CN109866227A - Modularity multi-joint control device - Google Patents
Modularity multi-joint control device Download PDFInfo
- Publication number
- CN109866227A CN109866227A CN201910324302.7A CN201910324302A CN109866227A CN 109866227 A CN109866227 A CN 109866227A CN 201910324302 A CN201910324302 A CN 201910324302A CN 109866227 A CN109866227 A CN 109866227A
- Authority
- CN
- China
- Prior art keywords
- module
- data
- control module
- motor
- internet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention belongs to articulated robot field, especially modularity multi-joint control device, modularity multi-joint control device, including power module, the controller further include Internet of Things control module, motion-control module, motor drive module and integrated electric-type motor mould group；The Internet of Things control module includes Network Interface Module, Sensing interface module, industrial bus interface and USB interface, and Internet of Things control module signal connects Network Interface Module, the Sensing interface module, industrial bus interface and USB interface are electrically connected Internet of Things control module, the present invention passes through Internet of Things control module, Network Interface Module, Sensing interface module and cooperative movement control module and integrated motor mould group, control network is formed convenient for articulated robot controller itself, to make controller itself realize certain modular splicing assembling function and certain assembling modeling ability, Collaborative Control is carried out between different multi-joint control devices.
Description
Technical field
The present invention relates to articulated robot field more particularly to modularity multi-joint control devices.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, suitable for the mechanical automation operation of many industrial circles, and for articulated robot
Control then need using controller, but existing controller exist can not combination and cooperation control, and do not have wireless local area
The problems such as cellular network interconnection, cloud interconnection and articulated robot controller itself form control network.
Therefore modularity multi-joint control device of the invention, can be effectively solved problem above.
Summary of the invention
The purpose of the present invention is to solve problems of the prior art, propose modularity multi-joint control device,
The transmission of multi-channel long turning moment can be provided by power fibre, and movable joint is exported with the motor mould group of integrated form
Turning moment simultaneously carries out SERVO CONTROL, and controller can form combination and cooperation control by communication bus with other controllers.
In addition, the Internet of Things module in controller also realizes that wireless local area cellular network interconnects, the functions such as cloud interconnection, meanwhile, it is local
Modularity multi-joint control device itself can form Collaborative Control network by communications protocol networking with other equipment, help mould group
Combination and cooperation work can be carried out between other equipment by changing multi-joint control device equipment.
Modularity multi-joint control device, including power module, the controller further include Internet of Things control module, motion control
Module, motor drive module and integrated electric-type motor mould group；The Internet of Things control module include Network Interface Module, sensing connect
Mouth mold block, industrial bus interface and USB interface, and Internet of Things control module signal connects Network Interface Module, the sensing connects
Mouth mold block, industrial bus interface and USB interface are electrically connected Internet of Things control module, and Network Interface Module and Sensing interface
Module is connect with industrial bus interface；The motion-control module includes first singlechip, and the first singlechip electrically connects
Meet SDRAM, FPGA and communication bus module；The integrated motor mould group includes motor control module, the motor control mould
Block includes motor drive module, and the motor drive module connects FPGA, second singlechip and communication by photoisolator
Chip, the motor control module connect integrated motor mould group, and the integrated motor mould group includes the first integrated motor
Mould group and the second integrated motor mould group, and integrated motor module internal is provided with encoder, and motor control module and electricity
Motivation is electrically connected encoder.
