CN112947146B - Intelligent acquisition control system of industrial robot - Google Patents

Intelligent acquisition control system of industrial robot Download PDF

Info

Publication number
CN112947146B
CN112947146B CN202110112231.1A CN202110112231A CN112947146B CN 112947146 B CN112947146 B CN 112947146B CN 202110112231 A CN202110112231 A CN 202110112231A CN 112947146 B CN112947146 B CN 112947146B
Authority
CN
China
Prior art keywords
circuit
controller
control
acquisition
output
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.)
Active
Application number
CN202110112231.1A
Other languages
Chinese (zh)
Other versions
CN112947146A (en
Inventor
吴泽
李娜
耿跃峰
戴志林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Fengguan Technology Co ltd
Original Assignee
Fujian Fengguan Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fujian Fengguan Technology Co ltd filed Critical Fujian Fengguan Technology Co ltd
Priority to CN202110112231.1A priority Critical patent/CN112947146B/en
Publication of CN112947146A publication Critical patent/CN112947146A/en
Application granted granted Critical
Publication of CN112947146B publication Critical patent/CN112947146B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition
    • 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]

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Programmable Controllers (AREA)
  • Control Of Voltage And Current In General (AREA)

Abstract

The invention discloses an intelligent acquisition control system of a high-efficiency industrial robot, which comprises a controller, a power supply circuit, a communication circuit, a compatible acquisition circuit, a constant current output circuit, an optocoupler control circuit and a relay output circuit, wherein the communication circuit, the compatible acquisition circuit, the constant current output circuit, the optocoupler control circuit and the relay output circuit are all connected with the controller, and the power supply circuit supplies power for all electric loads; the invention has strong compatibility, good stability, protection guarantee, strong adaptability to load constant voltage and constant current output and good market application value.

Description

Intelligent acquisition control system of industrial robot
Technical Field
The invention relates to the field of industrial robots, in particular to an intelligent acquisition control system of an industrial robot.
Background
The limbs of the person are still disabled if the person has only senses and muscles. On the one hand because the signals from the sense organs are not received and processed by the organ, and on the other hand because no organ is giving off neural signals, driving the muscles to contract or relax. Also, if the robot has only the sensor and the driver, the robot arm cannot function properly. The reason is that the signal output by the sensor is not effective, and the driving voltage and current of the driving motor are not obtained, so that the robot needs to have a controller, and a control system is formed by hardware and software.
The robot control system has the functions of receiving detection signals from the sensors, and driving each motor in the mechanical arm according to the requirements of operation tasks as if the activities of people need to rely on the senses of the motors, so that the motion control of the robot is independent from the sensors. The robot needs to use sensors to detect various states. The internal sensor signals of the robot are used to reflect the actual motion state of the joints of the robot arm and the external sensor signals of the robot are used to detect changes in the working environment.
However, the existing industrial robot control system has the following drawbacks: 1. the existing robot acquisition output control system cannot realize compatible acquisition of analog current and analog voltage, so that the cost of a product is increased under the condition of meeting the same function.
2. The control system is not well isolated from the controlled equipment, so that the control system or the controlled equipment is damaged; if there is an electrical connection between the output circuit of the relay and the load, this is dangerous.
3. When the load of the output circuit changes, the constant current output of the output circuit cannot be ensured.
4. The control system of the industrial robot has single communication mode and poor adaptability.
The prior art has defects and needs improvement.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent acquisition and output control system of an industrial robot, which has strong compatibility and multiple isolation positions and controls constant current output by a controller.
The intelligent acquisition control system for the industrial robot comprises a controller, a power supply circuit, a communication circuit, a compatible acquisition circuit, a constant current output circuit, an optocoupler control circuit and a relay output circuit, wherein the communication circuit, the compatible acquisition circuit, the constant current output circuit, the optocoupler control circuit and the relay output circuit are all connected with the controller, and the power supply circuit supplies power for all electric loads; the communication circuit is provided with at least two communication modules, one end of each communication module is connected with external communication equipment, the other end of each communication module is connected with the controller, and the communication circuit is used for realizing communication connection between the external communication equipment and the controller;
the compatible acquisition circuit is used for acquiring current input and compatible analog voltage input, and the compatible acquisition circuit acquires voltage or current analog quantity and forwards the voltage or current analog quantity to a controller connected with the compatible acquisition circuit;
the constant current output circuit is used for providing a constant current control power supply, the input end of the constant current output circuit is connected with the controller, and the output end of the constant current output circuit is connected with controllable electric equipment; the input end of the optical coupler control circuit is connected with the output end of the industrial personal computer, and the output end of the optical coupler control circuit is connected with the acquisition end of the controller;
the input end of the relay output circuit is connected with the output end of the controller, the output end of the relay output circuit is connected with the control end of the relay, and the input end of the relay output circuit is connected with the output end of the controller through a Darlington tube driver.
Preferably, the compatible acquisition circuit is set to at least one path of acquisition unit, and the acquisition units are set to two modes and are used for compatible analog current acquisition and analog voltage acquisition.
Preferably, the collecting unit comprises a collecting socket, a voltage regulating resistor, a filter capacitor, a follower and a voltage stabilizing diode, one end of the voltage regulating resistor is connected with the collecting socket, the other end of the voltage regulating resistor is connected with the in-phase input end of the follower through the filter capacitor, and the output end of the follower is connected with the AD end of the controller after passing through the voltage stabilizing diode; the acquisition socket is electrically connected with a port to be acquired, and after the acquired analog voltage or analog current is regulated by the voltage regulating resistor, the analog voltage or analog current is in the rated range of the follower and is stabilized by the AD end of the controller after the analog voltage or analog current is stabilized.
Preferably, the constant current output circuit comprises an operational amplifier, a triode, a plurality of resistors, a plurality of capacitors and an output socket, wherein the non-inverting input end of the operational amplifier is connected with the output end of the controller through a resistor, the inverting input end of the operational amplifier is grounded through a resistor, the output end of the operational amplifier is connected with the base electrode of the triode through a resistor, the non-inverting input end of the operational amplifier is connected with the output socket through a resistor, the output end of the operational amplifier is connected with the output socket through a resistor, the transmitter of the triode is connected with the output end of the operational amplifier through a resistor, the inverting input end of the operational amplifier is connected with the middle ends of the two equivalent resistors through a transmission connection, and the collector electrode of the triode is connected with a 12V power supply; the output end of the controller outputs a signal to control the opening and closing of the triode after passing through the operational amplifier, so that the constant current output of the 12V power supply is controlled by the controller.
