CN114407026A - Robot control system and robot - Google Patents
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- CN114407026A CN114407026A CN202210335737.3A CN202210335737A CN114407026A CN 114407026 A CN114407026 A CN 114407026A CN 202210335737 A CN202210335737 A CN 202210335737A CN 114407026 A CN114407026 A CN 114407026A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The robot control system comprises a PCB (printed Circuit Board), a main processor, a parallel synchronization unit, a plurality of servo units and motors, wherein the main processor, the parallel synchronization unit, the servo units and the motors are arranged on the PCB, the number of the motors corresponds to that of the servo units, the main processor is connected with the parallel synchronization unit, and the parallel synchronization unit is respectively connected with each servo unit; each servo unit is connected with a motor. This application is integrated in a framework through parallel synchronization unit with host processor and a plurality of servo unit to set up each part on the PCB board, eliminate the connecting cable between the discrete part, make the robot controller volume obtain very big reduction, parallel synchronization unit has solved the problem that multiaxis motion clock is not unified simultaneously, and the synchronism is not good.
Description
Technical Field
The application belongs to the technical field of robot control, and particularly relates to a robot control system and a robot.
Background
The industrial robot comprises a controller and a driver which are discrete components, a motion control system comprises the controller and a plurality of drivers, the controller and the drivers are connected through a plurality of cables for communication, and the discrete components such as the controller, the drivers and the cables occupy space, so that the system is large in size. In addition, due to the characteristics of different control periods and control methods of motion control and servo control, the motion controller and the servo controller respectively have one clock source, and each clock is difficult to be completely consistent, so that the time delay error of multi-axis motion synchronization is large, and the synchronous motion is inaccurate.
Disclosure of Invention
In order to overcome the problems of large volume, large error of multi-axis motion synchronization time delay and inaccurate synchronization motion of the traditional robot system to at least a certain extent, the application provides a robot control system and a robot.
In a first aspect, the present application provides a robot control system comprising:
the system comprises a PCB, a main processor, a parallel synchronization unit, a plurality of servo units and motors, wherein the main processor, the parallel synchronization unit, the plurality of servo units and the motors are arranged on the PCB, and the number of the motors corresponds to that of the servo units;
the main processor is connected with the parallel synchronization unit;
the parallel synchronization unit is respectively connected with each servo unit;
each servo unit is connected with a motor.
Further, the servo unit includes:
a shaft controller and a power amplifier;
the shaft controller is used for converting the coordinate position into a PWM signal to drive the power amplifier, receiving position feedback data of the motor and comparing the feedback data with the coordinate position;
and the power amplifier is used for converting the PWM signal into motor current to drive the motor to rotate.
Further, the method also comprises the following steps:
the communication component and at least two network ports;
the main processor receives instructions and data transmitted to the local machine by Ethernet through the communication component and the network port connected with the communication component;
the at least two network ports comprise a bus data inlet and a bus data outlet.
Further, the parallel synchronization unit includes:
the servo unit comprises a parallel bus and a plurality of serial buses, wherein each serial bus is connected with one servo unit;
the parallel bus is used for connecting the main controller and the parallel synchronization unit;
the serial bus is used for converting the functional codes and the numerical values into serial data to be sent to the shaft controller, receiving the serial data from the shaft controller, converting the received serial data into the functional codes and the numerical values to be stored in the parallel bus.
Further, the parallel synchronization unit further includes:
and the pulse generation module is used for generating a starting pulse, and triggering the sending of data in all serial buses through the starting pulse edge of the starting pulse so as to synchronize the starting time of each axis controller.
Further, the serial bus is an SPI bus, and the SPI bus adopts two signal line systems, namely a CLK clock signal and a DATA signal.
Further, the CLK clock signal includes a clock cycle, and the time taken for the SPI bus to complete one data transmission includes:
start time, transmit time, debounce time, receive time, and end time;
the start-up time comprises at least 2 clock cycles;
the transmission time comprises a minimum of 64 clock cycles;
the debounce time comprises at least 6 clock cycles;
the receive time comprises at least 64 clock cycles;
the end time comprises at least 6 clock cycles.
In a second aspect, the present application provides a robot comprising:
the robot control system according to the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
the robot control system provided by the embodiment of the invention comprises a PCB (printed Circuit Board), a main processor, a parallel synchronization unit, a plurality of servo units and motors, wherein the main processor, the parallel synchronization unit, the plurality of servo units and the motors are arranged on the PCB, the number of the motors corresponds to that of the servo units, the main processor is connected with the parallel synchronization unit, and the parallel synchronization unit is respectively connected with each servo unit; each servo unit is connected with the motor, a main processor and a plurality of servo units are integrated in one framework through a parallel synchronization unit, all components are arranged on a PCB, connecting cables between discrete components are eliminated, the size of the robot controller is greatly reduced, and meanwhile the problems that multi-axis motion clocks are not uniform and the synchronism is poor are solved through the parallel synchronization unit.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a functional block diagram of a robot control system according to an embodiment of the present disclosure.
Fig. 2 is a functional block diagram of a robot control system according to another embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a functional structure diagram of a robot control system according to an embodiment of the present application, and as shown in fig. 1, the robot control system includes:
the system comprises a PCB (printed circuit board) 11, a main processor 12 arranged on the PCB 11, a parallel synchronization unit 13, a plurality of servo units 14 and motors 15 with the number corresponding to that of the servo units 14;
the main processor 12 is connected with a parallel synchronization unit 13;
the parallel synchronization unit 13 is respectively connected with each servo unit 14;
each servo unit 14 is connected to a motor 15.
The controller and the driver of the traditional robot control system are separated components, and a motion control system comprises a controller and a plurality of drivers, and the controller and the drivers are communicated through a plurality of cable connections. The traditional system has the defects that the system is large in size, and the space occupied by discrete components such as a controller, a driver and a cable causes the system to be large in size. Moreover, the communication between the discrete components is based on the respective internal clocks of the discrete components, and the clocks are difficult to be consistent, so that the time delay error of multi-axis motion synchronization is large, and the synchronous motion is inaccurate.
In this embodiment, the robot control system includes a PCB board, and a main processor, a parallel synchronization unit, a plurality of servo units, and motors corresponding to the number of the servo units, which are disposed on the PCB board, the main processor is connected to the parallel synchronization unit, and the parallel synchronization unit is connected to each servo unit; each servo unit is connected with the motor, a main processor and a plurality of servo units are integrated in one framework through a parallel synchronization unit, all components are arranged on a PCB, connecting cables between discrete components are eliminated, the size of the robot controller is greatly reduced, and meanwhile the problems that multi-axis motion clocks are not uniform and the synchronism is poor are solved through the parallel synchronization unit.
Fig. 2 is a functional structure diagram of another robot control system according to an embodiment of the present application, and as shown in fig. 2, based on the previous embodiment, a servo unit in the robot control system includes:
a shaft controller 21 and a power amplifier 22;
the shaft controller 21 is used for converting the coordinate position into a PWM signal to drive the power amplifier 22, receiving position feedback data of the motor, and comparing the feedback data with the coordinate position;
the power amplifier 22 is used for converting the PWM signal into a motor current to drive the motor to rotate.
The shaft controller can be realized by a microcontroller, a DSP or an FPGA, and an interface of the SPI bus is realized through programming. And the SPI interface of the shaft controller is connected with the SPI interface of the parallel synchronization unit. And after the shaft controller receives the function code and the numerical value, executing the function defined by the function code, wherein the numerical value is the executed parameter. The main function of the axis controller is to convert the coordinate position into a PWM signal to drive the power amplifier. And the shaft controller is used for receiving position feedback data of the motor, comparing the data with the coordinate position, and performing closed-loop control on the coordinate position through a preset algorithm, so that the precision of the coordinate position is improved.
The power amplifier is connected with the shaft controller and the motor. The power amplifier converts the PWM signal into motor current to drive the motor to rotate.
The robot control system further includes:
a communication component 23 and at least two network ports 24;
the main processor receives the instruction and data transmitted to the local machine by the Ethernet through the communication component 23 and the network port 24 connected with the main processor;
the communication component 23 is, for example, an ethernet flexible automation control (ethernet flexible automation control) bus component, and the main processor is implemented by an ARM Cortex-a9 processor. The main processor receives instructions and data transmitted to the local machine by Ethernet through the EtherFAC bus assembly and the network port connected with the main processor, wherein the instructions refer to operation instructions and query instructions, and the data refer to path planning data and programs. The control system is connected into the EtherFAC bus through the two network ports, so that the control system can be used as a node of a larger system to control. The EtherFAC bus is introduced to enable the local robot control system to control a robot group to work in coordination. Or in a production line, the robot is commanded and scheduled by a higher-level control system as a node of the EtherFAC bus.
And the main processor converts the path planning data into track coordinates of each axis of the robot, sends the track coordinates to the parallel synchronization unit through an address bus and a data bus, and receives return state data from the parallel synchronization unit. The data transmitted from the main processor to the parallel synchronizing unit is divided into a functional code and data, and the data received from the parallel synchronizing unit is also divided into a functional code and data. The function code is a 32-bit number and the data is also a 32-bit number. The communication bus of the main processor and the parallel synchronization unit is a parallel bus, and comprises 12 address lines A0-A11, 32 data lines D0-D31, a write enable line we, a read enable line rd and a clock line clk. The 12 address lines can address 4096 addresses, and only the address space of address 1 to address 39 is used in this example. Starting at address 1, each adjacent pair of addresses stores data for one axis. For example, address 1 holds the function code for axis 1, address 2 holds the write data for axis 1, addresses 3 through 4 correspond to the write data for axis 2, and so on, addresses 17 through 18 correspond to the write data for axis 9. The first address of each pair of two adjacent addresses stores a function code and the second address stores a value. Addresses 21 to 22 correspond to the data to be read for axis 1, addresses 23 to 24 correspond to the data to be read for axis 2, and so on, and addresses 37 to 38 correspond to the data to be read for axis 9. Similarly, the former address of two adjacent read addresses stores the functional code to be read, and the latter address stores the numerical value to be read. Address 39 stores the start translation command word. Address 40 stores the state value of the data read back by the parallel synchronization unit from the shaft controller. The remaining addresses remain unused.
The at least two network ports 24 include a bus data ingress and a bus data egress.
The parallel synchronization unit includes:
the servo unit comprises a parallel bus and a plurality of serial buses, wherein each serial bus is connected with one servo unit;
the parallel bus is used for connecting the main controller and the parallel synchronization unit;
the parallel synchronization unit branches out 9 serial buses. Each serial bus is connected to a slave unit. Each servo unit internally comprises a shaft controller and a power amplifier. The serial bus is connected to the shaft controller of the servo unit. Each power amplifier is connected to a motor and drives the shaft of a robot.
The serial bus is used for converting the functional codes and the numerical values into serial data to be sent to the shaft controller, receiving the serial data from the shaft controller, converting the received serial data into the functional codes and the numerical values to be stored in the parallel bus.
The parallel synchronization unit also comprises:
and the pulse generation module is used for generating a starting pulse, and triggering the sending of data in all serial buses through the starting pulse edge of the starting pulse so as to synchronize the starting time of each axis controller.
In some embodiments, the serial bus is an SPI bus, which employs two signal lines, namely, a CLK clock signal and a DATA signal.
The CLK clock signal includes a clock cycle, and the time taken for the SPI bus to complete a data transfer includes:
start time, transmit time, debounce time, receive time, and end time;
the start-up time comprises at least 2 clock cycles;
the transmission time comprises a minimum of 64 clock cycles;
the debounce time comprises at least 6 clock cycles;
the receive time comprises at least 64 clock cycles;
the end time comprises at least 6 clock cycles.
One complete read-write operation cycle of the SPI bus is as follows: step 1: the main processor writes the function codes and coordinate values of the 9 axes into addresses 1 to 18 of the parallel synchronous unit through write operation, and finally writes the start command word into an address 39 as a start signal of the serial bus. Step 2: the main processing unit circularly executes the operation of reading the address 40 until the parallel synchronization unit is read to receive the data completion flag of each axis. And step 3: the main processing unit reads addresses 21 through 38 and reads back the respective axis function code and the return value. Thus, a complete read-write operation is completed. The read-write process is executed circularly all the time during the operation of the main processing unit.
The parallel synchronization unit is realized by FPGA programming. The parallel synchronization unit plays the role of parallel-serial, serial-parallel conversion and synchronous transmission control between the main processor and the shaft controller. The parallel synchronization unit implements two types of buses: a parallel bus in communication with the main processing unit and an SPI bus in communication with the axle controller. The number of the SPI buses of the parallel synchronization units corresponds to that of the shaft controllers one by one, namely one shaft controller is connected with one SPI bus of the parallel synchronization unit. The function of the SPI bus is to convert 32-bit functional codes and numerical values from address 1 to address 18 into 01 serial data and transmit the serial data to the axle controller, and convert 01 serial data received from the axle controller into 32-bit functional codes and numerical values and store the functional codes and numerical values into addresses 21 to 38 of the parallel bus, thereby realizing the parallel-serial, serial-parallel conversion of data from the main processor to the axle controller and synchronous timing control during data transmission. The SPI bus interface is connected with the shaft controller of the servo unit, the parallel synchronization unit is communicated with the shaft controller through an independent SPI bus, and each shaft corresponds to an independent SPI bus. The SPI serial bus adopts a two signal line system, CLK clock signal and DATA signal, respectively. The serial bus converts 32-bit data into serial 01-bit data, and the data is transmitted and received bit by bit one by one at a clock timing. After the main processor writes the start command word of the address 39, an internal circuit of the parallel synchronization unit generates a start pulse, the pulse synchronously starts synchronous transmission of all SPI serial buses, and the start time of each shaft can be completely synchronized by triggering synchronous transmission along the start pulse. The SPI interface of the parallel synchronization unit performs one sending and one receiving operation in one data exchange period. The data transmission process is always initiated by the parallel synchronization unit to send data, the data is received by the shaft controller, the state data is sent by the shaft controller, and finally the data is received by the parallel synchronization unit. The one-time 01 jump of the clk clock of the SPI bus is called a clock cycle, and the time of one-time data transmission is divided into five stages according to the effect, namely, start time, transmission time, jitter elimination time, reception time, and end time. The start time comprises at least 2 clock cycles, the transmit time comprises at least 64 clock cycles, the debounce time comprises at least 6 clock cycles, the receive time comprises at least 64 clock cycles, and the end time comprises at least 6 clock cycles. One transmission cycle includes at least 142 clock cycles. Since the clock period in each stage is minimized, the transmission time of the entire data can be shortened, and the stages are subdivided; the starting time and the ending time are used as transmission marks, the sending time and the receiving time are separated by the jitter elimination time, the stability of data transmission can be further improved, and the problem that the data transmission is too fast is avoided.
It should be noted that the present application does not limit the number of connected servo units, and those skilled in the art can connect more servo units according to actual needs.
In the embodiment, the tree structure of the traditional system is changed into the chain connection structure, so that the system structure is simplified, the wiring quantity is greatly reduced, each node adopts a network cable direct connection mode, an intermediate switch routing link is omitted, an information transmission path is simplified, the real-time performance of the system is improved, intermediate information exchange nodes such as a network switch and a node computer are omitted, and the system cost is reduced. The checking question-and-answer mechanism of the EtherFAC bus provides high reliability for the system. The distributed bus measurement and control system transmits a plurality of signals through the EtherFAC bus, and has excellent data throughput, high real-time performance, high reliability, simple structure and low cost.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional component mode. The integrated module, if implemented in the form of a software functional component and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
It should be noted that the present invention is not limited to the above-mentioned preferred embodiments, and those skilled in the art can obtain other products in various forms without departing from the spirit of the present invention, but any changes in shape or structure can be made within the scope of the present invention with the same or similar technical solutions as those of the present invention.
Claims (8)
1. A robotic control system, comprising:
the system comprises a PCB, a main processor, a parallel synchronization unit, a plurality of servo units and motors, wherein the main processor, the parallel synchronization unit, the plurality of servo units and the motors are arranged on the PCB, and the number of the motors corresponds to that of the servo units;
the main processor is connected with the parallel synchronization unit;
the parallel synchronization unit is respectively connected with each servo unit;
each servo unit is connected with a motor.
2. The robot control system according to claim 1, wherein the servo unit includes:
a shaft controller and a power amplifier;
the shaft controller is used for converting the coordinate position into a PWM signal to drive the power amplifier, receiving position feedback data of the motor and comparing the feedback data with the coordinate position;
and the power amplifier is used for converting the PWM signal into motor current to drive the motor to rotate.
3. The robot control system of claim 1, further comprising:
the communication component and at least two network ports;
the main processor receives instructions and data transmitted to the local machine by Ethernet through the communication component and the network port connected with the communication component;
the at least two network ports comprise a bus data inlet and a bus data outlet.
4. The robot control system according to claim 2, wherein the parallel synchronization unit includes:
the servo unit comprises a parallel bus and a plurality of serial buses, wherein each serial bus is connected with one servo unit;
the parallel bus is used for connecting the main controller and the parallel synchronization unit;
the serial bus is used for converting the functional codes and the numerical values into serial data to be sent to the shaft controller, receiving the serial data from the shaft controller, converting the received serial data into the functional codes and the numerical values to be stored in the parallel bus.
5. The robot control system according to claim 4, wherein the parallel synchronization unit further internally includes:
and the pulse generation module is used for generating a starting pulse, and triggering the sending of data in all serial buses through the starting pulse edge of the starting pulse so as to synchronize the starting time of each axis controller.
6. The robot control system of claim 4, wherein the serial bus is an SPI bus, and the SPI bus adopts a two-signal-line system and is respectively a CLK clock signal and a DATA DATA signal.
7. The robot control system of claim 6, wherein the CLK clock signal includes clock cycles, and wherein the time taken for the SPI bus to complete a data transfer includes:
start time, transmit time, debounce time, receive time, and end time;
the start-up time comprises at least 2 clock cycles;
the transmission time comprises a minimum of 64 clock cycles;
the debounce time comprises at least 6 clock cycles;
the receive time comprises at least 64 clock cycles;
the end time comprises at least 6 clock cycles.
8. A robot, comprising:
a robot control system according to any of claims 1 to 7.
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