CN113985759A - Data acquisition and conversion module for robot polishing workstation - Google Patents
Data acquisition and conversion module for robot polishing workstation Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 26
- 238000005498 polishing Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 37
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 27
- 239000003990 capacitor Substances 0.000 claims description 80
- 238000011084 recovery Methods 0.000 claims description 9
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- 239000011324 bead Substances 0.000 claims description 3
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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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
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Abstract
The invention provides a data acquisition and conversion module for a robot polishing workstation, which comprises a control unit, wherein the control unit is respectively connected with a temperature measurement unit, a 4-20mA sensor signal acquisition unit, a bus communication interface unit and a temperature measurement circuit calibration unit, a power supply unit is additionally used as the control unit, the temperature measurement unit, the 4-20mA sensor signal acquisition unit and the bus communication interface unit, the temperature measurement circuit calibration unit supplies power, the temperature measurement unit is used for converting a thermistor signal into a voltage signal, the bus communication unit is used for sending a converted digital signal to an upper computer through an RS485 or CAN bus, and the temperature measurement circuit calibration unit is used for automatically calibrating the bridge resistance of the thermistor temperature measurement unit. The data acquisition and conversion module CAN be used for acquiring temperature, humidity, force sensing and vibration signals, converting analog quantity of the signals into digital signals and outputting the digital signals through an RS485 or CAN bus. The module has the characteristics of higher precision, low cost and wide compatible application.
Description
Technical Field
The invention relates to the field of robot polishing workstations, in particular to a data acquisition and conversion module for a robot polishing workstation.
Background
In recent years, with continuous progress of robots and machine vision technologies and continuous improvement of labor cost, the industrial industry has increasingly strong demand for polishing work of workpieces by using high-precision industrial robots, in order to ensure normal work of robot polishing workstations, more temperature, humidity, force and vibration sensors are required to be installed to monitor the working state of the robots, most of the sensors do not have RS485 or CAN bus communication capability, and a few sensors with bus communication capability are often expensive, and have different functions, and different types of sensors produced by different manufacturers have the problem of data frame protocol confusion, so that great difficulty is caused to the use of the sensors.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a sensor data acquisition and conversion module which is low in cost, stable in performance, strong in universality and simple and convenient to use, the module uses an RS485 or CAN bus to communicate with an upper computer, and CAN send temperature signals acquired by three-route PT-100 type thermistors and current signals acquired by 4-20mA specification sensors universal in the industrial field to the upper computer through a data bus, so that the aim of assisting the upper computer to monitor the working state of a robot is fulfilled.
The invention provides a data acquisition and conversion module for a robot grinding workstation, which comprises a control unit (1), wherein the control unit (1) is respectively connected with a temperature measurement unit (3), a 4-20mA sensor signal acquisition unit (2), a bus communication interface unit (5) and a temperature measurement circuit calibration unit (4). The data acquisition and conversion module further comprises a power supply unit (6), the power supply unit (6) is a control unit (1), the temperature measurement unit (3), the 4-20mA sensor signal acquisition unit (2), the bus communication interface unit (5), the temperature measurement circuit calibration unit (4) supplies power, the temperature measurement unit (3) is used for converting thermistor signals into voltage signals, the 4-20mA sensor signal acquisition unit (2) is used for converting 4-20mA current signals commonly used by the sensor into voltage signals, the bus communication unit (5) is used for sending the converted digital signals to an upper computer through an RS485 or CAN bus, and the temperature measurement circuit calibration unit (4) is used for automatically calibrating the resistance of an electric bridge of the thermistor temperature measurement unit.
Preferably, the power supply unit (6) comprises a DC/DC voltage stabilizer (V1) with the model number of LM2596S-5.0/TR, a 24V connection end is led out from a pin 1 of the DC/DC switching voltage stabilizer (V1) and is connected to the cathode of a second rectifier diode (D2), and the 24V connection end is grounded through a twenty-fourth electrolytic capacitor (C24) and a twenty-sixth capacitor (C26) which are connected in parallel. The anode of the second rectifier diode (D2) is connected to the 4 th pin of the third common mode inductor (L3), the anode of the second rectifier diode (D2) is further grounded through a twenty-first capacitor (C21), the 3 pin of the third common mode inductor (L3) is connected to the anode of the DC24V power interface (P3), the 3 pin of the third common mode inductor (L3) is connected to the cathode of the DC24V power interface (P3) through a 20 th capacitor (C20), the 1 pin of the third common mode inductor (L3) is connected to the cathode of the DC24V power interface (P3), the 2 pin thereof is grounded, the 3 pin of the DC/DC switching regulator (V1) is grounded, the 5 pin thereof is connected to the 2 pin of the horizontal toggle switch (SW 1), the 1 pin of the horizontal toggle switch (SW 1) is grounded, the 3 pin thereof is connected to the 24V connection terminal through a forty-eighteenth resistor (R48), and the 2 pin of the DC/DC switch (V1) is connected to the L26 terminal of the second common mode inductor (L2), the other end of the second inductor (L2) leads out a 5V connection end, and the 4-pin of the DC/DC switching regulator (V1) is also connected to the other end of the second inductor (L2). The 5V connecting end is grounded through a twenty-second electrolytic capacitor (C22) and a 23 th capacitor which are connected in parallel, the 5V connecting end is grounded through a fifty-first resistor (R51) and a sixth light emitting diode (D6) which are connected in series, the 5V connecting end is also connected to one end of a self-recovery fuse (F1), the other end of the self-recovery fuse (F1) is connected to a 3 pin of a linear voltage stabilizer (V2) with the model number being LD1117V33C, the other end of the self-recovery fuse (F1) is also connected to the cathode of a fourth voltage stabilizing diode (D4), the anode of the fourth voltage stabilizing diode (D4) is grounded, a1 pin of the linear voltage stabilizer (V2) is grounded, a 3V3 is led out from the 1 pin of the linear voltage stabilizer (V2), the 3V3 connecting end is grounded through a twenty-fifth electrolytic capacitor (C25) and a twenty-seventh capacitor (C27) which are connected in parallel, and a 3V3 is also connected to the ground through a twenty-fifth resistor (R50) and a light emitting diode (D5) which are connected in series, the 5V connection end is connected to the A _5V connection end through a magnetic bead (L1), the 5V connection end is grounded through an 18 th capacitor (C18), and the A _5V connection end is grounded through a 19 th capacitor (C19).
Preferably, the control unit (1) comprises a control chip (U1) of model STM32F103C6T6, wherein pins 1, 24, 36 and 48 of the control chip (U1) are connected to a 3V3 connection terminal, the pins 1, 24, 36 and 48 are further connected to a ground through an eleventh capacitor (C11), a twelfth capacitor (C12), a thirteenth capacitor (C13) and a fourteenth capacitor (C14) which are connected in parallel, pins 8, 23, 35 and 47 of the control chip (U1) are grounded, pins 20 and 44 of the control chip (U1) are grounded through a second resistor (R2) and a sixteenth resistor (R16), pins 5 and 6 of the control chip (U1) are respectively connected to two ends of a crystal oscillator (Y1), two ends of the crystal oscillator (Y1) are further connected to a ground through a fourth capacitor (C4) and a fifth capacitor (C5), the 9 pins of the control chip (U1) are connected to the 2 pins of a reference voltage chip (U8) with the model number of REF3033AIDBZR, the 9 pins of the control chip (U1) are grounded through a sixteenth capacitor (C16), the 3 pins of the reference voltage chip (U8) are grounded, the 1 pin of the reference voltage chip (U8) is connected to an A _5V connecting end, the 1 pin of the reference voltage chip (U8) is grounded through a fifteenth capacitor (C15), the 7 pins, 34 pins and 37 pins of the control chip (U1) are respectively connected to the 4 pin, 2 pin and 1 pin of a simulation interface (CN 1), the 6 pin of the simulation interface (CN 1) is grounded, the 1 pin is grounded through a twenty-ninth resistor, the 5 pin of the simulation interface (CN 1) is connected to a 3V3 connecting end, the 2 pin is connected to a 3V connecting end 3 through a twenty-seventh resistor, and the 7 pin of the control chip (U1) is also grounded through a second key (K2) and an eighth capacitor (C8) which are connected in parallel, the 7 pins of the control chip (U1) are further connected to the 3V3 connecting end through an eleventh resistor (R11), the 10 pins of the control chip (U1) are further grounded through a first key (K1) and a third capacitor (C3) which are connected in parallel, the 7 pins of the control chip (U1) are further connected to the 3V3 connecting end through a fifth resistor (R5), and the 25 pins of the control chip (U1) are connected to the 3V3 connecting end through a nineteenth resistor (R19) and a first light emitting diode (D1) which are connected in series.
Preferably, the 4-20mA sensor signal acquisition unit (2) includes 4 current sensing amplifiers INA181A1IDBVT, a pin 3 and a pin 4 of each current sensing amplifier are respectively connected to two ends of a seventh resistor (R7), a fifteenth resistor (R15), a twenty-fourth resistor (R24) and a thirtieth resistor (R30), a pin 1 of each current sensing amplifier is respectively connected to pins 11 to 14 of the control chip (U1) through a first resistor (R1), a tenth resistor (R10), a twentieth resistor (R20) and a twenty-eighth resistor (R28), a pin 2 and a pin 5 of each current sensing amplifier are grounded, a pin 6 of each current sensing amplifier is connected to the a _5V connection terminal, the a _5V connection terminal is further respectively connected to the ground through a second capacitor (C2), a seventh capacitor (C7) and a ninth capacitor (C9), and a pin 3 of each current sensing amplifier is respectively connected to a pin P1 of the second sensor (P2), And the pins are 3, 5 and 7, and the pins 2, 4, 6 and 8 of the second sensor terminal (P2) are all connected to the 24V connecting end.
Preferably, the temperature measuring unit (3) comprises 3 current sensing amplifiers INA181A1IDBVT, wherein the pin 3 of each current sensing amplifier is connected to the connecting terminals PT 1-PT 3 through a sixth resistor (R6), a fourteenth resistor (R14) and a twenty-third resistor (R23), the pin 3 of each current sensing amplifier is further connected to the connecting terminals A _5V through an eighth resistor (R8), a seventeenth resistor (R17) and a twenty-fifth resistor (R25), the pin 4 of each current sensing amplifier is connected to the connecting terminals A _5V through a third resistor (R3), a twelfth resistor (R12) and a twenty-first resistor (R21), the pin 4 of each current sensing amplifier is further connected to the connecting terminals A _5V through a ninth resistor (R9), an eighteenth resistor (R18) and a twenty-sixth resistor (R26), the pin 2 and the pin 5 of each current sensing amplifier are connected to the connecting terminals A _5V, the A _5V connecting end is grounded through a first capacitor (C1), a sixth capacitor (C6) and a tenth capacitor (C10), 1 pin of each current sensing amplifier is connected to 15 th-17 th pins of a control chip (U1) through a fourth resistor (R4), a thirteenth resistor (R13) and a twenty-second resistor (R22), and the A _5V connecting end is further connected to 1 pin, 3 pins and 5 pins of a first sensor wiring terminal (P1).
Preferably, the temperature measurement circuit calibration unit (4) comprises 6P-channel MOS transistors of type AO3401, the sources of the MOS transistors are connected to the A _5V connection terminal, the gates of the first MOS transistor (Q1), the third MOS transistor (Q3) and the fifth MOS transistor (Q5) are connected to the MOS2 connection terminal, the gates of the second MOS transistor (Q2), the fourth MOS transistor (Q4) and the sixth MOS transistor (Q6) are connected to the MOS1 connection terminal, the drains of the first MOS transistor (Q1) and the second MOS transistor (Q2) are respectively connected to the PT1 connection end through a thirty-fourth resistor (R34) and a thirty-fifth resistor (R35), the drains of the third MOS transistor (Q3) and the fourth MOS transistor (Q4) are respectively connected to the PT2 connection end through a thirty-sixth resistor (R36) and a thirty-seventh resistor (R37), the drains of the fifth MOS transistor (Q5) and the sixth MOS transistor (Q6) are respectively connected to the PT3 connection end through a thirty-eighth resistor (R38) and a thirty-ninth resistor (R39).
Preferably, the temperature measuring circuit calibration unit (4) comprises 2 NPN-type triodes with model SS8050, emitters of the triodes are all grounded, bases of the triodes are respectively connected to pins 18 and 19 of the control chip (U1) through a fifteenth resistor (R45) and a forty-sixth resistor (R46), collectors of the triodes are respectively connected to the 5V connection end through a forty-eleventh resistor (R41) and a forty-second resistor (R42), and collectors of the triodes are respectively connected to the MOS1 and MOS2 connection ends through a thirteenth resistor (R43) and a forty-fourth resistor (R44).
Preferably, the bus communication unit (5) comprises two selectable communication modes with an upper computer, namely an RS485 bus and a CAN bus.
Preferably, when the bus communication unit (5) uses RS485 to communicate with an upper computer, it should include an RS485 interface chip (U10) with model number SP3485E, where 5 pins of the RS485 interface chip (U10) are grounded, 2 pins and 3 pins of the RS485 interface chip (U10) are both connected to 29 pins of a control chip (U1), 1 pin of the RS485 interface chip (U10) is connected to 31 pins of the control chip (U1), 1 pin of the RS485 interface chip (U10) is further connected to a 3V3 connection terminal through a thirty-first resistor, 4 pins of the RS485 interface chip (U10) are connected to 30 pins of the control chip (U1), 8 pins of the RS485 interface chip (U10) are connected to a 3V3 connection terminal, 6 pins and 7 pins of the RS485 interface chip (U10) are respectively connected to a thirty-third resistor (R33), and 6 pins and 7 pins of the RS485 interface chip (U10) are connected to a twelfth resistor (R32), the 7 pins of the RS485 interface chip (U10) are connected to the 3V3 connecting end through a fortieth resistor (R40), the 3V3 connecting end is grounded through a seventeenth resistor (R17), and the 6 pins and the 7 pins of the RS485 interface chip (U10) are also respectively connected to the 4 pins and the 3 pins of the communication interface (CN 1).
Preferably, when the bus communication unit (5) uses a CAN to communicate with an upper computer, the bus communication unit should include a CAN interface chip (U11) with a model number of SN65HVD230, a pin 2 of the CAN interface chip (U11) is grounded, a pin 3 of the CAN interface chip (U11) is connected to the 3V3 connection end, a pin 2 and a pin 3 of the CAN interface chip (U11) are also connected to two ends of a twenty-eighth capacitor, a pin 1 and a pin 4 of the CAN interface chip (U11) are connected to a pin 33 and a pin 32 of a control chip (U1), a pin 8 of the CAN interface chip (U11) is grounded through a forty-seventeen-seventh resistor (R47), a pin 6 and a pin 7 of the CAN interface chip (U11) are connected to a forty-ninth resistor (R49), a pin 6 and a pin 7 of the CAN interface chip (U11) are also connected to a pin 2 of a communication interface (CN 1) respectively, 1 pin.
The technical scheme of the invention has the advantages that the data acquisition and conversion module acquires analog quantity current or resistance data output by a plurality of different types of sensors by using the microcontroller, and uploads converted digital signals to the upper computer in a certain format through the RS485 or CAN bus after filtering and calculation.