The Internet of Things control module connects cloud server, carrys out acquisition process data, and transfers data to movement control
Molding block, and there is motion-control module to drive integrated motor module or servo-driver communication interface specific steps are as follows:
1) firstly, Internet of Things control module and cloud server/local server are assisted by signing the transmission such as MQTT/HTTP
View forms the transmission network of data flow, and such Internet of Things control module is by WiFi/4G/5G network communication, to obtain the number in cloud
It is believed that breath or cloud transmission local information equally also can be mutual between Internet of Things control module and other Internet of Things control modules
Connection mainly passes through WiFi local area network transmission；
2) then, since Internet of Things control module is provided with expansion connection module, such as the expansion connection module of USB device,
It can connect the sense module such as camera shooting head, loudspeaker and display or actuator module；For another example network equipment expansion interface mould
Block can connect handheld terminal, intelligent router and unlimited transceiver etc.；It, can be with there are also serial ports/I/O device expansion connection module
Connect sensor, key and debugging mouth etc., realize by the data of cloud server each equipment room mutually transmit and other
The transmission of data flow between Internet of Things control module；
Furthermore 3), received robot data is included corresponding operational data by Internet of Things control module, and by the number that works
There is the signal data of sensor module input to obtain practical judgment data in, corresponding skill is called by practical judgment data
Energy data are simultaneously integrated into active execution data, and transmission actuator module.Internet of Things control module is active execution number
According to motion-control module is given, motion-control module obtains movement instruction data by the active execution data of parsing and is transferred to integrated electricity
Machine mould group or driver interface module, motor mould group or servo-driver control motor to realize by control instruction
System.Motion-control module is deposited with regard to motor group status data, the data such as motion process data and motion-control module data
Storage.
4) finally, Internet of Things module gets the active execution data in actuator module, in conjunction with sensing data, thing
Object object data, is integrated into operational data, and in conjunction with controller equiment data, it is whole to control the task data being manually set in program
It is combined into robot data, is uploaded to server or for being communicated with other controllers.Internet of Things module is from motion control
It includes motion state data, motor skill data that motion control data is obtained in module as active execution data.Internet of Things mould
The memory of block can store operational data, active execution data, and the data such as controller equiment data are saved.
Further, the power module is electrically connected Internet of Things control module, motion-control module, motor drive module
With integrated electric-type motor mould group.
Further, the Internet of Things control module uses Linux system, and Internet of Things control module further includes for outer
The communication interface of expansion equipment is connect, the communication interface connects first singlechip.
Further, driving chip of the FPGA as SDRAM and industrial-controlled general line, and it is electrically connected the second monolithic
Machine.
Further, the motion-control module also signal connection communication interface, the motion-control module also electrically connect
It is connected to servo-driver, the servo-driver is electrically connected external servo motor, and the external servo motor mechanical connection is dynamic
Power is fine, and the power fibre is mechanically connected dynamical element.
Further, the first integrated motor mould group and the second integrated motor mould group include motor, described
First integrated motor mould group is additionally provided with the first power output interface, and described second and integrated motor mould group are provided with second
Power output interface, and motor is electrically connected second singlechip, and motor is mechanically connected retarder, first integrated form
Motor mould group and the second integrated motor mould group are by being electrically connected carry on communication bus.
Further, the servo-driver connects SERVO CONTROL interface, and SERVO CONTROL interface is at least provided with one.
Further, it is connected between the Internet of Things control module and motion-control module by expansion bus, the fortune
The output end of dynamic control module is electrically connected the input terminal of communication bus module.
Further, the communication interface includes CAN bus, serial ports, WiFi interface and 4G/5G interface, the industry
Bus interface uses ethcat bus interface.
Further, the integrated motor mould group and motor control module design for integral type, and motor control module
Motor group in independent control integrated form motor mould group, and motor group is at least arranged one group；The second singlechip signal connection
FPGA controls motor drive module parallel drive multichannel motor；FPGA receive encoder pivoting angle data and data feedback to
Second singlechip, data are transferred to communication interface chip by processing by second singlechip, and data are passed by interface chip
It is defeated by communication bus and data is exported to the interface module in motion-control module；Modularity multi-joint control device passes through bus
Carry integrated motor mould group, communication interface chip receive the motor motion control data of motion controller, and data are passed
It is defeated by second singlechip, second, which converts data to control signal, is input in FPGA, then control signal is transformed by FPGA
The pulse signal of multidiameter delay.
Further, modularity multi-joint control device obtains the sensing data of sensing module and sets practical judgment, and from
The active execution data of actuator module are integrated into the operational data of processing practical judgment, the Internet of Things control module
Communication module signal connects other internet of things equipment, while Internet of Things main control module receives operational data to realize the work of controller
Make task, Internet of Things main control module conveys the active execution data of matching motion-control module as movement control by bus module
The director data of molding block, so that motion-control module driving integrated motor mould group or servo driver drives motor are completed
Corresponding motion process；The motion-control module signal connection integrated motor mould group or servo communication interface, and save
The motion process data of each motor-driven executing agency are formatted storage, form the motion process data of specific format
File, the motion-control module convey action command number of the director data as integrated motor mould group by bus module
According to so that moving control module for controlling driving motor drives executing agency to realize corresponding motion process；The Internet of Things master control
Module obtains external control system by communication bus module or the external control system of the external carry of wireless communication module
Sensing data and active execution data.The Internet of Things main control module is connected with execution construction module by bus module signal,
And actuator module includes motion controller, voice output, showing output etc., other externally export active equipment.
Beneficial effects of the present invention: the present invention by Internet of Things control module, Network Interface Module, Sensing interface module with
And cooperative movement control module and integrated motor mould group, expansible control is formed convenient for articulated robot controller itself
System connects to making controller itself realize certain modular splicing assembling function and certain assembling modeling ability,
In addition Collaborative Control is carried out between different multi-joint control devices, and forms expansible control network；In addition controller can
4G, 5G of mainstream, wifi etc. can be configured to combine the relevant control equipment such as other types motor driver and controller
Relevant network communicating function, and backstage cloud server is linked, to realize remote network control motor device.So as to
The transmission of multi-channel long turning moment is provided, SERVO CONTROL is carried out to turning moment.Controller can be between other controllers
Industrial bus networking is formed, combination and cooperation control is formed, forms Union Movement control system.Controller itself is expansible simultaneously
Integrated motor mould group and servo communication interface connect other motor drivers and be used to realize multi joint motion control, and it is right
Joint carries out real time coordination control, realizes power concentration processing and distal end coordinated control.
Detailed description of the invention
Fig. 1 is the module diagram of modularity multi-joint control device proposed by the present invention；
Fig. 2 is the partial structure diagram of the module of modularity multi-joint control device proposed by the present invention；
Fig. 3 is the control block diagram of the motion-control module of modularity multi-joint control device proposed by the present invention；
Fig. 4 is the control block diagram of modularity multi-joint control device proposed by the present invention.
In figure: 1 power module, 2 Internet of Things control modules, 3 industrial bus interfaces, 4 USB interfaces, 5 Sensing interface modules,
6 Network Interface Modules, 7 first singlechips, 8SDRAM, 9FPGA, 10 interface modules, 11 motion-control modules, 12 motor driven moulds
Block, 13 second singlechips, 14 integrated motor mould groups, 14a the first integrated motor mould group, 14b the second integrated motor mould group,
15 motor, 16 encoders, 17 first power output interfaces, 18 second power output interfaces, 19 second singlechips, 20 servo controls
Interface processed, 21 photoisolators, 22 servo-drivers, 23 outside servo motors, 24 power fibre, 25 dynamical elements, 26 retarders,
27 bus modules, 28 communication modules, 29 sensing modules, the 30 external control decorum, 31 actuator modules.
Specific embodiment
Referring to Fig.1-3, modularity multi-joint control device, including power module 1, the controller further include Internet of Things control mould
Block 2, motion-control module 11, motor drive module 12 and integrated electric-type motor mould group 14；Internet of Things control module 2 includes network
Interface module 6, Sensing interface module 5, industrial bus interface 3 and USB interface 4, and 2 signal of Internet of Things control module connects network
Interface module 6, Sensing interface module 5, industrial bus interface 3 and USB interface 4 are electrically connected Internet of Things control module 1, and net
Network interface module 6 and Sensing interface module 5 are connect with industrial bus interface 3；Motion-control module 11 includes first singlechip
7, first singlechip 7 is electrically connected SDRAM8, FPGA9 and communication bus module 10；Integrated motor mould group 14 includes motor control
Molding block 13, motor control module 13 include motor drive module 12, and motor drive module 12 is connected by photoisolator
FPGA9, second singlechip 19 and communication chip, motor control module 13 connect integrated motor mould group 14, integrated motor
Mould group 14 includes the first integrated motor mould group 14a and the second integrated motor mould group 14b, and inside integrated motor mould group 14
It is provided with encoder 16, and motor control module 13 and motor 15 are electrically connected encoder 16；
Internet of Things control module 2 connects cloud server, carrys out acquisition process data, and transfer data to motion control mould
Block 11, and there is motion-control module 11 to drive integrated motor module or servo-driver communication interface specific steps are as follows:
1) firstly, Internet of Things control module and cloud server/local server are assisted by signing the transmission such as MQTT/HTTP
View forms the transmission network of data flow, and such Internet of Things control module is by WiFi/4G/5G network communication, to obtain the number in cloud
It is believed that breath or cloud transmission local information equally also can be mutual between Internet of Things control module and other Internet of Things control modules
Connection mainly passes through WiFi local area network transmission；
2) then, since Internet of Things control module is provided with expansion connection module, such as the expansion connection module of USB device,
It can connect the sense module such as camera shooting head, loudspeaker and display or actuator module；For another example network equipment expansion interface mould
Block can connect handheld terminal, intelligent router and unlimited transceiver etc.；It, can be with there are also serial ports/I/O device expansion connection module
Connect sensor, key and debugging mouth etc., realize by the data of cloud server each equipment room mutually transmit and other
The transmission of data flow between Internet of Things control module；
Furthermore 3), received robot data is included corresponding operational data by Internet of Things control module, and by the number that works
There is the signal data of sensor module input to obtain practical judgment data in, corresponding skill is called by practical judgment data
Energy data are simultaneously integrated into active execution data, and transmission actuator module.Internet of Things control module is active execution number
According to motion-control module is given, motion-control module obtains movement instruction data by the active execution data of parsing and is transferred to integrated electricity
Machine mould group or driver interface module, motor mould group or servo-driver control motor to realize by control instruction
System.Motion-control module is stored with regard to exercise data and motion-control module data.
4) finally, Internet of Things module gets the active execution data in actuator module, in conjunction with sensing data, thing
Object object data, is integrated into operational data, and in conjunction with controller equiment data, it is whole to control the task data being manually set in program
It is combined into robot data, is uploaded to server or for being communicated with other controllers.Internet of Things module is from motion control
It includes motion state data, motor skill data that motion control data is obtained in module as active execution data.Internet of Things mould
The memory of block can store the operational data of multi-joint control device, and controller equiment data are saved.
Preferably, power module 1 is electrically connected Internet of Things control module 2, motion-control module 11, motor drive module 12
With integrated electric-type motor mould group 14, communication interface includes CAN bus, serial ports, WiFi interface and 4G/5G interface, Internet of Things network control
Molding block 2 uses Linux system, and Internet of Things control module 2 further includes the communication interface for external expansion equipment, and communication connects
Mouth connection single-chip microcontroller 7, Internet of Things control module is the Embedded Hardware Platform of extendable functions, it is motion-control module 11
Host computer carries Embedded Linux system, can integrate robot related application, Internet of Things application, and robot application provides
The main website of relevant communication protocol provides bus extension, such as USB, WiFi, bluetooth etc.；FPGA9 is total with Industry Control as SDRAM8
The driving chip of line, and it is electrically connected second singlechip 19, motion-control module 11 goes back signal connection communication interface, motion control
Module 11 is also electrically connected with servo-driver 22, and servo-driver 22 is electrically connected external servo motor 23, external servo electricity
Machine 23 be mechanically connected power fibre 24, power fibre 24 be mechanically connected dynamical element 25, FPGA9 main function be used as SDRAM8 with
Industrial-controlled general line driving, acquires 16 information of encoder of motor feedback, provides driving signal for motor drive module 12, and
SDRAM8 mainly stores the motion process data by calculating during motion control, when first singlechip 7 needs,
It can call and reappear its motion process.
Preferably, the first integrated motor mould group 14a and the second integrated motor mould group 14b includes motor 15, the
One integrated motor mould group 14a is additionally provided with the first power output interface 17, second and integrated motor mould group 14b is provided with
Two power output interfaces 18, and motor 15 is electrically connected second singlechip 19, and motor 15 is mechanically connected retarder 26, the
One integrated motor mould group 14a and the second integrated motor mould group 14b is by being electrically connected carry on communication bus, motor
15 preferably direct current generator, stepper motor and synchronous motor, driving direct current generator can adjust motor using PWM pulsewidth modulation
The voltage at both ends, voltage more high torque (HT) are bigger.Drive stepper motor mainly using adjusting pulse, the amplitude of pulse is mainly
Driving moment, pulse frequency are impulse speed.Synchronous motor is driven mainly to adjust sine wave, adjusting amplitude and frequency, and
It is controlled by adjustable digital pulse.After motor generates movement, the rotatable phase of meeting feedback high-precision gives motion control mould
Block, and the position control to motor, Torque Control, the servo controls such as speed control are realized by the related algorithm in motion-control module
Function processed.
Preferably, servo-driver 22 connects SERVO CONTROL interface 20, and SERVO CONTROL interface 20 is at least provided with one,
Internet of Things control module 2 is wirelessly connected the internet device of storing data, Internet of Things control module 2 and motion-control module 11 it
Between connected by expansion bus, the output end of motion-control module 11 is electrically connected the input terminal of communication bus module 19, integrates
Formula motor mould group 14 and motor control module 13 design for integral type, and 13 independent control integrated form motor mould of motor control module
Motor group in group 14, and motor group is at least arranged one group；19 signal of second singlechip connects FPGA9 and controls motor drive module
12 parallel drive multichannel motors；FPGA9 receives 16 pivoting angle data of encoder and data feedback to second singlechip 19, and
Data are transferred to communication interface chip by processing by two single-chip microcontrollers 19, and data are transferred to communication bus by interface chip
And data are exported to the interface module 6 in motion-control module 11；Modularity multi-joint control device is integrated by bus carry
Formula motor mould group 14, communication interface chip receives the motor motion control data of motion controller, and data are transferred to
Two single-chip microcontrollers 19, second, which converts data to control signal, is input in FPGA9, then by FPGA9, control signal is transformed into more
The parallel pulse signal in road, communication interface include CAN bus, serial ports, WiFi interface and 4G/5G interface, industrial bus interface 3
Using ethcat bus interface, general communication protocol is provided in order to be communicated with other controllers, is in smart machine
Motion state data is carried out on to network, motor skill data move fault data, and the important informations such as operation code are communicated,
Realize the data interaction between smart machine related to other.Especially motor skill data can be called by word tag
The motor skill of controller, facilitates user's voice, and text etc. is adapted to the man-machine interaction mode of the mankind in operation multi-joint fortune
Movement controller, and ethcat bus interface is used, it is as Internet of Things control module 2, motion-control module 11, integrated motor
Mould group 14, servo communication interface, IO input/output module, simulation input output module, the communication interface between system and system,
So that data transmission has real-time, IO input/output module here, simulation input output module can specifically refer to sensing
Device, switch etc..
As shown in figure 4, modularity multi-joint control device obtains the sensing data of sensing module 29 and sets practical judgment, and
From the active execution data of actuator module 31, it is integrated into the operational data of processing practical judgment, the Internet of Things controls mould
28 signal of communication module of block 2 connects other internet of things equipment, while Internet of Things main control module 2 receives operational data to realize control
The task of device processed, the active execution number that Internet of Things main control module 2 passes through the conveying matching motion-control module of bus module 27
According to the director data as motion-control module, so that motion-control module 11 drives integrated motor mould group or servo-drive
Device driving motor completes corresponding motion process；11 signal of the motion-control module connection integrated motor mould group or servo
Communication interface, and the motion process data for saving each motor-driven executing agency are formatted storage, form special lattice
The motion process data file of formula, the motion-control module 11 convey director data as integrated electric by bus module 27
The action command data of machine mould group 14, so that motion-control module 11 controls driving motor and executing agency is driven to realize corresponding fortune
Dynamic process；The Internet of Things main control module 2 passes through communication bus module or the external control system of the external carry of wireless communication module
System 30, and obtain external control system 30 sensing data and active execution data.The Internet of Things main control module 2 passes through bus
27 signal of module, which is connected with, executes construction module 31, and actuator module 31 includes motion controller, and voice output is shown defeated
Equal other externally export active equipment out.
The single-chip microcontroller of 19 specifically used STM32H7 series of first singlechip 7 mentioned in the present invention and second singlechip, should
Single-chip microcontroller, which acquires data precision height, also relatively comprehensively can be good at meeting needs of the invention；The photoelectricity that the present invention mentions every
Pxn 74LVC245ALVC245A motor driven isolating chip is referred specifically to from device 21.
Working principle: in the use of the present invention, obtaining skill from cloud or internet device by Internet of Things control module 2
Energy data, and Internet of Things control module 2 mainly passes through Sensing interface module 5 and Network Interface Module 6 to the acquisition of data, realizes
Acquisition to skill data, then motion-control module 11 is transferred to by signal, pulse signal is converted by encoder 16, in turn
It is motor driven the reception of module 12, so that driving motor makes corresponding movement, due to passing through Internet of Things control module 2, network
Interface module 6, Sensing interface module 5 and cooperative movement control module 11 and integrated motor mould group 14 are convenient for multi-joint machine
Device people's controller itself forms control network, so that controller itself be made to realize certain modular splicing assembling function and one
Fixed assembling modeling ability carries out Collaborative Control between different multi-joint control devices, in this way, multiple multi-joint control devices exist
When hardware realization communicates, a common task, and temporary definition one main multi-joint control device can be constructed, it is multiple
From multi-joint control device, multi joint motion controller main first, which can be distributed, needs the motor skill realized to from multi joint motion control
Device processed.Main multi-joint control device interpretation skill data file, and being transported from multi joint motion data distribution to specified multi-joint
Movement controller, then by being decoded from multi joint motion controller, and realize motion process, in addition controller can combine other types
The relevant control equipment such as motor driver and controller can configure 4G, 5G of mainstream, the relevant network communication such as wifi
Function, and backstage cloud server is linked, so as to provide the transmission of multi-channel long turning moment, turning moment is watched
Clothes control, and controller can form industrial bus networking between other controllers, combination and cooperation control be formed, for doing
Multi joint motion carries out real time coordination control to joint, realizes power concentration processing and distal end coordinated control.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (11)
1. modularity multi-joint control device, including power module (1), which is characterized in that the controller further includes Internet of Things control
Module (2), motion-control module (11), motor drive module (12) and integrated electric-type motor mould group (14)；The Internet of Things network control
Molding block (2) includes Network Interface Module (6), Sensing interface module (5), industrial bus interface (3) and USB interface (4), and object
Networking control module (2) signal connect Network Interface Module (6), the Sensing interface module (5), industrial bus interface (3) and
USB interface (4) is electrically connected Internet of Things control module (1), and Network Interface Module (6) and Sensing interface module (5) with
Industrial bus interface (3) connection；The motion-control module (11) includes first singlechip (7), first singlechip (7) electricity
Property connection SDRAM (8), FPGA (9) and communication bus module (10)；The integrated motor mould group (14) includes motor control mould
Block (13), the motor control module (13) include motor drive module (12), and the motor drive module (12) passes through photoelectricity
Isolator connects FPGA (9), second singlechip (19) and communication chip, and the motor control module (13) connects integrated electric
Machine mould group (14), the integrated motor mould group (14) include the first integrated motor mould group (14a) and the second integrated motor
Mould group (14b), and integrated motor mould group (14) is internally provided with encoder (16), and motor control module (13) and motor
(15) encoder (16) are electrically connected.The Internet of Things control module (2) connects cloud server, carrys out acquisition process data,
And motion-control module (11) are transferred data to, and there are motion-control module (11) that integrated motor module or servo is driven to drive
Dynamic device communication interface specific steps are as follows: 1) firstly, Internet of Things control module passes through with cloud server/local server
The transport protocols such as MQTT/HTTP are signed, the transmission network of data flow is formed, such Internet of Things control module passes through WiFi/4G/5G net
Network communication, to obtain the data information in cloud or send local information to cloud, equally, Internet of Things control module and other Internet of Things
It can also be interconnected between net control module, mainly pass through WiFi local area network transmission；2) then, due to Internet of Things control module
It is provided with expansion connection module, such as the expansion connection module of USB device, can connect camera shooting head, loudspeaker and display etc.
Sensing module or actuator module；For another example network equipment expansion connection module, can connect handheld terminal, intelligent router and
Unlimited transceiver etc.；There are also serial ports/I/O device expansion connection modules, can connect sensor, key and debugging mouth etc., realize
By the data of cloud server each equipment room mutually transmit and other Internet of Things control modules between data flow transmission；
Furthermore 3), received robot data is included corresponding operational data by Internet of Things control module, and will have biography in operational data
The signal data of sensor module input obtains practical judgment data, corresponding skill data is called by practical judgment data simultaneously
Active execution data are integrated into, and transmission actuator module.Internet of Things control module is active execution data to movement
Control module, motion-control module by parse active execution data obtain movement instruction data be transferred to integrated motor mould group or
Person's driver interface module, motor mould group or servo-driver control motor to realize by control instruction.Movement control
Molding block is stored with regard to motor group status data, the data such as motion process data and motion-control module data.4) most
Afterwards, Internet of Things module gets the active execution data in actuator module, in conjunction with sensing data, practical judgment data,
It is integrated into operational data, in conjunction with controller equiment data, the task data being manually set in program is controlled and is integrated into robot
Data are uploaded to server or for being communicated with other controllers.Internet of Things module is obtained from motion-control module
Motion control data includes motion state data, motor skill data as active execution data.The memory meeting of Internet of Things module
Operational data, active execution data are stored, the data such as controller equiment data are saved.
2. modularity multi-joint control device according to claim 1, which is characterized in that the power module (1) electrically connects
Connect Internet of Things control module (2), motion-control module (11), motor drive module (12) and integrated electric-type motor mould group (14).
3. modularity multi-joint control device according to claim 1, which is characterized in that the Internet of Things control module (2)
Using Linux system, and Internet of Things control module (2) further includes the communication interface for external expansion equipment, and the communication connects
Mouth connection first singlechip (7).
4. modularity multi-joint control device according to claim 1, is characterized in that, the FPGA (9) is used as SDRAM (8)
With the driving chip of industrial-controlled general line, and it is electrically connected second singlechip (19).
5. modularity multi-joint control device according to claim 1, which is characterized in that motion-control module (11) letter
Number connection communication interface, the motion-control module (11) are also electrically connected with servo-driver (22), the servo-driver
(22) it is electrically connected external servo motor (23), the external servo motor (23) is mechanically connected power fibre (24), the power
Fine (24) mechanical connection dynamical element (25).
6. modularity multi-joint control device according to claim 1, which is characterized in that the first integrated motor mould group
(14a) and the second integrated motor mould group (14b) include motor (15), and the first integrated motor mould group (14a) is also
Be provided with the first power output interface (17), described second and integrated motor mould group (14b) be provided with the second power output and connect
Mouth (18), and motor (15) is electrically connected second singlechip (19), and motor (15) mechanical connection retarder (26), it is described
First integrated motor mould group (14a) and the second integrated motor mould group (14b) are by being electrically connected carry on communication bus.
7. modularity multi-joint control device according to claim 5, which is characterized in that servo-driver (22) connection
SERVO CONTROL interface (20), and SERVO CONTROL interface (20) is at least provided with one.
8. modularity multi-joint control device according to claim 1, which is characterized in that the Internet of Things control module (2)
It is connected between motion-control module (11) by expansion bus, the output end of the motion-control module (11) is electrically connected logical
Believe the input terminal of bus module (10).
9. modularity multi-joint control device according to claim 3, which is characterized in that the communication interface includes CAN total
Line, serial ports, WiFi interface and 4G/5G interface, the industrial bus interface (3) use ethcat bus interface.
10. modularity multi-joint control device according to claim 1, which is characterized in that the integrated motor mould group
(14) it is designed with motor control module (13) for integral type, and motor control module (13) independent control integrated form motor mould group
(14) the motor group in, and motor group is at least arranged one group；Second singlechip (19) signal connection FPGA (9) controls motor
Drive module (12) parallel drive multichannel motor；FPGA (9) receive encoder (16) pivoting angle data and data feedback to
Second singlechip (19), data are transferred to communication interface chip by processing by second singlechip (19), and pass through interface chip
Data are transferred to communication bus and data are exported to the interface module (6) in motion-control module (11)；Modularity closes more
It saves controller and passes through bus carry integrated motor mould group (14).Communication interface chip receives the motor movement of motion controller
Data are controlled, and data are transferred to second singlechip (19), second, which converts data to control signal, is input to FPGA (9)
It is interior, then by FPGA (9) control signal is transformed into the pulse signal of multidiameter delay.
11. modularity multi-joint control device according to claim 1, which is characterized in that modularity multi-joint control device obtains
It takes the sensing data of sensing module (29) and sets practical judgment, and from the active execution data of actuator module (31), it is whole
It is combined into the operational data of processing practical judgment, communication module (28) signal of the Internet of Things control module (2) connects other objects
Networked devices, while Internet of Things main control module (2) receives operational data to realize the task of controller, Internet of Things master control mould
Instruction of the block (2) by the active execution data of bus module (27) conveying matching motion-control module as motion-control module
Data, so that motion-control module (11) driving integrated motor mould group or servo driver drives motor complete corresponding fortune
Dynamic process；Motion-control module (11) the signal connection integrated motor mould group or servo communication interface, and save each
The motion process data of motor-driven executing agency are formatted storage, form the motion process data text of specific format
Part, the motion-control module (11) convey director data as the dynamic of integrated motor mould group (14) by bus module (27)
Make director data, so that motion-control module (11) control driving motor drives executing agency to realize corresponding motion process；Institute
It states Internet of Things main control module (2) and passes through communication bus module or the external control system of the external carry of wireless communication module (30),
And obtain external control system (30) sensing data and active execution data.The Internet of Things main control module (2) passes through bus
Module (27) signal, which is connected with, executes construction module (31), and actuator module (31) includes motion controller, voice output,
Showing output etc., other externally export active equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324302.7A CN109866227A (en) | 2019-04-22 | 2019-04-22 | Modularity multi-joint control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910324302.7A CN109866227A (en) | 2019-04-22 | 2019-04-22 | Modularity multi-joint control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866227A true CN109866227A (en) | 2019-06-11 |
Family
ID=66922943
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910324302.7A Pending CN109866227A (en) | 2019-04-22 | 2019-04-22 | Modularity multi-joint control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109866227A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496793A (en) * | 2020-04-27 | 2020-08-07 | 前元运立(北京)机器人智能科技有限公司 | Robot based on 5G technology and force control |
| CN112809676A (en) * | 2021-01-11 | 2021-05-18 | 达闼机器人有限公司 | Joint actuator, robot, storage medium, and electronic device |
-
2019
- 2019-04-22 CN CN201910324302.7A patent/CN109866227A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496793A (en) * | 2020-04-27 | 2020-08-07 | 前元运立(北京)机器人智能科技有限公司 | Robot based on 5G technology and force control |
| CN112809676A (en) * | 2021-01-11 | 2021-05-18 | 达闼机器人有限公司 | Joint actuator, robot, storage medium, and electronic device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103085054B (en) | Hot-line repair robot master-slave mode hydraulic coupling feedback mechanical arm control system and method | |
| CN107363812A (en) | The sixdegree-of-freedom simulation teaching system of controlled in wireless | |
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN203366073U (en) | A motion control system of a live working double-arm robot | |
| CN105364926A (en) | Multi-shaft robot driving and controlling integrated control system | |
| CN202453710U (en) | Multi-axis linkage numerical control system | |
| CN103273489A (en) | Robot control system and method based on principal and subordinate teleoperation mechanical arm | |
| CN109866227A (en) | Modularity multi-joint control device | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN109981027A (en) | A kind of servo-driver based on three chip architectures | |
| CN204308953U (en) | A kind of special motion controller hardware platform for six-degree-of-freedom parallel robot | |
| CN204832853U (en) | Many interfaces motion control ware | |
| CN105373079A (en) | Motion controller and servo driver cooperative control system | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN108772839A (en) | Master-slave operation and human-machine system | |
| CN203825438U (en) | Servo driver and multi-shaft control system using the same | |
| CN103728957A (en) | HART (highway addressable remote transducer) field equipment management method and system based on real-time database | |
| CN206710827U (en) | A kind of modular motion controller | |
| CN204883256U (en) | High real -time control system of robot framework | |
| CN103085055B (en) | Hot-line repair robot position feedback master system | |
| CN108015771A (en) | A kind of industrial robot control system | |
| CN108021042A (en) | The control device of display material dynamic suspension apparatus large scale array | |
| CN105373080A (en) | Collaborative numerical control system based on soft bus | |
| CN102722174B (en) | AGV (Automatic Guided Vehicle) control system based on bus control mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |