weaving device.The Two substrates 902 are the base plate for fixing second control circuit 901, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 903.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively shown in above-mentioned Fig. 2-Fig. 9 Any embodiment in main control board, core board, the bottom of secondary host chip, operation box plate and main control board Plate.Therefore, the detailed process of the textile operation by first control circuit 904 control Weaving device for the second control circuit 901 can Carry out with reference to the respective embodiments described above, here is not repeated one by one.
Present embodiment, because the second substrate 902 for arranging second control circuit 901 controls with for setting first The first substrate 903 of circuit 904 is detachably connected by the data wire with general-purpose interface, therefore second control circuit 901 and One control circuit 904 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to the second control electricity The replacing on road 901, and when the second control circuit 901 more renewing, it is provided with the second substrate of new second control circuit 901 General-purpose interface on 902 remains and the general-purpose interface that matches on first substrate 903, even if the second control therefore more renewing Circuit 901, also without redesigning first substrate 903, thus can avoid first substrate 903 to be involved and be damaged.This Outward, second control circuit 901 is not arranged on first substrate 903, therefore can when changing or keep in repair second control circuit 901 More convenient artificial operation.
Additionally, in present embodiment, second control circuit 901 is used for running the control process controlling Weaving device and fortune At least one of collection process outside row control process, interprocess communication process.
Specifically, described control process is used for controlling the textile operation of Weaving device, including the execution driving for weaving Element.Specifically, memorizer such as the u disk etc. storing the flower pattern file being woven in need is inserted the by operator first The usb interface for receiving flower pattern file in two control circuits 901, second control circuit 901 passes through to read flower pattern file simultaneously Flower pattern file is parsed.Additionally, in here control process, first control circuit 904 receives working as of each executive component feedback Front operating state data, the related data of the operational factor that this current operating state data is current to executive component, and ought Front operating state data is sent to second control circuit 901.Separately, second control circuit 901 also accepts the current of various sensors Sensing data.Second control circuit 901 is according to the current operating state data receiving, current sensor data and parsing flower pattern literary composition Data genaration braid movement instruction obtained by part, and the instruction of the braid movement of generation is sent to the by second substrate 903 One control circuit 904.First control circuit 904 generates execute instruction according to the braid movement instruction receiving, and this is executed Instruction is sent to the machine head plate of head.Machine head plate receives the execute instruction from first control circuit 904, to be referred to according to this execution Order drives the executive component for weaving to carry out operation of weaving.
Described collection process is used for current operating state data and current sensor data in acquisition controlling process, and will adopt The current operating state data collecting and current sensor data are carried out with previous operating state data, previous sensing data respectively Relatively, to be sent this comparative result by interprocess communication when comparative result is for difference, or by current operating state number Go out according to current sensor data is activation.
Specifically, in control process, second control circuit 901 receives the current work of first control circuit 904 collection Make status data and current sensor data, these current operating state data and current sensor data are all written into control process Status architecture body in.Wherein, the data that state of a process structure is preserved is controlled to be up-to-date operating state data and biography Sense data, second control circuit 901 after receiving current operating state data and current sensor data, that is, updates status architecture Data in body is current operating state data and current sensor data.Collection process is used for reading in control state of a process knot Current operating state data recorded in structure body and current sensor data.Additionally, task before also recording in collection process Status data and previous sensing data.Therefore, in collection process, in the current operating state data reading control process with currently After sensing data, by the current operating state reading data, current sensor data respectively with previous operating state data, previous Sensing data is compared.When one of comparative result differs or the comparative result of two is different from, will compare Relatively result is sent by interprocess communication, or current operating state data and current sensor data can also be passed through communication Process sends, or can also all send comparative result, current operating state data and current sensor data, example As sent to the display screen of operating case, with the current operating state of real-time display Weaving device so that operator are permissible Clearly grasp the ruuning situation of equipment.In addition it is also possible to current operating state data, current sensor data and comparative result are sent out Deliver in other equipment, such as storage device or printing device etc., with the current operating state data of outut device with work as forward pass Sense data, or output current operating state data, current sensor data and comparative result simultaneously.Certainly, in alternative embodiment party In formula, in order to the real-time ruuning situation grasping current device, in collection process, when comparative result phase it is also possible to Current operating state data and current sensor data is activation are gone out, such as sends to display screen, working as with real-time display device Front ruuning situation.
Wherein, described control process and collection process are separate two process, that is, control process and gather into Journey is detached two processes.In existing Weaving device, it controls process and collection process to be usually same process, that is, Collection process is the part as the process of control, and Weaving device had both driven in a control process and executed unit for weave Part, also by obtained current operating state data, current sensor data during driving executive component respectively with previous Operating state data, previous sensing data are compared, and in comparative result or current operating state data, current sensor data Send, consequently, it is possible to then when comparison procedure involves a delay as gathered data not in time, or the mistake that data is activation is gone out When journey makes a mistake, then the process driving executive component to carry out weaving operation can be made to be involved, be easily caused driving execution The process that element is weaved is unstable, has influence on being normally carried out of textile operation.In the present embodiment, will gather process and Control process, as two separate processes, makes collection process separate from control process, thus in the process of control In be only by and drive executive component to carry out the related work of textile operation, by current operating state data, current sensor number Carry out as another process according to the comparison procedure with previous operating state data, previous sensing data, and, in comparative result Interprocess communication when different sending the information such as comparative result is also two separate processes with control process, thus Enable to also be not result in that when collection process or interprocess communication break down control process is involved, can be as much as possible Control process is avoided to be affected by collection process, interprocess communication, to ensure being normally carried out of textile operation.
Refering to Figure 13, in the another embodiment of the control device of automation equipment of the present invention, including first control circuit 1001 and first substrate 1002.First control circuit 1001 is arranged on first substrate 1002, for auto-control equipment Operation.Wherein, first substrate 1001 is used for being detachably connected by the data wire with general-purpose interface with second substrate 1003, makes Obtain the operation that the second control circuit 1004 on second substrate 1003 can pass through first control circuit 1001 auto-control equipment. Preferably, this general-purpose interface is usb interface.Certainly, can also be by wireless between first substrate 1001 and second substrate 1002 The mode connecting is attached.
Wherein, still, first control circuit 1001 corresponds in Weaving device automation equipment taking Weaving device as a example Secondary host chip on main control board.Second control circuit 1004 corresponds to the core board in Weaving device, to Weaving device Weaving operation play core control action.First substrate 1002 corresponds to the base plate of the main control board in Weaving device.Second Substrate 1003 is the base plate for fixing second control circuit 1004, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 1002.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively shown in above-mentioned Fig. 2-Fig. 9 Any embodiment in main control board, core board, the bottom of secondary host chip, operation box plate and main control board Plate.Therefore, second control circuit 1004 controls the detailed process of the textile operation of Weaving device by first control circuit 1001 Refer to the respective embodiments described above to carry out, here is not repeated one by one.
Refering to Figure 14, the present invention also provides an embodiment of the operating case of automation equipment, in this embodiment, with Automation equipment illustrates for as a example Weaving device, and certainly, in other embodiments, automation equipment can also make printing and dyeing Other plant equipment such as equipment.Operating case is panel computer, and it includes first control circuit 1101 and first substrate 1102.First Control circuit 1101 is arranged on first substrate 1102.
Wherein, first control circuit 1101 can be detachably connected by inserting mode with first substrate 1102.
Wherein, first substrate 1102 is used for being detachably connected by general-purpose interface with second substrate 1103, so that the One control circuit 1101 can control the weaving of Weaving device by the second control circuit 1104 being arranged on second substrate 1103 Operation.Preferably, this general-purpose interface is usb interface.Wherein, first control circuit 1101 corresponds to the core in Weaving device Plate, the weaving operation to Weaving device plays core control action, first substrate 1102 correspond to operate box plate naturally it is also possible to It is other base plates in addition to second substrate 1103, second control circuit 1104 corresponds on the main control board in Weaving device Secondary host chip, second substrate 1103 corresponds to the base plate of the main control board in Weaving device.Described main control board, Core board, the base plate of secondary host chip, operation box plate and main control board can be respectively appointing shown in above-mentioned Fig. 2-Fig. 9 Main control board in one embodiment, core board, the base plate of secondary host chip, operation box plate and main control board.Cause This, first control circuit 1101 controls the detailed process of the textile operation of Weaving device to refer to by second control circuit 1104 The respective embodiments described above are carried out, and here is not repeated one by one.
In a preferred implementation of operating case of the present invention, operating case also includes connecting first control circuit 1101 Usb hub 1105 and radio communication circuit 1106.Usb hub 1105 and radio communication circuit 1106 respectively be arranged on The associated socket being connected with core board 2 on one substrate 1101 is connected, to realize the connection of itself and first control circuit 1101, the One control circuit 1101 can select one of which and external device communication.It is of course also possible to be only to arrange usb hub 1105 Be connected with first control circuit 1101 with one of radio communication circuit 1106, with realize first control circuit 1101 with outside The communication of equipment.
Certainly, in the other embodiment of the operating case of automation equipment of the present invention, first control circuit 1101 also may be used To be fixed on first substrate 1102 by modes such as welding, and there is on controlling Weaving device the first real-time and the first fortune Calculation ability, this first real-time is less than the second real-time, and the first operational capability is higher than the second operational capability.Second real-time and Second operational capability is the real-time of second control circuit 1104 and operational capability on second substrate 1103 respectively.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations Technical field, is included within the scope of the present invention.

Claims (15)

1. a kind of automation equipment is it is characterised in that include:
Main control board and core board；
Wherein, described main control board includes base plate and the secondary host chip being arranged on base plate, described core board and described bottom Plate is detachably connected by general-purpose interface, and connects described pair host chip by described base plate, and described core board is not provided with On described base plate.
2. automation equipment according to claim 1 is it is characterised in that the matching relationship of described core board and described base plate For master control and plc pattern matching relationship.
3. automation equipment according to claim 1 is it is characterised in that include the i/ being arranged on described main control board O expansion board.
4. automation equipment according to claim 3 is it is characterised in that described i/o expansion board is detachably connected described master Control circuit board.
5. automation equipment according to claim 1 is it is characterised in that include the step being arranged on described main control board Stepper motor driver, described stepper motor driver includes driving chip and power driving circuit, and described driving chip connects respectively Connect described pair host chip and described power driving circuit, described driving chip inputs the control signal of described pair host chip, Output multi-channel drive signal extremely described power driving circuit, and by feedback signal back to described pair host chip, described pair Host chip exports described control signal according to described feedback signal, and match parameter is exported to described driving chip.
6. the automation equipment according to any one of claim 1 to 5 is it is characterised in that described core board is used for running control At least one of collection process outside the control process of automation equipment processed and the described control process of operation, interprocess communication Process；
Wherein, described control process is used for the operation of auto-control equipment, including the executive component driving for operation, described Collection process is used for gathering current operating state data and current sensor data in described control process, and described in collecting Current operating state data, current sensor data are compared with previous operating state data, previous sensing data respectively, and at least exist Described comparative result is sent when being different by described comparative result by described interprocess communication, or by described work at present shape State data and current sensor data is activation are gone out；
Wherein, described control process is separate with least one of described interprocess communication, described collection process process.
7. automation equipment according to claim 6 it is characterised in that
Described automation equipment further includes memorizer, at least includes memory mapping area in described memorizer, described control into Journey specifically adopts memory mapping technique by current operating state data and current sensor data storage in described control process to institute State memory mapping area, described collection process specifically adopts memory mapping technique to gather the current operating state of described memory mapping area Data and current sensor data；Or
Described collection process gathers current operating state data in described control module especially by pipeline or queue message technology With current sensor data.
8. the automation equipment according to any one of claim 1-5 it is characterised in that
Described automation equipment is Weaving device.
9. a kind of control system of automation equipment is it is characterised in that include:
First control circuit, second control circuit, first substrate and second substrate；
Described first control circuit is arranged on described first substrate, has the first real-time on controlling described automation equipment With the first operational capability；
Described second control circuit is arranged on described second substrate, has the second real-time on controlling described automation equipment With the second operational capability；
Wherein, described first real-time is higher than described second real-time, and described first operational capability is less than described second computing energy Power；
Described second substrate be wirelessly connected with described first substrate or be detachably connected by the data wire with general-purpose interface so that Described second control circuit can control the operation of described automation equipment by described first control circuit.
10. a kind of control device of automation equipment is it is characterised in that include:
First control circuit and first substrate；
Described first control circuit is arranged on described first substrate, has the first real-time on controlling described automation equipment With the first operational capability, described first real-time is higher than the second real-time, and described first operational capability is less than the second operational capability, Described second real-time, the second operational capability are the real-time of second control circuit and operational capability on second substrate respectively；
Wherein, described first substrate be used for wirelessly be connected with described second substrate or be detachably connected by general-purpose interface so that Described second control circuit can control the operation of described automation equipment by described first control circuit.
11. control devices according to claim 10 are it is characterised in that include being detachably connected the i/ of described first substrate O expansion board.
12. control devices according to claim 10 are it is characterised in that include the stepping being arranged on described first substrate Motor driver, described stepper motor driver includes driving chip and power driving circuit, and described driving chip connects respectively Described first control circuit and described power driving circuit, described driving chip inputs the control letter of described first control circuit Number, output multi-channel drive signal to described power driving circuit, and by feedback signal back to described first control circuit, institute State first control circuit and described control signal is exported according to described feedback signal, and match parameter is exported to described driving Chip.
A kind of 13. control devices of automation equipment it is characterised in that:
Second control circuit and second substrate；
Described second control circuit is arranged on described second substrate, has the second real-time on controlling described automation equipment With the second operational capability, less than the first real-time, described second operational capability is higher than the first operational capability to described second real-time, Described first real-time, the first operational capability are the real-time of first control circuit and operational capability on first substrate respectively；
Wherein, described second substrate be used for wirelessly be connected with described first substrate or be detachably connected by general-purpose interface so that Described second control circuit can control the operation of described automation equipment by described first control circuit.
14. control devices according to claim 12 are it is characterised in that described second circuit is used for running auto-control At least one of collection process outside the control process of equipment and the described control process of operation, interprocess communication process；
Wherein, described control process is used for the operation of auto-control equipment, including the executive component driving for operation, described Collection process is used for gathering current operating state data and current sensor data in described control process, and described in collecting Current operating state data, current sensor data are compared with previous operating state data, previous sensing data respectively, and at least exist Described comparative result is sent when being different by described comparative result by described interprocess communication, or by described work at present shape State data and current sensor data is activation are gone out；
Wherein, described control process is separate with least one of described interprocess communication, described collection process process.
A kind of 15. control devices of automation equipment are it is characterised in that include:
First control circuit and first substrate；
Described first control circuit is arranged on described first substrate, is at least used for controlling the operation of described automation equipment；
Wherein, described first substrate is used for wirelessly being connected with second substrate or detachably connecting by the data wire with general-purpose interface Connect so that the second control circuit on described second substrate can control described automation equipment by described first control circuit Operation.
CN201410267333.0A 2014-06-16 2014-06-16 Automation equipment and control system thereof, and control device Active CN104111621B (en)

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