Drawings
FIG. 1 illustrates a functional block diagram of a data acquisition and conversion module for a robotic polishing workstation in accordance with the present invention
FIG. 2 shows a schematic circuit diagram of a data acquisition and conversion module for a robotic polishing station in accordance with the present invention
Fig. 3 shows an enlarged circuit schematic of the power supply unit of fig. 2
FIG. 4 shows an enlarged circuit schematic of the control unit of FIG. 2
FIG. 5 shows a schematic circuit diagram of the amplification of the 4-20mA sensor signal acquisition unit of FIG. 2
FIG. 6 is an enlarged schematic circuit diagram of the thermometric unit of FIG. 2
FIG. 7 is an enlarged circuit schematic diagram of the thermometric circuit calibration unit of FIG. 2
FIG. 8 is a schematic circuit diagram showing the amplification of the RS485 interface in the bus communication unit of FIG. 2
Fig. 9 shows an enlarged circuit diagram of the CAN interface in the bus communication unit of fig. 2.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in the first drawing, the data acquisition and conversion module for the robot polishing workstation according to the present invention includes a control unit 1, and the control unit 1 is connected to a temperature measurement unit 3, a 4-20mA sensor signal acquisition unit 2, a bus communication interface unit 5, and a temperature measurement circuit calibration unit 4, respectively. The data acquisition and conversion module further comprises a power supply unit 6, wherein the power supply unit 6 supplies power to the control unit 1, the temperature measurement unit 3, the 4-20mA sensor signal acquisition unit 2, the bus communication interface unit 5 and the temperature measurement circuit calibration unit 4.
As shown in fig. 2-3, the power supply unit 6 converts +24V power into 5V power and 3.3V power, and filters the 5V power to obtain more stable a _5V power, so as to supply power to the control unit 1, the temperature measurement unit 3, the 4-20mA sensor signal acquisition unit 2, the bus communication interface unit 5, and the temperature measurement circuit calibration unit 4. The specific circuit structure of the power supply unit 7 is as follows: the power supply unit 6 comprises a DC/DC voltage stabilizer V1 with the model number of LM2596S-5.0/TR, a 24V connection end is led out from a pin 1 of the DC/DC switching voltage stabilizer V1 and connected to the cathode of a second rectifier diode D2, and the 24V connection end is grounded GND through a twenty-fourth electrolytic capacitor C24 and a twenty-sixth capacitor C26 which are connected in parallel. The anode of the second rectifying diode D2 is connected to the pin L34 of the third common mode inductor, the anode of the second rectifying diode D2 is also connected to the ground GND through the twenty-first capacitor C21, the pin L33 of the third common mode inductor is connected to the positive pole of the power interface P3 of DC24V, the pin L33 of the third common mode inductor is connected to the negative pole of the power interface P3 of DC24V through the 20 th capacitor C20, the pin L31 of the third common mode inductor is connected to the negative pole of the power interface P3 of DC24V, the 2 pin of the DC/DC switching regulator is grounded to GND, the 3 pin of the DC/DC switching regulator V1 is grounded to GND, pin 5 of the horizontal toggle switch is connected with pin SW12, pin SW11 of the horizontal toggle switch is grounded GND, the 3 pins of the DC/DC switching regulator are connected to a 24V connection end through a forty-eight resistor R48, the V12 pin of the DC/DC switching regulator is connected to one end of a second inductor L2, the other end of the second inductor L2 leads out a 5V connection terminal, and the 4 pins of the DC/DC switching regulator V1 are also connected to the other end of the second inductor L2. The 5V connection end is grounded through a twenty-second electrolytic capacitor C22 and a 23 th capacitor connected in parallel, the 5V connection end is further grounded through a fifty-first resistor R51 and a sixth light emitting diode D6 connected in series, the 5V connection end is further connected to one end of a self-recovery fuse F1, the other end of the self-recovery fuse F1 is connected to a pin 3 of a linear voltage regulator V2 with the model number LD1117V33C, the other end of the self-recovery fuse F1 is further connected to a cathode of a fourth voltage regulator diode D4, an anode of the fourth voltage regulator diode D4 is grounded through GND, a pin 1 of the linear voltage regulator V2 is grounded through GND, a pin 1 of the linear voltage regulator V2 is led out of a 3V3 connection end, the 3V3 connection end is grounded through a twenty-fifth electrolytic capacitor C25 and a twenty-seventh capacitor C27 connected in parallel, the 3V3 connection end is further grounded through a fifty-first resistor R50 and a fifth light emitting diode D5 connected in series, the 5V link is connected to the A _5V link through magnetic bead L1, the 5V link is through 18 th electric capacity C18 ground GND, the A _5V link is through 19 th electric capacity C19 ground GND.
As shown in fig. 4, the control unit 1 includes a control chip U1 with model number STM32F103C6T6, pins 1, 24, 36 and 48 of the control chip U1 are connected to a 3V3 connection terminal, the pins 1, 24, 36 and 48 are further connected to GND through an eleventh capacitor C11, a twelfth capacitor C12, a thirteenth capacitor C13 and a fourteenth capacitor C14 connected in parallel, pins 8, 23, 35 and 47 of the control chip U1 are connected to GND, pins 20 and 44 of the control chip U1 are connected to GND through a second resistor R2 and a sixteenth resistor R16 respectively, pins 5 and 6 of the control chip U1 are connected to two ends of a crystal oscillator Y1 respectively, two ends of the crystal oscillator Y1 are further connected to GND through a fourth capacitor C4 and a fifth capacitor C5 respectively, an aid pin 9 of the control chip U1 is connected to a reference chip 362 of a bref pin of a zr 3033 b REF of the control chip U8, the 9 pin of the control chip U1 is further grounded to GND through a sixteenth capacitor C16, the 3 pin of the reference voltage chip U8 is grounded to GND, the 1 pin thereof is connected to the a _5V connection terminal, the 1 pin of the reference voltage chip U8 is further grounded to GND through a fifteenth capacitor C15, the 7 pins, 34 pins and 37 pins of the control chip U1 are respectively connected to the 4 pin, 2 pin and 1 pin of the emulation interface CN1, the 6 pin of the emulation interface CN1 is grounded to GND, the 1 pin is grounded to GND through a twenty-ninth resistor, the 5 pin of the emulation interface CN1 is connected to the 3V3 connection terminal, the 2 pin is connected to the 3V3 connection terminal through a twenty-seventh resistor, the 7 pin of the control chip U1 is further grounded to GND through a second key K2 and an eighth capacitor C8 which are connected in parallel, the 7 pin of the control chip U1 is further connected to the 3V 586 connection terminal through an eleventh resistor R11, the 10 pin of the control chip U1 is further connected to GND through a first capacitor K1 and a third capacitor C3C 3673729, the 7 pins of the control chip U1 are also connected to the 3V3 connection end through a fifth resistor R5, and the 25 pins of the control chip U1 are connected to the 3V3 connection end through a nineteenth resistor R19 and a first light-emitting diode D1 which are connected in series.
In order to measure the 4-20mA sensors as shown in FIG. 5, the 4-20mA sensor signal collecting unit includes 4 current sensing amplifiers INA181A1IDBVT, wherein 3 pins and 4 pins of each current sensing amplifier are respectively connected to two ends of a seventh resistor R7, a fifteenth resistor R15, a twenty-fourth resistor R24 and a thirty-fourth resistor R30, 1 pin of each current sensing amplifier is respectively connected to 11 th to 14 th pins of a control chip U1 through a first resistor R1, a tenth resistor R10, a twentieth resistor R20 and a twenty-eighth resistor R28, 2 pins and 5 pins of each current sensing amplifier are grounded, 6 pins of each current sensing amplifier are connected to an A _5V connection terminal, the A _5V connection terminal is also respectively connected to the ground through a second capacitor C2, a seventh capacitor C7 and a ninth capacitor C9, and 3 pins of each current sensing amplifier are respectively connected to A1 pin of a second sensor P2, The pins 3, 5 and 7, and the pins 2, 4, 6 and 8 of the second sensor terminal P2 are all connected to the 24V connection terminal.
As shown in fig. 6, the temperature measuring unit 3 includes 3 current sensing amplifiers INA181A1IDBVT, wherein the 3 pins of each current sensing amplifier are connected to the terminals PT1 to PT3 through a sixth resistor R6, a fourteenth resistor R14 and a twenty-third resistor R23, the 3 pins of each current sensing amplifier are further connected to GND through an eighth resistor R8, a seventeenth resistor R17 and a twenty-fifth resistor R25, the 4 pins of each current sensing amplifier are connected to the a _5V connection terminal through a third resistor R3, a twelfth resistor R12 and a twenty-first resistor R21, the 4 pins of each current sensing amplifier are further connected to GND through a ninth resistor R9, an eighteenth resistor R18 and a twenty-sixth resistor R26, the 2 pins and the 5 pins of each current sensing amplifier are connected to GND, the 6 pins of each current sensing amplifier are connected to the a _5V connection terminal, and the a _5V connection terminal is further connected to the terminals a _5V connection terminal through a first capacitor C1, The sixth capacitor C6 and the tenth capacitor C10 are grounded to GND, pin 1 of each current sense amplifier is connected to pins 15 to 17 of the control chip U1 through a fourth resistor R4, a thirteenth resistor R13 and a twenty-second resistor R22, and the a _5V connection end is further connected to pin 1, pin 3 and pin 5 of the first sensor connection terminal P1.
In order to eliminate errors caused by resistance deviation of an electric bridge in a temperature measuring circuit, in a temperature measuring unit according to the present invention, two resistors controlled to be switched on and off by a PMOS are connected to a sensor interface of each temperature measuring circuit, as shown in fig. 7, the temperature measuring circuit calibration unit 4 includes 6P-channel MOS transistors of type AO3401, sources of the MOS transistors are connected to an a _5V connection terminal, gates of a first MOS transistor Q1, a third MOS transistor Q3 and a fifth MOS transistor Q5 are connected to an MOS2 connection terminal, gates of a second MOS transistor Q2, a fourth MOS transistor Q4 and a sixth MOS transistor Q6 are connected to an MOS1 connection terminal, drains of the first MOS transistor Q1 and the second MOS transistor Q2 are connected to a PT1 connection terminal through a fourteenth resistor R34 and a thirty-fifth resistor R35, drains of the third MOS transistor Q3 and the fourth MOS transistor Q2 are connected to a PT 638 connection terminal through a sixteenth resistor R638 and a thirty-PT R68623, and a fifth MOS 638 connection terminal, The drain of the sixth MOS transistor Q6 is connected to the PT3 connection terminal through a thirty-eighth resistor R38 and a thirty-ninth resistor R39, respectively. In addition, the temperature measurement circuit calibration unit 4 further includes 2 NPN-type triodes of SS8050 type for converting 3.3V level of the monolithic computer to 5V level and controlling on/off of the PMOS, emitters of the triodes are all grounded to GND, bases of the triodes are respectively connected to 18 pins and 19 pins of the control chip U1 through a fifteenth resistor R45 and a forty-sixth resistor R46, collectors of the triodes are respectively connected to the 5V connection terminal through a forty-eleventh resistor R41 and a forty-second resistor R42, and collectors of the triodes are respectively connected to the MOS1 and the MOS2 connection terminal through a forty-thirteenth resistor R43 and a forty-fourth resistor R44.
In order to communicate with an upper computer, the present invention provides two sets of bus interfaces for selection, wherein an RS485 bus interface structure is shown in fig. 8, when an RS485 is used for communicating with the upper computer, the bus communication unit should include an RS485 interface chip U10 with model number SP3485E, a 5 pin of the RS485 interface chip U10 is grounded GND, 2 and 3 pins of the RS485 interface chip U10 are both connected to 29 pins of a control chip U1, a1 pin of the RS485 interface chip U10 is connected to 31 pins of a control chip U1, a1 pin of the RS485 interface chip U10 is further connected to a 3V3 connection terminal through a thirty-one resistor, a 4 pin of the RS485 interface chip U10 is connected to a 30 pin of the control chip U1, an 8 pin of the RS485 interface chip U10 is connected to a 3V3 connection terminal, a 6 pin and a 7 pin of the RS485 interface chip U10 are respectively connected to two ends of a thirty-third resistor R33, the 6 pins of the RS485 interface chip U10 are grounded GND through a third twelve resistor R32, the 7 pin of the RS485 interface chip U10 is connected to a 3V3 connecting end through a fortieth resistor R40, the 3V3 connecting end is grounded GND through a seventeenth resistor R17, and the 6 pins and the 7 pin of the RS485 interface chip U10 are also connected to the 4 pins and the 3 pin of the communication interface CN1 respectively.
As shown in fig. 9, when the bus communication unit 5 uses the CAN to communicate with the upper computer, it should include a CAN interface chip U11 with model number SN65HVD230, a 2 pin of the CAN interface chip U11 is grounded GND, a 3 pin of the CAN interface chip U11 is connected to the 3V3 connection end, a 2 pin and a 3 pin of the CAN interface chip U11 are also connected to two ends of a twenty-eighth capacitor, respectively, a1 pin and a 4 pin of the CAN interface chip U11 are connected to a 33 pin and a 32 pin of a control chip U1, respectively, an 8 pin of the CAN interface chip U11 is grounded GND through a forty-seventeenth resistor R47, a 6 pin and a 7 pin of the CAN interface chip U11 are connected to a forty-ninth resistor R49, respectively, and a 6 pin and a 7 pin of the CAN interface chip U11 are also connected to a 2 pin and a1 pin of the communication interface CN1, respectively.
In a specific use process, a 4-20mA sensor is connected to a second sensor interface P2 according to requirements, a PT-100 thermistor is directly connected to a first sensor interface P1, a DC24V power supply is connected to a power supply interface P3, and a CAN signal or an RS485 signal is connected according to requirements.
If the resistance value of the bridge needs to be calibrated, all the thermistors connected with the first sensor interface P1 need to be disconnected, a user button is pressed while a reset button is pressed under the condition of switching on the power supply, and the user button is released after the reset button is released, so that the calibration work can be completed, and the static deviation of the temperature measuring bridge is eliminated.
Under the working state, the upper computer sends a data request command containing a module ID to the data acquisition and conversion module for the robot polishing workstation, which is disclosed by the invention, through the bus, and the module sends a response data frame containing the module ID and each sensor value to the bus under the condition that the data request command and the ID are verified to be correct.
The data acquisition and conversion module for the robot polishing workstation collects analog quantity current or resistance data output by a plurality of different types of sensors by using the microcontroller, and uploads the converted digital signals to the upper computer in a certain format through the RS485 or CAN bus after filtering and calculation.
Claims (10)
1. A data acquisition and conversion module for a robotic polishing workstation, comprising: the intelligent power supply device comprises a control unit (1), wherein the control unit (1) is respectively connected with a 4-20mA sensor signal acquisition unit (2), a temperature measurement unit (3), a temperature measurement circuit calibration unit (4) and a bus communication unit (5), the data acquisition and conversion module further comprises a power supply unit (6), and the power supply unit (6) supplies power to the control unit (1), the 4-20mA sensor signal acquisition unit (2), the temperature measurement unit (3), the temperature measurement circuit calibration unit (4) and the bus communication unit (5); wherein the bus communication unit communicates with the upper computer through a selectable RS485 or CAN bus.
2. The data acquisition and conversion module according to claim 1, characterized in that: the power supply unit (6) comprises a DC/DC voltage stabilizer (V1), a 24V connection end is led out from a pin 1 of the DC/DC switching voltage stabilizer (V1) and connected to the cathode of a second rectifier diode (D2), the 24V connection end is grounded through a twenty-fourth electrolytic capacitor (C24) and a twenty-sixth capacitor (C26) which are connected in parallel, the anode of the second rectifier diode (D2) is connected to a pin 4 of a third common mode inductor (L3), the anode of the second rectifier diode (D2) is grounded through a twenty-first capacitor (C21), the pin 3 of the third common mode inductor (L3) is connected to the anode of a DC24V power interface (P3), the pin 3 of the third common mode inductor (L3) is connected to the cathode of a DC24V power interface (P3) through a 20 capacitor (C20), the pin 1 of the third common mode inductor (L3) is connected to the cathode of the DC 24P V power interface (P8), and the pin 2 of the third common mode inductor is grounded, the pin 3 of the DC/DC switching regulator (V1) is grounded, the pin 5 of the DC/DC switching regulator is connected with the pin 2 of a horizontal toggle switch (SW 1), the pin 1 of the horizontal toggle switch (SW 1) is grounded, the pin 3 of the horizontal toggle switch (SW 1) is connected with a 24V connecting end through a forty-eight resistor (R48), the pin 2 of the DC/DC switching regulator (V1) is connected with one end of a second inductor (L2), the other end of the second inductor (L2) leads out a 5V connecting end, the pin 4 of the DC/DC switching regulator (V1) is also connected with the other end of the second inductor (L2), the 5V connecting end is grounded through a twenty-second electrolytic capacitor (C22) and a 23 capacitor which are connected in parallel, the 5V connecting end is also grounded through a first resistor (R51) and a sixth light emitting diode (D6) which are connected in series, and the 5V connecting end is also connected with one end of a self-recovery fuse (F1), the other end of the self-recovery fuse (F1) is connected to a pin 3 of a linear voltage regulator (V2), the other end of the self-recovery fuse (F1) is also connected to a cathode of a fourth voltage-stabilizing diode (D4), an anode of the fourth voltage-stabilizing diode (D4) is grounded, a pin 1 of the linear voltage regulator (V2) is grounded, a pin 1 of the linear voltage regulator (V2) leads out a 3V3 connecting end, the 3V3 connecting end is grounded through a twenty-fifth electrolytic capacitor (C25) and a twenty-seventh capacitor (C27) which are connected in parallel, the 3V3 connecting end is grounded through a fifty-resistor (R50) and a fifth light-emitting diode (D5) which are connected in series, the 5V connecting end is connected to an A _5V connecting end through a magnetic bead (L1), the 5V connecting end is grounded through an 18-capacitor (C18), and the A _5V connecting end is grounded through a 19-capacitor (C19).
3. The data acquisition and conversion module according to claim 2, characterized in that: the control unit (1) comprises a control chip (U1), wherein pins 1, 24, 36 and 48 of the control chip (U1) are connected to a 3V3 connection end, the pins 1, 24, 36 and 48 are further connected to an eleventh capacitor (C11), a twelfth capacitor (C12), a thirteenth capacitor (C13) and a fourteenth capacitor (C14) in parallel, pins 8, 23, 35 and 47 of the control chip (U1) are grounded, pins 20 and 44 of the control chip (U1) are grounded through a second resistor (R2) and a sixteenth resistor (R16), pins 5 and 6 of the control chip (U1) are respectively connected to two ends of a crystal oscillator (Y1), two ends of the crystal oscillator (Y1) are further grounded through a fourth capacitor (C4) and a fifth capacitor (C5), and a pin 9 of the control chip (U1) is connected to a voltage reference pin U8 of the crystal oscillator (Y16), the 9 pin of the control chip (U1) is grounded through a sixteenth capacitor (C16), the 3 pin of the reference voltage chip (U8) is grounded, the 1 pin of the reference voltage chip is connected to the A _5V connecting end, the 1 pin of the reference voltage chip (U8) is grounded through a fifteenth capacitor (C15), the 7 pin, the 34 pin and the 37 pin of the control chip (U1) are respectively connected to the 4 pin, the 2 pin and the 1 pin of the emulation interface (CN 1), the 6 pin of the emulation interface (CN 1) is grounded, the 1 pin is grounded through a twenty-ninth resistor, the 5 pin of the emulation interface (CN 1) is connected to the 3V3 connecting end, the 2 pin is connected to the 3V3 connecting end through a twenty-seventh resistor, the 7 pin of the control chip (U1) is grounded through a second key (K2) and an eighth capacitor (C8) which are connected in parallel, and the 7 pin of the control chip (U1) is also connected to the eleventh resistor (R11) and the eleventh resistor (V3), the 10 pins of the control chip (U1) are grounded through a first key (K1) and a third capacitor (C3) which are connected in parallel, the 7 pins of the control chip (U1) are connected to a 3V3 connecting end through a fifth resistor (R5), and the 25 pins of the control chip (U1) are connected to a 3V3 connecting end through a nineteenth resistor (R19) and a first light-emitting diode (D1) which are connected in series.
4. The data acquisition and conversion module according to claim 3, characterized in that: the 4-20mA sensor signal acquisition unit (2) comprises 4 current sensing amplifiers INA181A1IDBVT, wherein 3 pins and 4 pins of each current sensing amplifier are respectively connected to two ends of a seventh resistor (R7), a fifteenth resistor (R15), a twenty-fourth resistor (R24) and a thirtieth resistor (R30), 1 pin of each current sensing amplifier is respectively connected to 11 th to 14 th pins of a control chip (U1) through a first resistor (R1), a tenth resistor (R10), a twentieth resistor (R20) and a twenty-eighth resistor (R28), 2 pins and 5 pins of each current sensing amplifier are grounded, 6 pins of each current sensing amplifier are connected to an A _5V connecting end, the A _5V connecting end is also respectively connected to a second capacitor (C2), a seventh capacitor (C7) and a ninth capacitor (C9) which are grounded, and 3 pins of each current sensing amplifier are respectively connected to A1 pin of a connecting terminal (P2) of a second sensor, And the pins are 3, 5 and 7, and the pins 2, 4, 6 and 8 of the second sensor terminal (P2) are all connected to the 24V connecting end.
5. The data acquisition and conversion module according to claim 3, characterized in that: the temperature measuring unit (3) comprises 3 current sensing amplifiers INA181A1IDBVT, wherein 3 pins of each current sensing amplifier are respectively connected to the connecting ends of PT 1-PT 3 through a sixth resistor (R6), a fourteenth resistor (R14) and a twenty-third resistor (R23), 3 pins of each current sensing amplifier are respectively connected to the connecting ends of A _5V through an eighth resistor (R8), a seventeenth resistor (R17) and a twenty-fifth resistor (R25), 4 pins of each current sensing amplifier are respectively connected to the connecting ends of A _5V through a third resistor (R3), a twelfth resistor (R12) and a twenty-first resistor (R21), 4 pins of each current sensing amplifier are respectively connected to the connecting ends of A _5V through a ninth resistor (R9), an eighteenth resistor (R18) and a twenty-sixth resistor (R26), 2 pins and 5 pins of each current sensing amplifier are connected to the ground, and 6 pins of each current sensing amplifier are connected to the connecting ends of A _5V, the A _5V connecting end is grounded through a first capacitor (C1), a sixth capacitor (C6) and a tenth capacitor (C10), 1 pin of each current sensing amplifier is connected to 15 th-17 th pins of a control chip (U1) through a fourth resistor (R4), a thirteenth resistor (R13) and a twenty-second resistor (R22), and the A _5V connecting end is further connected to 1 pin, 3 pins and 5 pins of a first sensor wiring terminal (P1).
6. The data acquisition and conversion module according to claim 3, characterized in that: the temperature measurement circuit calibration unit (4) comprises 6P-channel MOS tubes, the source electrodes of the MOS tubes are connected to the A _5V connecting end, the grids of the first MOS tube (Q1), the third MOS tube (Q3) and the fifth MOS tube (Q5) are connected to the MOS2 connecting end, the grids of the second MOS tube (Q2), the fourth MOS tube (Q4) and the sixth MOS tube (Q6) are connected to the MOS1 connecting end, the drains of the first MOS transistor (Q1) and the second MOS transistor (Q2) are respectively connected to the PT1 connection end through a thirty-fourth resistor (R34) and a thirty-fifth resistor (R35), the drains of the third MOS transistor (Q3) and the fourth MOS transistor (Q4) are respectively connected to the PT2 connection end through a thirty-sixth resistor (R36) and a thirty-seventh resistor (R37), the drains of the fifth MOS transistor (Q5) and the sixth MOS transistor (Q6) are respectively connected to the PT3 connection end through a thirty-eighth resistor (R38) and a thirty-ninth resistor (R39).
7. The data acquisition and conversion module according to claim 6, wherein: the temperature measuring circuit calibration unit (4) comprises 2 NPN triodes, the emitting electrodes of the triodes are grounded, the base electrodes of the triodes are respectively connected to the 18 pin and the 19 pin of the control chip (U1) through a fifteenth resistor (R45) and a forty-sixth resistor (R46), the collecting electrodes of the triodes are respectively connected to the 5V connecting end through a forty-eleventh resistor (R41) and a forty-second resistor (R42), and the collecting electrodes of the triodes are also respectively connected to the MOS1 and the MOS2 connecting end through a forty-thirteenth resistor (R43) and a forty-fourth resistor (R44).
8. The data acquisition and conversion module according to claim 3, characterized in that: the bus communication unit (5) comprises two selectable communication modes with an upper computer, namely RS485 bus communication and CAN bus communication.
9. The data acquisition and conversion module of claim 8, wherein: when the bus communication unit (5) uses RS485 to communicate with an upper computer, the bus communication unit should include an interface chip (U10), wherein 5 pins of the RS485 interface chip (U10) are grounded, 2 pins and 3 pins of the RS485 interface chip (U10) are both connected to 29 pins of a control chip (U1), 1 pin of the RS485 interface chip (U10) is connected to 31 pins of the control chip (U1), 1 pin of the RS485 interface chip (U10) is also connected to a 3V3 connection end through a thirty-first resistor, 4 pins of the RS485 interface chip (U10) are connected to 30 pins of the control chip (U1), 8 pins of the RS485 interface chip (U10) are connected to a 3V3 connection end, 6 pins and 7 pins of the RS485 interface chip (U10) are respectively connected to two ends of a thirty-third resistor (R33), and 6 pins of the RS485 interface chip (U10) are grounded through a thirty-twelfth resistor (R32), the 7 pins of the RS485 interface chip (U10) are connected to the 3V3 connecting end through a fortieth resistor (R40), the 3V3 connecting end is grounded through a seventeenth resistor (R17), and the 6 pins and the 7 pins of the RS485 interface chip (U10) are also respectively connected to the 4 pins and the 3 pins of the communication interface (CN 1).
10. The data acquisition and conversion module of claim 8, wherein: when the bus communication unit (5) uses the CAN to communicate with the upper computer, the bus communication unit should comprise a CAN interface chip (U11), wherein 2 pins of the CAN interface chip (U11) are grounded, 3 pins of the CAN interface chip (U11) are connected to a 3V3 connecting end, 2 pins and 3 pins of the CAN interface chip (U11) are also connected to two ends of a twenty-eighth capacitor respectively, 1 pin and 4 pins of the CAN interface chip (U11) are connected to 33 pins and 32 pins of a control chip (U1) respectively, 8 pins of the CAN interface chip (U11) are grounded through a forty-seventeenth resistor (R47), 6 pins and 7 pins of the CAN interface chip (U11) are connected to a forty-ninth resistor (R49) respectively, and 6 pins and 7 pins of the CAN interface chip (U11) are also connected to 2 pins and 1 pin of a communication interface (CN 1) respectively.
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