Preferably, the optocoupler control circuit comprises at least one path of control unit, the number of paths of the control unit is the same as that of the acquisition units, the input ends of the control unit are connected to a control socket, and the control socket is connected with the output end of the industrial personal computer.
Preferably, the control unit comprises a control resistor, a control capacitor, a control optocoupler and a control diode, the input end of the control unit comprises a COM end and an X end, the COM ends of the plurality of control units are connected with the 1 pin of the control socket after being connected together, and the X ends of the plurality of control units are respectively connected with the other plurality of pins of the control socket.
Preferably, a detection point is set at a high potential end of the light receiver side of the control optocoupler, and the detection point is connected with an input end of the controller and is used for detecting an input signal of the optocoupler control circuit.
Preferably, the darlington tube driver is set to be multiplex, the relay output circuit is set to be multiplex, and the relay output circuit is respectively connected with the darlington tube driver in multiple ways.
Preferably, the relay output circuit comprises an indicating unit and an isolating unit, wherein the indicating unit is connected to the light emitter side of the isolating unit, and the light receiver side of the isolating unit is connected with the control end of the relay through a relay socket.
Preferably, the communication module is arranged as 485 communication module and CAN communication double-line parallel, the 485 communication module is provided with a DC/DC isolation chip I and a 485 chip, one side of the DC/DC isolation chip I is connected with an output and transmitting port of the controller through a 0R resistor, the other side of the DC/DC isolation chip I is connected with one side of the 485 chip, and the other side of the 485 chip is connected with a communication socket through a resistor; the CAN communication module comprises a second DC/DC isolation chip and a CAN transceiver, one side of the second DC/DC isolation chip is connected with the input end and the output end of the controller through a 0R resistor, the other side of the second DC/DC isolation chip is connected with one side of the CAN transceiver, and the other side of the CAN transceiver is connected with the communication socket.
Compared with the prior art, the method has the following effects: 1. the industrial robot control system realizes the compatibility acquisition of the analog current and the analog voltage by arranging the compatible acquisition circuit, realizes the compatibility acquisition under the condition of not adding an additional acquisition circuit, and controls the cost of products.
2. The control system is electrically isolated from the controlled equipment, and the analog circuit and the digital circuit are isolated from each other, so that the control system is well protected from being damaged or loaded.
3. The constant-current output circuit realizes that the constant-voltage and constant-current output of the load can still be realized through the controller when the load is changed in operation.
4. The communication circuit ensures the control diversity of products and increases the suitability of the products by arranging multiple communication modules.
Drawings
FIG. 1 is a circuit diagram of an acquisition unit of the present invention; FIG. 2 is a circuit diagram of an acquisition socket ADC1 of the present invention;
FIG. 3 shows a constant current output circuit of the present invention;
FIG. 4 is a schematic diagram of another constant current output circuit according to the present invention;
FIG. 5 is a circuit diagram of an output socket of the present invention;
FIG. 6 shows an optocoupler control circuit according to the present invention
FIG. 7 is a circuit diagram of a control jack according to the present invention;
fig. 8 is a circuit diagram of a darlington tube driver according to the present invention;
FIG. 9 is a circuit diagram of the relay output of the present invention;
FIG. 10 is a circuit diagram of a relay socket according to the present invention;
FIG. 11 is a circuit diagram of a 485 communication module according to the invention;
FIG. 12 is a circuit diagram of a CAN communication module in accordance with the invention;
FIG. 13 is a circuit diagram of a controller according to the present invention;
FIG. 14 is a schematic diagram of an optocoupler reset circuit according to the present invention;
FIG. 15 is a power circuit diagram of the present invention;
FIG. 16 is a circuit diagram of a power isolation module according to the present invention;
FIG. 17 is a circuit diagram of another power isolation module of the present invention;
FIG. 18 is a circuit diagram of a download of the present invention;
FIG. 19 is a circuit diagram of a communication jack according to the present invention;
FIG. 20 is a schematic diagram of an exemplary embodiment of the present invention;
FIG. 21 is a reference circuit diagram of the present invention;
FIG. 22 is a boot pin selection circuit of the present invention;
FIG. 23 is a battery receptacle circuit of the present invention;
FIG. 24 is a circuit diagram of a single crystal oscillator according to the present invention;
FIG. 25 is a schematic diagram of another crystal oscillator circuit according to the present invention;
fig. 26 is a circuit diagram of a burning socket according to the present invention.
Detailed Description
The above-described features are continuously combined with each other to form various embodiments not listed above, and are regarded as the scope of the present invention described in the specification; and, it will be apparent to those skilled in the art from this disclosure that modifications and variations can be made without departing from the scope of the invention defined in the appended claims.
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be described in detail with reference to the accompanying drawings.
Embodiment one: referring to fig. 1, the technical scheme of the invention is that an intelligent acquisition control system of an industrial robot comprises a controller, a power supply circuit, a communication circuit, a compatible acquisition circuit, a constant current output circuit, an optocoupler control circuit and a relay output circuit, wherein the communication circuit, the compatible acquisition circuit, the constant current output circuit, the optocoupler control circuit and the relay output circuit are all connected with the controller, and the power supply circuit supplies power to various electric loads;
the communication circuit is provided with at least two communication modules, one end of each communication module is connected with external communication equipment, the other end of each communication module is connected with the controller, and the communication circuit is used for realizing communication connection between the external communication equipment and the controller;
the compatible acquisition circuit is used for acquiring current input and compatible analog voltage input, and the compatible acquisition circuit acquires voltage or current analog quantity and forwards the voltage or current analog quantity to a controller connected with the compatible acquisition circuit;
the constant current output circuit is used for providing a constant current control power supply, the input end of the constant current output circuit is connected with the controller, and the output end of the constant current output circuit is connected with controllable electric equipment; the input end of the optical coupler control circuit is connected with the output end of the industrial personal computer, and the output end of the optical coupler control circuit is connected with the acquisition end of the controller;
the input end of the relay output circuit is connected with the output end of the controller, the output end of the relay output circuit is connected with the control end of the relay, and the input end of the relay output circuit is connected with the output end of the controller through a Darlington tube driver.
Referring to fig. 1 and 2, the compatible acquisition circuit is preferably configured as at least one acquisition unit, and the acquisition units are configured in two modes for compatible analog current acquisition and analog voltage acquisition.
Preferably, the collecting unit comprises a collecting socket, a voltage regulating resistor, a filter capacitor, a follower and a voltage stabilizing diode, one end of the voltage regulating resistor is connected with the collecting socket, the other end of the voltage regulating resistor is connected with the in-phase input end of the follower through the filter capacitor, and the output end of the follower is connected with the AD end of the controller after passing through the voltage stabilizing diode; the acquisition socket is electrically connected with a port to be acquired, and after the acquired analog voltage or analog current is regulated by the voltage regulating resistor, the analog voltage or analog current is in the rated range of the follower and is stabilized by the AD end of the controller after the analog voltage or analog current is stabilized.
Further, the acquisition unit comprises an acquisition socket ADC1, voltage regulating resistors RA3, RA4 and RA8, filter capacitors RC3 and RC4, a follower AD1B, a voltage stabilizing diode Z2 and a resistor RA6, wherein the 1 pin of the voltage regulating socket is connected with a 24V power supply, the 6 pin of the voltage regulating socket is grounded, one end of the resistor RA3 is connected with the 5 pin of the acquisition socket ADC1, the other end of the resistor RA3 is grounded, the 5 pin of the voltage regulating socket is grounded through the voltage regulating resistors RA3 and RA4 which are connected in series, the middle ends of the voltage regulating resistors RA3 and RA4 are connected with the non-inverting input end of the follower AD1B and grounded through the filter capacitor RC3, the inverting input end of the follower AD1B is connected with the output end of the follower AD1B, the power supply of the follower AD1B is grounded through the resistor RA6, the output end of the follower AD1B is connected with the AD end of the controller, and the non-inverting input end of the follower AD1B is grounded through the voltage stabilizing diode Z2; when the analog current is collected, voltage regulating resistors RA4 and RA8 are set to be open-circuited, and a 5 pin of the collection socket ADC1 is connected with the non-inverting input end of the follower AD1B, so that the collection of the analog current is realized; when the analog voltage is acquired, the voltage regulating resistor RA3 is disconnected, so that the acquisition of the analog voltage is realized.
The compatible acquisition circuit is set to four paths of analog quantity input, is compatible with 4-20mA analog current acquisition and 0-10V analog voltage acquisition, is compatible with an industry standard input interface, and realizes analog quantity acquisition by adopting an AD end of a follower rear-connection controller for each path of acquisition.
Referring to fig. 3-5, preferably, the constant current output circuit is configured as two paths, the constant current output circuit includes an operational amplifier, a triode, a plurality of resistors, a plurality of capacitors and an output socket, the in-phase input end of the operational amplifier is connected with the output end of the controller through a resistor, the opposite-phase input end of the operational amplifier is grounded through a resistor, the output end of the operational amplifier is connected with the base electrode of the triode through a resistor, the in-phase input end of the operational amplifier is connected with the output socket through a resistor, the output end of the operational amplifier is connected with the output socket through a resistor, the opposite-phase input end of the operational amplifier is connected with the output end of the operational amplifier through a transmission connection two equivalent resistors, the transmitter of the triode is connected with the middle end of the two equivalent resistors, and the collector electrode of the triode is connected with a 12V power supply; the output end of the controller outputs a signal to control the opening and closing of the triode after passing through the operational amplifier, so that the constant current output of the 12V power supply is controlled by the controller.
The two paths of constant current output circuits realize the output of a 12V constant current power supply, the DAC output voltage of the controller is adopted, the constant current output is realized through an operational amplifier and a triode, and the output current is controlled through the controller.
Referring to fig. 6-7, preferably, the optocoupler control circuit includes at least one path of control unit, the number of paths of the control unit is the same as that of the collection units, the input ends of the control units are connected to a control socket, and the control socket is connected to the output end of the industrial personal computer.
Preferably, the control unit comprises a control resistor, a control capacitor, a control optocoupler and a control diode, the input end of the control unit comprises a COM end and an X end, the COM ends of the plurality of control units are connected with the 1 pin of the control socket after being connected together, and the X ends of the plurality of control units are respectively connected with the other plurality of pins of the control socket.
Preferably, a detection point is set at a high potential end of the light receiver side of the control optocoupler, and the detection point is connected with an input end of the controller and is used for detecting an input signal of the optocoupler control circuit.
Further, the optocoupler control circuit is arranged in four ways, namely the control units are arranged in four ways, the optocoupler isolation control is adopted for the input high and low levels, and the detection control output of the IO port of the controller is used for realizing the detection of control signals input from the outside.
Referring to fig. 8-10, preferably, the darlington tube driver is configured to be driven in multiple ways, the relay output circuit is configured to be driven in multiple ways, and multiple relay output circuits are respectively connected to multiple darlington tube drivers.
Furthermore, the Darlington tube driver is set to 8 paths of driving, and the four paths of driving are used for realizing the use of four paths of relay output circuits, so that the other four paths of driving are reserved for users to expand.
Preferably, the relay output circuit comprises an indicating unit and an isolating unit, wherein the indicating unit is connected to the light emitter side of the isolating unit, and the light receiver side of the isolating unit is connected with the control end of the relay through a relay socket.
Referring to fig. 11-12, preferably, the communication module is configured as a 485 communication module and a CAN communication module in parallel, the 485 communication module is provided with a DC/DC isolation chip one and a 485 chip, one side of the DC/DC isolation chip one is connected with an output and transmitting port of the controller through a 0R resistor, the other side is connected with one side of the 485 chip, and the other side of the 485 chip is connected with a communication socket through a resistor;
the CAN communication module comprises a second DC/DC isolation chip and a CAN transceiver, one side of the second DC/DC isolation chip is connected with the input end and the output end of the controller through a 0R resistor, the other side of the second DC/DC isolation chip is connected with one side of the CAN transceiver, and the other side of the CAN transceiver is connected with the communication socket.
The 485 communication module and the CAN communication module are parallel in double lines, so that various communication modes are realized, and the controllable adaptability of products is improved.
Referring to fig. 13-14, further, the controller is configured as an STM32F103VET6 singlechip with 100 pins, a reset circuit is externally arranged on the controller, the reset circuit is connected to 67 pins of the controller, the reset circuit is configured as an optocoupler reset circuit, the optocoupler reset circuit includes an optocoupler UXD1, resistors R10, R13, R12 and a capacitor C9, a 24V power supply is grounded after being connected in series through the resistors R10 and R13, a high potential on the light emitter side of the optocoupler UXD1 is connected with a 24V power supply, a low potential on the light emitter side of the optocoupler UXD1 is connected with the middle ends of the resistors R10 and R13, a high potential on the light receiver side of the optocoupler UXD1 is terminated with a 3.3V power supply, a low potential point is connected with 67 pins of the controller, and the 67 pins of the controller are grounded through the resistor R12 and the capacitor C9 connected in parallel; by arranging the optocoupler reset circuit, the isolation of the controller of the power supply is realized, and the normal operation of the controller and the power supply is ensured.
Referring to fig. 15, further, the power supply circuit forms a 24V power supply, that is, a 24V direct current after passing through a rectifier diode D4 and a common mode inductor T1, the 24V power supply supplies power to a power load which needs to be supplied with 24V, the 24V power supply filters through filter capacitors C2 and C3, the 12V power supply supplies power to the power load which needs to be supplied with 12V after being reduced by a voltage reduction chip LM2576, the 12V power supply filters with a filter capacitor C6, the 5V power supply forms a 5V power supply after being reduced by a voltage reduction chip LM7805, the 5V power supply supplies power to the power load which needs to be supplied with 5V and filters with a filter capacitor C7, the 5V power supply forms a 3.3V power supply after being reduced by a voltage reduction chip ASM1117-3.3, the 3.3V power supply supplies power to the power load which needs to be supplied with 3.3V, and filters with filter capacitors C4 and C5.
The power supply circuit is arranged as a multi-stage power supply, so that the existing power supply requirement is met, and meanwhile, the requirement of diversified power utilization can be met by timely increasing the number of electric equipment.
Referring to fig. 16-17, further, the power circuit is provided with a power isolation module, the power isolation module includes sockets B1, B2, capacitors C12, C13, C15, and C16, the 1 pin of the B1 socket is grounded, the 2 pin is connected with a 5V power supply, the 1 pin of the B1 socket is connected with the capacitor C12, the 3 pin of the B1 socket is connected with the 4 pin of the B1 socket, the 3 pin of the B1 socket is connected with the high-low potential of the output side of the DC/DC isolation chip two.
Similarly, the 1 pin of the B2 socket is grounded, the 2 pin is connected with a 5V power supply, a capacitor C13 is connected between the 1 pin and the 2 pin of the B1 socket, a capacitor C16 is connected between the 3 pin and the 4 pin of the B1 socket, and the 3 pin and the 4 pin of the B1 socket are connected with high and low potentials of the output side of the 485 chip 1.
Through setting up the power isolation module, realized the isolation of power and communication circuit, guaranteed the normal operating of power and communication circuit.
Referring to fig. 18-19, further comprising a download circuit, the download circuit comprises a 485 chip U1, the 1 pin of the 485 chip U1 is connected with 69 pins of the controller, the 2 pin of the 485 chip U1 is connected with 3.3V power through a resistor R3, the 3 pin and the 2 pin of the 485 chip U1 are connected together, the 4 pin of the 485 chip U1 is connected with 68 pins of the controller, the 68 pin of the controller is connected with the base of a triode Q1 through a resistor R5, the collector of the triode Q1 is connected with 3.3V power through a resistor R3, the emitter of the triode Q1 is grounded, the 5 pin of the 485 chip U1 is grounded, the 8 pin is connected with 3.3V power, the 6 pin and the 7 pin are connected with 1 pin and 2 pin of the communication socket through a resistor R6 and R7, the 6 pin of the 485 chip U1 is connected with 3.3V power through a resistor R1, the 7 pin of the 485 chip U1 is grounded through a resistor R7, the 6 and 7 pin of the 485 chip U1 is reversely connected with diodes D1 and D2 respectively and then grounded, and the 1 pin and the 2 pin of the socket is connected with the socket through a resistor R4.
Referring to fig. 20, the circuit is further provided with an indication circuit, wherein the indication circuit is only provided with 4 paths, and is respectively an error indication circuit, a work indication circuit, a communication indication circuit and a power indication circuit, the error indication circuit comprises a resistor R8 and a light emitting diode D3, the light emitting diode D3 is connected with a 3.3V power supply, and the negative electrode of the light emitting diode D3 is connected with the 39 pin of the controller through the resistor R8. When an error occurs in operation, the 39 pin of the controller is pulled low, and the light emitting diode D3 in the error indication circuit is turned on.
The work indicating circuit comprises a resistor R9 and a light emitting diode D5, wherein the light emitting diode D5 is connected with a 3.3V power supply, and the negative electrode of the light emitting diode D5 is connected with a 38 pin of the controller through the resistor R9. When the operation is normal, the 39 pin of the controller is pulled low, and the LED D5 in the operation indicating circuit is lightened.
The communication indicating circuit comprises a resistor R11 and a light emitting diode D7, wherein the light emitting diode D7 is connected with a 3.3V power supply, and the negative electrode of the light emitting diode D7 is connected with a 69 pin of the controller through the resistor R11. When the communication is normal, the 69 pin of the controller is pulled to be low, and the LED D7 in the communication indicating circuit is lightened.
The power indication circuit comprises a resistor R14 and a light emitting diode D8, wherein the light emitting diode D8 is connected with a 3.3V power supply, and the negative electrode of the light emitting diode D8 is grounded through the resistor R14. When the power is turned on, the light emitting diode D8 and the resistor R14 form a loop, and the light emitting diode D8 in the power supply indicating circuit is turned on.
Referring to fig. 21, further, the reference circuit includes a reference voltage chip U7, a 3.3V power supply is connected to the 21 pin of the controller through a resistor R25, the 21 pin of the controller is grounded through a resistor RH1 and a resistor RL1 connected in series, the REF pin of the reference voltage chip U7 is connected to the middle end of the resistor RH1 and the resistor RL1, the AN end of the reference voltage chip U7 is grounded, the CAT end of the reference voltage chip U7 is connected to the 21 pin of the controller, and the CAT pin of the reference voltage chip U7 is grounded through a capacitor C20.
And a reference circuit is provided for providing a reference voltage for the controller, so that the working accuracy of the control system is ensured.
Referring to fig. 22, further, the device further includes a boot pin selection circuit, where the boot pin selection circuit includes a resistor Rr1 and a capacitor C21, the 3.3V power supply forms a loop through a serial connection, and the 3.3V power supply forms a loop through a serial connection switch SW1 and a resistor R26, the middle ends of the resistor Rr1 and the capacitor C21 are connected with the 14 pin of the controller, and the middle ends of the switch SW1 and the resistor R26 are connected with the 94 pin of the controller.
By setting the boot pin selection circuit, a start mode in which the controller starts can be selected, for example: main flash memory, system memory, and built-in SRAM.
Referring to fig. 23, the portable electronic device further comprises a battery socket, wherein a high-potential pin of the battery socket is connected with a6 pin of the controller, and the other pin of the battery socket is grounded to the battery socket to fix a battery thereon.
Referring to fig. 24-25, the circuit further includes a crystal oscillator circuit, wherein the crystal oscillator circuit is provided with two paths, one path is connected between the 12 and 13 pins of the controller, the other path is connected between the 8 and 9 pins of the controller, the crystal oscillator circuit includes a resistor R23, a crystal oscillator Y1, and capacitors C11 and C17, the resistor R23 and the crystal oscillator Y1 are connected in parallel and are connected between the 12 and 13 pins of the controller, and the 12 and 13 pins of the controller are grounded through the capacitors C11 and C17, respectively.
Similarly, the crystal oscillator circuit of the other path comprises a crystal oscillator Y1 and capacitors C19 and C22, wherein the crystal oscillator Y1 is connected between 8 pins and 9 pins of the controller, and the 8 pins and 9 pins of the controller are grounded through the capacitors C19 and C22 respectively.
Referring to fig. 26, the circuit further includes a writing socket P1, wherein pin 1 of the writing socket P1 is connected to a 3.3V power supply, pins 2 and 3 are respectively connected to pin 76 and pin 72, and pin 4 of the writing socket P1 is grounded. The controller is programmed through the programming interface P1.
The above-described features are continuously combined with each other to form various embodiments not listed above, and are regarded as the scope of the present invention described in the specification; and, it will be apparent to those skilled in the art from this disclosure that modifications and variations can be made without departing from the scope of the invention defined in the appended claims.

Claims (10)

1. The intelligent acquisition control system of the industrial robot comprises a controller and a power supply circuit and is characterized by further comprising a communication circuit, a compatible acquisition circuit, a constant current output circuit, an optocoupler control circuit and a relay output circuit, wherein the communication circuit, the compatible acquisition circuit, the constant current output circuit, the optocoupler control circuit and the relay output circuit are all connected with the controller, and the power supply circuit supplies power for all electric loads;
the communication circuit is provided with at least two communication modules, one end of each communication module is connected with external communication equipment, the other end of each communication module is connected with the controller, and the communication circuit is used for realizing communication connection between the external communication equipment and the controller;
the compatible acquisition circuit is used for acquiring current input and compatible analog voltage input, and the compatible acquisition circuit acquires voltage or current analog quantity and forwards the voltage or current analog quantity to a controller connected with the compatible acquisition circuit;
the constant current output circuit is used for providing a constant current control power supply, the input end of the constant current output circuit is connected with the controller, and the output end of the constant current output circuit is connected with controllable electric equipment;
the input end of the optical coupler control circuit is connected with the output end of the industrial personal computer, and the output end of the optical coupler control circuit is connected with the acquisition end of the controller;
the input end of the relay output circuit is connected with the output end of the controller, the output end of the relay output circuit is connected with the control end of the relay, and the input end of the relay output circuit is connected with the output end of the controller through a Darlington tube driver.
2. The intelligent acquisition control system of an industrial robot according to claim 1, wherein the compatible acquisition circuit is configured as at least one acquisition unit, and the acquisition units are configured in two modes for compatible analog current acquisition and analog voltage acquisition.
3. The intelligent acquisition control system of the industrial robot according to claim 2, wherein the acquisition unit comprises an acquisition socket, a voltage regulating resistor, a filter capacitor, a follower and a voltage stabilizing diode, one end of the voltage regulating resistor is connected with the acquisition socket, the other end of the voltage regulating resistor is connected with a non-inverting input end of the follower through the filter capacitor, and an output end of the follower is connected with an AD end of the controller after passing through the voltage stabilizing diode; the acquisition socket is electrically connected with a port to be acquired, and after the acquired analog voltage or analog current is regulated by the voltage regulating resistor, the analog voltage or analog current is in the rated range of the follower and is stabilized by the AD end of the controller after the analog voltage or analog current is stabilized.
4. The intelligent acquisition control system of the industrial robot according to claim 1, wherein the constant current output circuit comprises an operational amplifier, a triode, a plurality of resistors, a plurality of capacitors and an output socket, wherein the in-phase input end of the operational amplifier is connected with the output end of the controller through a resistor, the reverse-phase input end of the operational amplifier is grounded through a resistor, the output end of the operational amplifier is connected with the base electrode of the triode through a resistor, the in-phase input end of the operational amplifier is connected with the output socket through a resistor, the output end of the operational amplifier is connected with the output socket through a resistor, the emitter of the triode is connected with the output end of the operational amplifier through a resistor, the reverse-phase input end of the operational amplifier is connected with the middle end of the two equivalent resistors through a transmission connection of two equivalent resistors, and the collector electrode of the triode is connected with a 12V power supply; the output end of the controller outputs a signal to control the opening and closing of the triode after passing through the operational amplifier, so that the constant current output of the 12V power supply is controlled by the controller.
5. The intelligent acquisition control system of the industrial robot according to claim 2, wherein the optocoupler control circuit comprises at least one path of control units, the number of the control units is the same as that of the acquisition units, the input ends of the control units are connected to control sockets, and the control sockets are connected to the output ends of the industrial personal computers.
6. The intelligent acquisition control system of an industrial robot according to claim 5, wherein the control unit comprises a control resistor, a control capacitor, a control optocoupler and a control diode, the input end of the control unit comprises a COM end and an X end, the COM ends of the plurality of control units are connected with 1 pin of the control socket after being connected together, and the X ends of the plurality of control units are respectively connected with other pins of the control socket.
7. The intelligent acquisition control system of an industrial robot according to claim 6, wherein a detection point is set at a high potential end of a light receiver side of the control optocoupler, and the detection point is connected with an input end of the controller and is used for detecting an input signal of an optocoupler control circuit.
8. The intelligent acquisition control system of an industrial robot according to claim 1, wherein the darlington tube drivers are configured as multiple paths, the relay output circuits are configured as multiple paths, and the multiple paths of relay output circuits are respectively connected with the multiple paths of darlington tube drivers.
9. The intelligent acquisition control system of an industrial robot according to claim 8, wherein the relay output circuit comprises an indicating unit and an isolating unit, the indicating unit is connected to a light emitter side of the isolating unit, and a light receiver side of the isolating unit is connected to a control end of a relay through a relay socket.
10. The intelligent acquisition control system of the industrial robot according to claim 1, wherein the communication module is arranged as a 485 communication module and a CAN communication module in double-line parallel, the 485 communication module is provided with a DC/DC isolation chip I and a 485 chip, one side of the DC/DC isolation chip I is connected with an output and transmission port of the controller through a 0R resistor, the other side of the DC/DC isolation chip I is connected with one side of the 485 chip, and the other side of the 485 chip is connected with a communication socket through a resistor;
the CAN communication module comprises a second DC/DC isolation chip and a CAN transceiver, one side of the second DC/DC isolation chip is connected with the input end and the output end of the controller through a 0R resistor, the other side of the second DC/DC isolation chip is connected with one side of the CAN transceiver, and the other side of the CAN transceiver is connected with the communication socket.
CN202110112231.1A 2021-01-27 2021-01-27 Intelligent acquisition control system of industrial robot Active CN112947146B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110112231.1A CN112947146B (en) 2021-01-27 2021-01-27 Intelligent acquisition control system of industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110112231.1A CN112947146B (en) 2021-01-27 2021-01-27 Intelligent acquisition control system of industrial robot

Publications (2)

Publication Number Publication Date
CN112947146A CN112947146A (en) 2021-06-11
CN112947146B true CN112947146B (en) 2023-04-28

Family

ID=76237948

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110112231.1A Active CN112947146B (en) 2021-01-27 2021-01-27 Intelligent acquisition control system of industrial robot

Country Status (1)

Country Link
CN (1) CN112947146B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113498969A (en) * 2021-07-02 2021-10-15 旭宝乐科技(深圳)有限公司 Heating and heat preservation circuit, device and system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1150187A2 (en) * 2000-04-28 2001-10-31 Applied Materials, Inc. Wafer fabrication data acquisition and management systems
CN102385340A (en) * 2011-09-22 2012-03-21 苏州能健电气有限公司 Programmable logic controller (PLC) controlling system and signal collection circuit thereof
CN202870624U (en) * 2012-09-25 2013-04-10 孙富康 Caterpillar band-type building energy efficiency data acquisition robot and control system thereof
CN106054845A (en) * 2016-07-15 2016-10-26 常州灵骏机器人科技有限公司 Service robot control system based on industrial ethernet
CN108015776A (en) * 2018-01-19 2018-05-11 广东海洋大学 A kind of robot control system based on CompactRIO
CN207937817U (en) * 2018-03-06 2018-10-02 上海木木机器人技术有限公司 A kind of kinetic control system of robot
CN210139133U (en) * 2019-01-21 2020-03-13 南昌大学 Welding robot system data acquisition and motion control system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7328130B2 (en) * 2005-08-17 2008-02-05 Xtek, Inc. Data acquisition system for system monitoring

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1150187A2 (en) * 2000-04-28 2001-10-31 Applied Materials, Inc. Wafer fabrication data acquisition and management systems
CN102385340A (en) * 2011-09-22 2012-03-21 苏州能健电气有限公司 Programmable logic controller (PLC) controlling system and signal collection circuit thereof
CN202870624U (en) * 2012-09-25 2013-04-10 孙富康 Caterpillar band-type building energy efficiency data acquisition robot and control system thereof
CN106054845A (en) * 2016-07-15 2016-10-26 常州灵骏机器人科技有限公司 Service robot control system based on industrial ethernet
CN108015776A (en) * 2018-01-19 2018-05-11 广东海洋大学 A kind of robot control system based on CompactRIO
CN207937817U (en) * 2018-03-06 2018-10-02 上海木木机器人技术有限公司 A kind of kinetic control system of robot
CN210139133U (en) * 2019-01-21 2020-03-13 南昌大学 Welding robot system data acquisition and motion control system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Underwater Acoustic Sensors Data Collection in the Robotic Vessels as-a-Service Project;Alberto Signori;《 OCEANS 2019 - Marseille》;20191014;全文 *
机器人控制系统数据采集和通讯方法的实现;刘冬;《自动化与仪表》;20101031;全文 *

Also Published As

Publication number Publication date
CN112947146A (en) 2021-06-11

Similar Documents

Publication Publication Date Title
CN112947146B (en) Intelligent acquisition control system of industrial robot
US20130093332A1 (en) Intelligent led lamp group control device using existing wall switch
CN116131418B (en) Power adapter
CN216673338U (en) LED intelligent lamp system
CN103139994B (en) Light-emitting diode (LED) driving device capable of automatically identifying sensor and adaptively controlling sensor
CN215599680U (en) Programmable integrated circuit
CN113448275B (en) Greenhouse control system with embedded control
CN212031965U (en) Intelligent cinema seat control system
EP3858110B1 (en) Multi-protocol luminaire system
CN220457624U (en) Induction lamp control device and lighting system
JP2019509582A (en) Peripheral device, system and method including said peripheral device
CN203562094U (en) Infrared remote control studying circuit
CN215265287U (en) Teaching development is with magicbot open source robot
CN111309564A (en) Sensor inquiry device
CN215814153U (en) One drags multidata converter and data conversion system
CN221687191U (en) Intelligent module of LED lamp panel
CN215818140U (en) Pluggable intelligent equipment
CN216248958U (en) Intelligent remote temperature monitoring controller based on CAT1
CN216600138U (en) LED drive circuit compatible with induction control and communication control
CN219102911U (en) Desk lamp
CN110234184A (en) LED driver, LED information display system and the method for transmitting signals for LED
CN114286287B (en) Positioning device capable of being used for long time
CN220154603U (en) Device for detecting and reporting electric quantity of lithium battery
CN210351050U (en) Motor voltage-increasing and voltage-reducing speed-regulating plate
CN114096036A (en) LED intelligent lamp system

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
TA01 Transfer of patent application right

Effective date of registration: 20230331

Address after: 362000 4f, commercial building, Yang Street, No. 6, Yuhuai Huating, Quanxiu street, Fengze District, Quanzhou City, Fujian Province

Applicant after: FUJIAN FENGGUAN TECHNOLOGY Co.,Ltd.

Address before: Weidu District Xuchang city of Henan Province, Bayi Road No. 88

Applicant before: XUCHANG University

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant