CN111684372B - A encoder, driver, controller and robot for robot - Google Patents
A encoder, driver, controller and robot for robot Download PDFInfo
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- CN111684372B CN111684372B CN201880087188.4A CN201880087188A CN111684372B CN 111684372 B CN111684372 B CN 111684372B CN 201880087188 A CN201880087188 A CN 201880087188A CN 111684372 B CN111684372 B CN 111684372B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
An encoder (103), a drive (111), a controller (112) and a robot (10) for a robot, the encoder (103) comprising a processing circuit (1031), a control circuit (1032) based on a network protocol and a network interface (1033); an input of the processing circuit (1031) is configured to be coupled to an external motor, an output of the processing circuit (1031) is coupled to an input of the control circuit (1032), and an output of the control circuit (1032) is coupled to the network interface (1033); the processing circuit (1031) is used for collecting the motion signals of the motor and processing the motion signals to obtain processed signals, the control circuit (1032) is used for sending the processed signals to the network interface (1033), and the network interface (1033) is used for being coupled with an external device to establish communication with the external device. The encoder (103) can establish communication through the network interface (1033), simplifying the wiring design of the robot system and improving the data transmission rate.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an encoder, a driver, a controller and a robot for the robot.
Background
At present, an encoder is commonly used for measuring and feeding back shaft position data of a robot to complete conversion of a motion signal and an electric signal. In general, an encoder processes an electrical signal and communicates with a corresponding control device through a serial bus.
However, as the number of axes of the robot increases, the number of feedback harnesses between the encoder and the control device increases, so that the wiring in the whole system is complex, inconvenience is brought to the assembly and connection of the system, the reliability of the system is also reduced, and the data transmission of the serial bus is slow.
Disclosure of Invention
The invention mainly solves the technical problem of providing an encoder, a driver, a controller and a robot for the robot, which can establish communication through a network interface, simplify the wiring design of a robot system and improve the data transmission rate.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: providing an encoder for a robot, the encoder comprising processing circuitry, control circuitry based on a network protocol, and a network interface; the input end of the processing circuit is used for being coupled with an external motor, the output end of the processing circuit is coupled with the input end of the control circuit, and the output end of the control circuit is coupled with the network interface; the processing circuit is used for collecting a motion signal of the motor and processing the motion signal to obtain a processing signal, the control circuit is used for sending the processing signal to the network interface, and the network interface is used for being coupled with external equipment to establish communication with the external equipment.
In order to solve the above technical problems, the second technical solution adopted by the present invention is: there is provided a driver for a robot, the driver comprising a drive circuit and a first network interface, the drive circuit being coupled to the first network interface, the first network interface being for coupling to an encoder according to any of the present invention.
In order to solve the above technical problems, the third technical solution adopted by the present invention is: there is provided a controller for a robot, the controller comprising control circuitry and a network interface, the control circuitry being coupled to the network interface, the network interface being for coupling to an encoder according to any of the invention.
In order to solve the technical problems, the fourth technical scheme adopted by the invention is as follows: providing a robot, wherein the robot comprises a robot body and a control cabinet, the robot body comprises at least one motor, at least one signal conversion circuit and an encoder according to any one of the invention; the motor is correspondingly coupled with the signal conversion circuit, and the signal conversion circuit is coupled with the encoder; the encoder is also coupled with the control cabinet; the signal conversion circuit is used for acquiring motion information of the motor and converting the motion information into a motion signal; the encoder is used for acquiring and processing the motion signal to obtain a processing signal and sending the processing signal to the control cabinet through a network interface of the encoder.
The invention has the beneficial effects that: different from the prior art, the encoder for the robot comprises a processing circuit, a control circuit based on a network protocol and a network interface, wherein the processing circuit is used for collecting a motion signal of a motor and processing the motion signal to obtain a processed signal, the control circuit is used for sending the processed signal to the network interface, the network interface is used for being coupled with external equipment to establish communication with the external equipment, and the communication with the external equipment is realized through the network interface, so that the wiring design of a robot system is simplified, and the data transmission rate can be improved.
Drawings
FIG. 1 is a schematic diagram of the structure of one embodiment of the robot of the present invention;
FIG. 2 is a schematic diagram of the structure of one embodiment of the encoder of FIG. 1;
FIG. 3 is a schematic diagram of the structure of one embodiment of the drive of FIG. 1;
fig. 4 is a schematic structural diagram of an embodiment of the controller in fig. 1.
Detailed Description
The present invention provides an encoder, a driver, a controller and a robot for a robot, which are further described in detail below to make the objects, technical solutions and technical effects of the present invention more clear and clear, and it should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.
The robot of the embodiment includes a robot body and a control cabinet, and the robot body includes at least one motor, at least one signal conversion circuit, and an encoder.
The motor is correspondingly coupled with the signal conversion circuit, the signal conversion circuit is coupled with the encoder, and the encoder is also coupled with the control cabinet. The signal conversion circuit is used for acquiring motion information of the motor and converting the motion information into a corresponding motion signal; the encoder is used for collecting and processing the motion signal to obtain a processing signal, and sending the processing signal to the control cabinet through the network interface, and the control cabinet is used for obtaining the processing signal and controlling the motion of the motor according to the processing signal.
Specifically, the encoder includes a processing circuit, a network protocol based control circuit, and a network interface. The input end of the processing circuit is coupled with the signal conversion circuit so as to acquire a motion signal of the motor and process the motion signal to obtain a processing signal; the output end of the processing circuit is coupled with the input end of the control circuit, the output end of the control circuit is coupled with the network interface, and the network interface is coupled with the control cabinet so as to send the processing signal to the control cabinet through the network interface.
For clearly explaining the robot in the above embodiment, please refer to fig. 1, and fig. 1 is a schematic structural diagram of an embodiment of the robot in the present invention.
The robot of the present embodiment includes a robot body 10 and a control cabinet 11, wherein the control cabinet 11 is configured to provide a power signal to the robot body 10 and control the movement of the robot body 10. The robot body 10 performs corresponding operations according to the received control command.
In the present embodiment, the robot body 10 includes at least one motor 101, at least one signal conversion circuit 102, and an encoder 103; the control cabinet 11 includes a drive 111 and a controller 112. The driver 111 is used for coupling power lines, such as 220V three-phase power, to obtain power signals, and driving the corresponding motor 101 to move according to instructions of the controller 112. The driver 111 is connected to the motor 101 to be driven by a direct wire (not shown) to drive the corresponding motor 101.
The number of the motors 101 is matched with that of the signal conversion circuits 102 and the signal conversion circuits 102 are correspondingly coupled, the signal conversion circuits 102 are further coupled with the encoder 103, and the encoder 103 is further coupled with the control cabinet 11 to establish communication.
Specifically, the signal conversion circuit 102 is configured to obtain motion information of the motor 101 and convert the motion information into a corresponding motion signal; the encoder 103 is configured to acquire and process the motion signal to obtain a processed signal, and send the processed signal to the control cabinet 11 through a network interface of the encoder, where the control cabinet 11 is configured to acquire the processed signal and control the motion of the motor 101 according to the processed signal. Wherein the motion information includes at least one of position information or speed information of the motor. The encoder 103 obtains a corresponding position coordinate signal or speed signal according to the position information or speed information to acquire and identify a specific position coordinate or speed of the motor 101 in real time.
In one embodiment, the encoder 103 is coupled to a network interface of a driver 111 of the control cabinet 11 through a network interface thereof, and the driver 111 is coupled to the controller 112 to establish communication, so that the controller 112 acquires motion information of the motor 101 and controls the motion of the motor 101 according to the motion information.
In another embodiment, to avoid the occurrence of a situation where the motion information acquired by the controller 112 is erroneous due to a firmware failure of the drive 111, the encoder 103 is directly network-coupled to the controller 112 in the control cabinet 11 through its network interface to establish communication, so that the controller 112 acquires the motion information of the motor 101 and controls the motion of the motor 101 according to the motion information.
In this embodiment, the number of the motors 101 is not particularly limited, and may be, for example, 1, 3, or 6, which is designed according to actual circumstances. The number of the signal conversion circuits 102 is not particularly limited, and may be, for example, 1, 3, or 6, according to the actual situation. It is only necessary that the number of the motors 101 matches the number of the signal conversion circuits 102.
In one embodiment, the number of the motors 101 and the number of the signal conversion circuits 102 are equal, and one signal conversion circuit 102 is disposed on each motor 101 and coupled to obtain the motion information of the motor 101. In another embodiment, one signal conversion circuit 102 is coupled to a plurality of motors 101 to obtain motion information of the motors 101.
In a practical application scenario, the robot is a six-axis robot, and the robot includes six motors 101, and a signal conversion circuit 102 is correspondingly mounted on each motor 101.
In addition, in order to obtain the motion information of the motor 101 conveniently, the robot comprises at least one code wheel, the code wheel is arranged on the motor 101, and the code wheel is coupled with the signal conversion circuit 102 to cooperate with the signal conversion circuit 102 to obtain the motion information of the motor.
In the prior art, in order to obtain motion information of each motor 101, a traditional encoder needs to be correspondingly arranged on each motor, and with the increase of the number of the motors 101, feedback wire harnesses from a robot body 10 to a control cabinet 11 are increased, the wiring mode is complex, and the performance of the robot is affected; in addition, the traditional encoder is communicated through a serial bus, for example, the traditional encoder is communicated through an RS485 transmission line, the wiring harness is thick, and the data transmission speed is slow.
In the embodiment, the robot body 10 and the control cabinet 11 are connected through a network, one network cable can replace a plurality of existing feedback wire harnesses, the feedback wire harnesses do not change along with the increase of the number of the motors 101, the wiring mode of the system is simplified, the reliability is improved, and the data transmission rate through the network is higher.
In an actual application scenario, the signal conversion circuit 102 is separately disposed on the motor 101 to obtain a motion signal corresponding to the motor 101, and the encoder 103 supports multi-channel signal feedback, can collect and process the motion signals of the plurality of motors 101 to obtain corresponding electrical signals, and sends the electrical signals to the control cabinet 11 through the network interface. Specifically, the encoder 103 includes at least one signal acquisition circuit, and each signal acquisition circuit is coupled to the signal conversion circuit 102 to acquire a motion signal corresponding to the motor 101, and process and transmit the acquired motion signal to the control circuit based on the network protocol, so as to transmit data through a network interface coupled to the control circuit based on the network protocol.
The control circuit based on the network protocol comprises an Ethernet slave station control chip, and the specific chip type is one of ET1100, ET1200, IPcore and LAN 9252.
Different from the prior art, the encoder of the robot in the embodiment includes a processing circuit, a control circuit based on a network protocol, and a network interface, the processing circuit is configured to collect a motion signal of a motor and process the motion signal to obtain a processed signal, the control circuit is configured to send the processed signal to the network interface, the network interface is configured to be coupled to an external device to establish communication with the external device, and the network interface is configured to communicate with the external device, so that not only is the wiring design of the robot system simplified, but also the data transmission rate can be increased.
For a clear explanation of the encoder according to any of the above embodiments, referring to fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the encoder in fig. 1.
The encoder 103 of the present embodiment includes a processing circuit 1031, a control circuit 1032 based on a network protocol, and a network interface 1033.
The control circuit 1032 based on the network protocol includes an ethernet slave station control chip, and the specific chip model is one of ET1100, ET1200, IPcore, and LAN 9252. The processing circuit 1031 needs to support the network protocol corresponding to the control circuit 1032. In one embodiment, the processing circuit 1031 and the network protocol based control circuit 1032 may also be integrated together.
Wherein an input of the processing circuit 1031 is configured to be coupled to an external signal conversion circuit, an output of the processing circuit 1031 is coupled to an input of the control circuit 1032, and an output of the control circuit 1032 is coupled to the network interface 1033.
Specifically, the processing circuit 1031 is configured to collect motion signals of the motor via the external signal conversion circuit and process the motion signals to obtain processed signals, the control circuit 1032 is configured to send the processed signals to the network interface 1033, and the network interface 1033 is configured to be coupled to an external device to establish communication with the external device.
Further, the processing circuit 1031 calculates the position coordinate or the speed of the motor according to the motion signal, and the processing signal is at least one of the position coordinate signal or the speed signal of the motor. It should be noted that the processing signal and the motion signal are both electrical signals corresponding to the motion information of the motor, and only the types of the electrical signals are different.
In this embodiment, the processing circuit 1031 supports multi-channel signal feedback, and can collect and process a plurality of motor motion signals to obtain corresponding electrical signals, and transmit the electrical signals to an external device through the network interface 1033. Specifically, the processing circuit 1031 includes at least one signal collecting circuit, and each signal collecting circuit is coupled to a signal converting circuit disposed on the external motor to collect a motion signal of the corresponding motor, and sends the collected motion signal to the control circuit 1032 based on the network protocol after processing the motion signal, so as to send data through the network interface 1033 coupled to the control circuit 1032 based on the network protocol.
In another embodiment, the processing circuit 1031 includes a plurality of signal acquisition circuits, each coupled to a signal conversion circuit disposed on an external motor to acquire a motion signal of the corresponding motor. The number of signal acquisition circuits included in the processing circuit 1031 is not particularly limited, and may be designed according to actual situations, for example, 2, 3 or 6. It is sufficient that the number of the motors or the number of the signal conversion circuits provided in the external motor is matched.
The encoder 103 of the present embodiment uses ethernet to transmit data instead of a serial bus, so as to improve the data transmission rate. Meanwhile, the encoder 103 of the embodiment supports multi-channel signal feedback, can collect and process motion signals of a plurality of motors, and can reduce feedback wiring harnesses between the robot body and the control cabinet.
Different from the prior art, the encoder of the embodiment includes a processing circuit, a control circuit based on a network protocol, and a network interface, the processing circuit is configured to collect a motion signal of a motor and process the motion signal to obtain a processed signal, the control circuit is configured to send the processed signal to the network interface, the network interface is configured to be coupled to an external device to establish communication with the external device, and the network interface is configured to communicate with the external device, so that not only is the wiring design of the robot system simplified, but also the data transmission rate can be increased.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the driver in fig. 1. The actuator 111 of the present embodiment is applied to the robot of any of the above embodiments.
In this embodiment, the driver 111 includes a first network interface 1111, a driving circuit 1112, and a second network interface 1113. The driving circuit 1112 is coupled to the first network interface 1111 and the second network interface 1113 respectively.
In this embodiment, the first network interface 1111 is configured to couple with the encoder of any of the above embodiments. In one embodiment, the driver 111 is connected to the encoder of any of the above embodiments through the first network interface 1111 via an ethernet network, so as to perform data communication via the ethernet network, and multiple feedback signals can be received via one network cable, which not only reduces the number of feedback beams, but also increases the transmission rate.
In addition, the drive 111 is also coupled to the controller of the robot via a second network interface 1113 to establish communication. Wherein the second network interface 1113 also supports ethernet communication protocols.
That is, the driver 111 of the present embodiment is connected to the encoder and the controller of the robot via the network interfaces, respectively, so that not only can the feedback harness between the driver 111 and the encoder be reduced, but also the transmission rate can be increased. Meanwhile, the communication modes of the driver 111 and the external device are unified without satisfying two different data communication modes.
Different from the prior art, the driver of the robot in the embodiment includes the first network interface and the driving circuit, and is coupled to the encoder in any one of the above embodiments through the network interface, so that not only is the wiring design of the robot system simplified, but also the data transmission rate can be improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the controller in fig. 1. The controller 112 of the present embodiment is applied to the robot of any of the above embodiments.
In the present embodiment, the controller 112 includes a network interface 1121 and a control circuit 1122. The network interface 1121 is coupled to the control circuit 1122.
In this embodiment, the controller 112 is coupled to the encoder of any of the above embodiments through the network interface 1121 to establish communication, so that the control circuit 1122 acquires a feedback signal of the encoder through the network interface 1121. The network interface 1121 supports the ethernet communication protocol.
Compared with the prior art, the controller 112 of the present embodiment is directly network-coupled to the encoder through the network interface 1121, and is not required to be network-coupled to the encoder through the driver, so that the situation that the wrong feedback information is obtained due to the failure of the driver can be effectively avoided. Meanwhile, the data transmission rate can be improved.
Different from the prior art, the controller of the robot in the embodiment comprises a control circuit network interface, and the controller is coupled with the encoder in any embodiment through the network interface, so that the wiring design of the robot system is simplified, and the data transmission rate can be improved. Meanwhile, the occurrence of a situation in which erroneous feedback information is acquired due to a failure of the drive can be avoided.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (12)
1. An encoder for a robot, the encoder comprising processing circuitry, control circuitry based on a network protocol, and a network interface;
the input end of the processing circuit is used for being coupled with a plurality of external motors, the output end of the processing circuit is coupled with the input end of the control circuit, and the output end of the control circuit is coupled with the network interface;
the processing circuit is used for collecting motion signals of the motors and processing the motion signals to obtain processing signals, the control circuit is used for sending the processing signals to the network interface, and the network interface is used for being coupled with external equipment to establish communication with the external equipment so as to replace a plurality of feedback wire harnesses with one network cable.
2. The encoder of claim 1, wherein the processing circuit comprises at least one signal acquisition circuit, each signal acquisition circuit for acquiring a motion signal of a corresponding motor.
3. The encoder of claim 2, wherein the processing circuit comprises a plurality of signal acquisition circuits, each signal acquisition circuit for acquiring a motion signal of a corresponding motor.
4. The encoder of claim 1, wherein the network protocol based control circuitry comprises an ethernet slave station control chip.
5. The encoder as claimed in claim 4, wherein the Ethernet slave station control chip is one of ET1100, ET1200, IPcore, LAN 9252.
6. The encoder of claim 1, wherein the processed signal is at least one of a position coordinate signal of the motor or a speed signal of the motor.
7. A drive for a robot, characterized in that the drive comprises a drive circuit and a first network interface, the drive circuit being coupled to the first network interface, the first network interface being adapted to be coupled to an encoder according to any of claims 1-6.
8. The driver of claim 7, further comprising a second network interface coupled with the driver circuit, the second network interface for coupling with a controller.
9. A controller for a robot, the controller comprising control circuitry and a network interface, the control circuitry being coupled to the network interface, the network interface being adapted to be coupled to an encoder according to any of claims 1 to 6.
10. A robot, characterized in that the robot comprises a robot body and a control cabinet, wherein the robot body comprises at least one motor, at least one signal conversion circuit and an encoder according to any one of claims 1 to 6;
the motor is correspondingly coupled with the signal conversion circuit, and the signal conversion circuit is coupled with the encoder; the encoder is also coupled with the control cabinet;
the signal conversion circuit is used for acquiring motion information of the motor and converting the motion information into a motion signal;
the encoder is used for acquiring and processing the motion signal to obtain a processing signal, and sending the processing signal to the control cabinet through a network interface of the encoder.
11. A robot as set forth in claim 10 wherein the control cabinet includes a controller and a drive, the controller coupled with the drive, the controller or the drive coupled with the encoder network.
12. The robot of claim 10, further comprising at least one code wheel disposed on said motor, said code wheel coupled to said signal translation circuit to cooperate with said signal translation circuit to obtain motion information of said motor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/087381 WO2019218324A1 (en) | 2018-05-17 | 2018-05-17 | Encoder, driver and controller for robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111684372A CN111684372A (en) | 2020-09-18 |
| CN111684372B true CN111684372B (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201880087188.4A Active CN111684372B (en) | 2018-05-17 | 2018-05-17 | A encoder, driver, controller and robot for robot |
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| CN (1) | CN111684372B (en) |
| WO (1) | WO2019218324A1 (en) |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9046890B2 (en) * | 2008-09-05 | 2015-06-02 | Fanuc Robotics America, Inc. | Line tracking data over Ethernet |
| CN201607244U (en) * | 2009-12-04 | 2010-10-13 | 威海华东数控股份有限公司 | On-line detection device for digital encoder |
| WO2013180165A1 (en) * | 2012-05-30 | 2013-12-05 | 株式会社ニコン | Encoder and drive device |
| CN202735772U (en) * | 2012-08-01 | 2013-02-13 | Abb技术有限公司 | Robot motion control transmission system |
| CN104903800A (en) * | 2013-01-17 | 2015-09-09 | Abb技术有限公司 | Motion controller and robot control system using the same |
| CN104391477A (en) * | 2014-11-12 | 2015-03-04 | 上海交通大学 | Drive-control integrated networked intelligent controller |
| CN204287906U (en) * | 2014-12-23 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | The servo-driver that a kind of multiaxis is integrated |
| CN105204401A (en) * | 2015-09-28 | 2015-12-30 | 上海鲍麦克斯电子科技有限公司 | Multi-motor synchronous control system and method for multiaxial sewing equipment |
| CN205681355U (en) * | 2016-06-17 | 2016-11-09 | 淮安信息职业技术学院 | A kind of many motors cooperative control system based on CAN |
| CN206039231U (en) * | 2016-09-21 | 2017-03-22 | 珠海格力智能装备有限公司 | Motion control system and robot system |
| CN106647638B (en) * | 2016-11-09 | 2019-03-26 | 湖南戈人自动化科技有限公司 | Kinetic control system |
| CN207010693U (en) * | 2017-05-26 | 2018-02-13 | 深圳配天智能技术研究院有限公司 | Servo-drive system, motor, absolute type encoder and its signal processing circuit |
-
2018
- 2018-05-17 WO PCT/CN2018/087381 patent/WO2019218324A1/en active Application Filing
- 2018-05-17 CN CN201880087188.4A patent/CN111684372B/en active Active
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| CN111684372A (en) | 2020-09-18 |
| WO2019218324A1 (en) | 2019-11-21 |
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