CN114531318A - EtherCAT switch and sports equipment - Google Patents
EtherCAT switch and sports equipment Download PDFInfo
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- CN114531318A CN114531318A CN202210182862.5A CN202210182862A CN114531318A CN 114531318 A CN114531318 A CN 114531318A CN 202210182862 A CN202210182862 A CN 202210182862A CN 114531318 A CN114531318 A CN 114531318A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/10—Packet switching elements characterised by the switching fabric construction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
- H04Q1/10—Exchange station construction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
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Abstract
The application is suitable for the technical field of EtherCAT, and provides an EtherCAT switch and a motion device, wherein the EtherCAT switch comprises m EtherCAT slave controllers; a first EtherCAT port of the EtherCAT slave controller is configured as an input port for inputting control data; the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are configured as output ports for outputting control data; the third EtherCAT port of the ith EtherCAT slave controller is connected with the first EtherCAT port of the (i +1) th EtherCAT slave controller; wherein i is 1,2, …, m is an integer greater than 1. The method and the device can realize dynamic and high-speed real-time bus control, simplify wiring, and reduce the development and debugging difficulty of a hardware platform.
Description
Technical Field
The application belongs to the field of Ethernet Control Automation Technology (EtherCAT), and particularly relates to an EtherCAT switch and motion equipment.
Background
At present, a robot, an unmanned aerial vehicle and other motion equipment need to adopt multiple servo motors to realize motion control, a Controller Area Network (CAN) bus port is generally adopted by the current servo motor, the CAN bus servo motor-based robot and the unmanned aerial vehicle have more cases, but the communication speed of a CAN bus is difficult to meet the requirements of dynamic and high-speed real-time communication and motion control, meanwhile, the bus bandwidth which CAN be distributed by each part of the CAN bus along with the increase of loads CAN be narrowed, the application of the CAN bus is further limited, the problems of complex routing, poor assembly and maintainability and high difficulty in development and debugging of a hardware platform exist generally.
Disclosure of Invention
The embodiment of the application provides an EtherCAT switch and motion equipment to solve the motion equipment based on the CAN bus, communication speed is difficult to satisfy developments, high-speed real-time communication and motion control requirement, and walks the line complicacy, and the assembly is poor with maintainability, the hardware platform development with debug the problem that the degree of difficulty is high.
A first aspect of the embodiments of the present application provides an EtherCAT switch, including m EtherCAT slave controllers;
a first EtherCAT port of the EtherCAT slave controller is configured as an input port for inputting control data;
the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are configured as output ports for outputting the control data;
the third EtherCAT port of the ith EtherCAT slave controller is connected with the first EtherCAT port of the (i +1) th EtherCAT slave controller;
wherein i is 1,2, …, m-1, m is an integer greater than 1.
In one embodiment, the first EtherCAT port of the EtherCAT slave controller is further configured as an output port for outputting feedback data;
the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are also configured as input ports for inputting the feedback data.
In one embodiment, the feedback data comprises alarm data.
In one embodiment, the EtherCAT switch further comprises m +1 application ports;
the jth application port is connected with a second EtherCAT port of the jth EtherCAT slave controller, and the m +1 th application port is connected with a third EtherCAT port of the mth EtherCAT slave controller;
when the EtherCAT switch is applied to the moving equipment, a first EtherCAT port of a 1 st EtherCAT slave controller is configured to be connected with a controller of the moving equipment, and a k application port is configured to be connected with a k EtherCAT module of the moving equipment;
wherein j is 1,2, …, m, k is 1,2, …, n, n is an integer less than or equal to m + 1.
A second aspect of the embodiments of the present application provides a sports apparatus, including a controller, n EtherCAT modules, and an EtherCAT switch provided in the first aspect, where the n EtherCAT modules include at least one EtherCAT motor.
In one embodiment, the movement device is a robot or drone.
In one embodiment, the robot is a humanoid robot, and the n EtherCAT modules include at least one of an EtherCAT motor of the head, an EtherCAT motor of the hand, and an EtherCAT motor of the leg.
In one embodiment, the EtherCAT motor of the head comprises at least one of a neck joint EtherCAT motor, a jaw joint EtherCAT motor and an eye joint EtherCAT motor, and when the head comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the head are connected in series in sequence;
the EtherCAT motor of the hand comprises at least one of a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor, and when the hand comprises a plurality of EtherCAT motors, the EtherCAT motors of the hand are sequentially connected in series;
the EtherCAT motor of the leg comprises at least one of a hip joint EtherCAT motor, a thigh joint EtherCAT motor, a shank joint EtherCAT motor and a toe joint EtherCAT motor, and when the leg comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the leg are sequentially connected in series.
In one embodiment, the n EtherCAT modules further include at least one of an EtherCAT sensor, an EtherCAT display screen, an EtherCAT audio device, and an EtherCAT communication unit connected to the application port or the EtherCAT motor.
In one embodiment, the EtherCAT sensor includes at least one of an EtherCAT visual sensor, an EtherCAT auditory sensor, and an EtherCAT tactile sensor.
The EtherCAT switch provided in the first aspect of the embodiment of the present application includes m EtherCAT slave controllers; a first EtherCAT port of the EtherCAT slave controller is configured as an input port for inputting control data; the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are configured as output ports and used for outputting control data; the third EtherCAT port of the ith EtherCAT slave controller is connected with the first EtherCAT port of the (i +1) th EtherCAT slave controller; wherein i is 1,2, …, m-1, m is an integer greater than 1; the EtherCAT switch can improve the bus bandwidth, realize the dynamic and high-speed real-time bus control of the motion equipment, simplify the wiring of the motion equipment at the same time, improve the assembly and maintainability, reduce the development and debugging difficulty of a hardware platform, and conveniently realize the extension of the EtherCAT module.
It is understood that the beneficial effects of the second aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic diagram of a first structure of an EtherCAT switch provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a second structure of an EtherCAT switch provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a third structure of an EtherCAT switch provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a humanoid robot provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise. "plurality" means "two" or "more than two".
As shown in fig. 1, an EtherCAT switch provided in the embodiment of the present application includes m EtherCAT controllers 11-1 m;
the first EtherCAT port P1 of the EtherCAT controller 11-1 m is configured as an input port and used for inputting control data;
the second EtherCAT port P2 and the third EtherCAT port P3 of the EtherCAT slave controllers 11-1 m are configured as output ports and used for outputting control data;
the third EtherCAT port P3 of the 1 st EtherCAT slave controller 11 is connected with the first EtherCAT port P1 of the 2 nd EtherCAT slave controller 12, the third EtherCAT port P3 of the 2 nd EtherCAT slave controller 12 is connected with the first EtherCAT port of the 3 rd EtherCAT slave controller, …, and the third EtherCAT port of the m-1 th EtherCAT slave controller is connected with the first EtherCAT port P1 of the m th EtherCAT slave controller 1 m.
In application, m is an integer greater than 1, and the value can be set according to actual needs, that is, the number of EtherCAT slave controllers can be set according to actual needs. The value of m may be determined by the number of EtherCAT modules of the moving device applied to the EtherCAT switch, and generally, the number of external output ports that the EtherCAT switch can provide should be greater than or equal to the number of EtherCAT modules, that is, the number of external output ports may be redundant or just sufficient, and since the number of external output ports is equal to m +1, the value of m should be greater than or equal to the number of EtherCAT modules minus 1.
In application, when the EtherCAT switch is applied to a moving device, a first EtherCAT port of a 1 st EtherCAT slave controller is used for connecting a controller of the moving device to input control data output by the controller, and second EtherCAT ports and third EtherCAT ports of all the EtherCAT slave controllers are configured as output ports and used for outputting the control data; the second EtherCAT port of all the EtherCAT slave controllers and the third EtherCAT port of the last EtherCAT slave controller are respectively used for being connected with different EtherCAT modules of the motion equipment so as to control each EtherCAT module by the controller of the motion equipment; the third EtherCAT ports of the other EtherCAT slave controllers except the last EtherCAT slave controller are used for being connected with the first EtherCAT port of the next EtherCAT slave controller and used for transmitting control data to the next EtherCAT slave controller, and all the EtherCAT slave controllers are connected in series, so that the control data output by the controller can be sequentially transmitted to the first EtherCAT port of each EtherCAT slave controller through the series link.
In application, when the EtherCAT switch is applied to a motion device, the EtherCAT port of each EtherCAT slave controller can be configured through a controller of the motion device, and an EtherCAT configuration file corresponding to the EtherCAT port of each EtherCAT slave controller can be stored in the controller, so that the controller can know the configuration and connection condition of the EtherCAT port of each EtherCAT slave controller by reading the EtherCAT configuration file, thereby realizing automatic matching of software and hardware, and facilitating the controller to subsequently control each EtherCAT slave controller and the EtherCAT module connected with each EtherCAT slave controller.
As shown in FIG. 2, in one embodiment, the EtherCAT controller 11 ~ 1m first EtherCAT port P1 is also configured as an output port for outputting feedback data;
the EtherCAT slave controllers 11 ~ 1m of the second and third EtherCAT ports P2 and P3 are also configured as input ports for inputting feedback data.
In application, when the EtherCAT switch is applied to a piece of sports equipment, each EtherCAT module of the piece of sports equipment may perform a corresponding operation according to control data output by the controller, or may send feedback data to the controller at any time when necessary, for example, send feedback data for feeding back the working state of the EtherCAT module to the controller after receiving the control data or performing the corresponding operation. Each EtherCAT module can receive control data and send feedback data based on the same serial link, the transmission paths of the control data and the feedback data are the same, and the transmission directions are opposite, and the transmission principle of the feedback data refers to the transmission principle part of the control data, which is not described herein again.
Each EtherCAT port of the EtherCAT slave controller is exemplarily shown in fig. 1 to be a unidirectional transmission port only for transmitting control data;
each EtherCAT port of the EtherCAT slave controller is exemplarily shown in fig. 2 as a bidirectional transmission port for transmitting both control data and feedback data;
the right solid arrow direction represents the transmission direction of control data between different components, the left solid arrow direction represents the transmission direction of feedback data between different components, the right dotted arrow direction represents the transmission direction of control data inside the EtherCAT controller, and the left dotted arrow direction represents the transmission direction of feedback data inside the EtherCAT controller.
In application, the feedback data may include alarm data, and each EtherCAT module may send the alarm data to the controller when its own operating state is abnormal. The controller can be connected with an alarm to send out a corresponding alarm signal when the working state of any EtherCAT module is abnormal. The alarm can be realized through at least one of sound alarm, light alarm and audible-visual alarm, and sound alarm can realize through pronunciation chip and speaker, also can replace the pronunciation chip by the controller and realize the speech data processing function. The alarm can send out multiple different alarm signals to send out different alarm signals when every EtherCAT module breaks down respectively, be favorable to distinguishing and discerning different EtherCAT module failures, for example, the audible alarm can carry out different voice prompt to different EtherCAT module failures.
In an Application, the controller may be a Central Processing Unit (CPU), and the controller may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the controller may be any conventional processor or the like.
As shown in fig. 3, in one embodiment, EtherCAT switch 100 further includes m +1 application ports E1-E (m + 1);
the 1 st application port E1 is connected to the second EtherCAT port P2 of the 1 st EtherCAT slave controller 11, the 2 nd application port E2 is connected to the second EtherCAT port P2 of the 1 st EtherCAT slave controller 12, …, the mth application port Em is connected to the second EtherCAT port P2 of the mth EtherCAT slave controller 1m, and the m +1 th application port E (m +1) is connected to the third EtherCAT port P3 of the mth EtherCAT slave controller 1 m.
In application, the motion device comprises a controller and n EtherCAT modules, when the EtherCAT switch is applied to the motion device, a first EtherCAT port of a 1 st EtherCAT slave controller is configured to be connected with the controller, a 1 st application port is configured to be connected with the 1 st EtherCAT module, a 2 nd application port is configured to be connected with a 2 nd EtherCAT module, …, and an m +1 th application port is configured to be connected with the m +1 th EtherCAT module.
In application, n is an integer less than or equal to m +1, and the value thereof can be set according to actual needs, that is, the number of EtherCAT modules of the sports equipment can be set according to actual needs. The value of m may be determined by the number of EtherCAT modules, and generally, each EtherCAT module needs to be connected to one application port, the number of application ports that can be provided by the EtherCAT switch should be greater than or equal to the number of EtherCAT modules, that is, the number of application ports may be redundant or just sufficient, and since the number of application ports is equal to m +1, the value of n should be less than or equal to m + 1.
In application, the EtherCAT port is a pin port of the EtherCAT slave controller, which cannot realize plug-in connection, and the application port can be set as a plug-in port to realize plug-in connection between the EtherCAT switch and each EtherCAT module of the motion device, which is beneficial to wiring and installation.
In application, the EtherCAT module of the sports equipment at least comprises an EtherCAT motor for realizing the sports function, and also comprises an EtherCAT sensor for realizing the data sensing function, an EtherCAT display screen for realizing the data display function, an EtherCAT communication unit for realizing the data communication function and the like. The movement device may be a robot, drone, or the like. The robot can be humanoid robot, quadruped robot etc. bionic robot, and the EtherCAT motor can set up in movable joint department such as bionic robot's head, neck, waist, four limbs, and the EtherCAT sensor then can set up in optional position according to actual need. Unmanned aerial vehicle can be rotor unmanned aerial vehicle such as single rotor, two rotors, four rotors, six rotors, and the etherCAT motor can set up in moving part department such as rotor, undercarriage, and the etherCAT sensor then can set up in optional position according to actual need.
In one embodiment, the robot is a humanoid robot, and the n EtherCAT modules include at least one of an EtherCAT motor of the head, an EtherCAT motor of the hand, and an EtherCAT motor of the leg.
In one embodiment, the robot is a quadruped robot, and the n EtherCAT modules include at least one of an EtherCAT motor of the head and an EtherCAT motor of the leg.
In an application, the EtherCAT motor may be implemented based on a servo motor having an EtherCAT port.
In one embodiment, the EtherCAT motor of the head comprises at least one of a cervical joint EtherCAT motor, a jaw joint EtherCAT motor and an eye joint EtherCAT motor, and when the head comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the head are connected in series in sequence.
In application, the specific composition structure of the EtherCAT motor of the head is different according to the number of movable joints of the head, for example, the head can comprise at least one of a neck joint, a jaw joint and an eye joint, and correspondingly, the EtherCAT motor of the head can comprise at least one of a neck joint EtherCAT motor, a jaw joint EtherCAT motor and an eye joint EtherCAT motor. When the head comprises a plurality of joints, a plurality of EtherCAT motors corresponding to the joints can be connected in series in sequence; for example, when the head comprises a neck joint, a jaw joint and an eye joint, the EtherCAT motor of the head comprises a neck joint EtherCAT motor, a jaw joint EtherCAT motor and an eye joint EtherCAT motor which are sequentially connected in series; when the head comprises a neck joint and a jaw joint, the EtherCAT motor of the head comprises a neck joint EtherCAT motor and a jaw joint EtherCAT motor which are sequentially connected in series; when the head comprises a neck joint and an eye joint, the EtherCAT motor of the head comprises a neck joint EtherCAT motor and an eye joint EtherCAT motor which are sequentially connected in series; when the head comprises a jaw joint and an eye joint, the EtherCAT motor of the head comprises a jaw joint EtherCAT motor and an eye joint EtherCAT motor which are sequentially connected in series.
In one embodiment, the EtherCAT motor of the hand comprises at least one of a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor, and when the hand comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the hand are connected in series in sequence.
In application, according to different numbers of movable joints of the hand, the specific composition structure of the EtherCAT motor of the hand is different, for example, the hand can include at least one of a shoulder joint, an elbow joint, a wrist joint and a finger joint, correspondingly, the EtherCAT motor of the hand can include at least one of a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor, when the hand includes a plurality of joints, the plurality of EtherCAT motors corresponding to the joints are connected in series in sequence; for example, when the hand comprises a shoulder joint, an elbow joint, a wrist joint and a finger joint, the EtherCAT motor of the hand comprises a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor which are sequentially connected in series; when the hand comprises a shoulder joint, an elbow joint and a wrist joint, the EtherCAT motor of the hand comprises a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor and a wrist joint EtherCAT motor which are sequentially connected in series; when the hand comprises a shoulder joint, an elbow joint and a finger joint, the EtherCAT motor of the hand comprises a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor and a finger joint EtherCAT motor which are sequentially connected in series; when the hand comprises a shoulder joint, a wrist joint and a finger joint, the EtherCAT motor of the hand comprises a shoulder joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor which are sequentially connected in series; when the hand comprises an elbow joint, a wrist joint and a finger joint, the EtherCAT motor of the hand comprises an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor which are sequentially connected in series.
In one embodiment, the EtherCAT motor of the leg comprises at least one of a hip joint EtherCAT motor, a thigh joint EtherCAT motor, a calf joint EtherCAT motor, and a toe joint EtherCAT motor, and when the leg comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the leg are connected in series in sequence.
In application, the specific composition structure of the EtherCAT motor of the leg is different according to the number of movable joints of the leg, for example, the leg may include at least one of a hip joint, a thigh joint, a calf joint and a toe joint, and correspondingly, the EtherCAT motor of the leg may include at least one of a hip joint EtherCAT motor, a thigh joint EtherCAT motor, a calf joint EtherCAT motor and a toe joint EtherCAT motor. When the leg comprises a plurality of joints, a plurality of EtherCAT motors corresponding to the joints are sequentially connected in series; for example, when the leg comprises a hip joint, a thigh joint, a calf joint and a toe joint, the EtherCAT motor of the leg comprises a hip joint EtherCAT motor, a thigh joint EtherCAT motor, a calf joint EtherCAT motor and a toe joint EtherCAT motor which are sequentially connected in series; when the leg comprises a hip joint, a thigh joint and a shank joint, the EtherCAT motor of the leg comprises a hip joint EtherCAT motor, a thigh joint EtherCAT motor and a shank joint EtherCAT motor which are sequentially connected in series; when the leg comprises a hip joint, a thigh joint and a toe joint, the EtherCAT motor of the leg comprises a hip joint EtherCAT motor, a thigh joint EtherCAT motor and a toe joint EtherCAT motor which are sequentially connected in series; when the leg comprises a hip joint, a calf joint and a toe joint, the EtherCAT motor of the leg comprises a hip joint EtherCAT motor, a calf joint EtherCAT motor and a toe joint EtherCAT motor which are sequentially connected in series; when the leg comprises a thigh joint, a calf joint and a toe joint, the EtherCAT motor of the leg comprises a thigh joint EtherCAT motor, a calf joint EtherCAT motor and a toe joint EtherCAT motor which are sequentially connected in series.
In one embodiment, the n EtherCAT modules further include at least one of an EtherCAT sensor, an EtherCAT display screen, an EtherCAT audio device, and an EtherCAT communication unit connected to the application port or the EtherCAT motor.
In application, the EtherCAT module includes an EtherCAT sensor, an EtherCAT display screen, an EtherCAT audio device, an EtherCAT communication unit, etc., and these components may be directly connected to the application port or connected to the EtherCAT motor, depending on the configuration of the sports equipment. Each EtherCAT component can be connected directly to an application port or in series with other EtherCAT components.
In one embodiment, the EtherCAT sensor includes at least one of an EtherCAT visual sensor, an EtherCAT auditory sensor, and an EtherCAT tactile sensor.
In application, the EtherCAT visual sensor can be implemented based on an EtherCAT camera with an EtherCAT port; the EtherCAT auditory sensor can be realized on the basis of an EtherCAT voice chip with an EtherCAT port and a microphone, and can also realize a voice data processing function by replacing the voice chip with a controller of the sports equipment; the EtherCAT tactile sensor may be implemented based on an EtherCAT pressure sensor or an EtherCAT touch sensor having an EtherCAT port.
In application, the EtherCAT Display may be a Thin Film Transistor Liquid Crystal Display (TFT-LCD) having an EtherCAT port, a Liquid Crystal Display (LCD), an Organic Light-Emitting Display (OLED), a Quantum Dot Light-Emitting Diode (Quantum Dot Light Emitting Diodes, QLED) Display, a seven-segment or eight-segment digital tube, and the like.
In an application, the EtherCAT audio device may include a speaker, microphone, etc. having an EtherCAT port.
In application, the EtherCAT Communication unit may be a wired or Wireless Communication unit having an EtherCAT port, and may be configured as any device capable of directly or indirectly communicating according to actual needs, for example, the Wireless Communication unit may provide a solution for Communication applied to a network device, the solution including Wireless Local Area Network (WLAN) (such as Wi-Fi network), bluetooth, Zigbee, mobile Communication network, Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared technology (IR), and the like. The wireless communication unit may include an antenna, and the antenna may have only one array element, or may be an antenna array including a plurality of array elements. The wireless communication unit can receive electromagnetic waves through the antenna, frequency-modulate and filter electromagnetic wave signals, and send the processed signals to the processor. The wireless communication unit can also receive a signal to be sent from the processor, frequency-modulate and amplify the signal, and convert the signal into electromagnetic waves through the antenna to radiate the electromagnetic waves.
As shown in fig. 4, the embodiment of the application provides a humanoid robot, which includes an EtherCAT switch 100, a controller 200, and 6 EtherCAT modules 300 to 800, where the EtherCAT switch 100 includes 6 application ports E1 to E6;
the EtherCAT module 300 is connected with the application port E1, and the EtherCAT module 300 comprises a neck joint EtherCAT motor, a jaw joint EtherCAT motor and an eye joint EtherCAT motor which are sequentially connected in series;
the EtherCAT module 400 is connected with the application port E2, and the EtherCAT module 400 comprises an EtherCAT sensor, an EtherCAT display screen and an EtherCAT audio device which are sequentially connected in series;
the EtherCAT module 500 is connected with the application port E3, and the EtherCAT module 500 comprises a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor and a wrist joint EtherCAT motor which are sequentially connected in series and positioned on the left hand part of the humanoid robot;
the EtherCAT module 600 is connected with the application port E4, and the EtherCAT module 600 comprises a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor and a wrist joint EtherCAT motor which are sequentially connected in series and positioned at the right hand part of the humanoid robot;
the EtherCAT module 700 is connected with the application port E5, and the EtherCAT module 700 comprises a hip joint EtherCAT motor, a thigh joint EtherCAT motor and a shank joint EtherCAT motor which are sequentially connected in series and positioned on the left leg of the humanoid robot;
the EtherCAT module 800 is connected with the application port E6, and the EtherCAT module 800 comprises a hip joint EtherCAT motor, a thigh joint EtherCAT motor and a shank joint EtherCAT motor which are sequentially connected in series and positioned at the right leg part of the humanoid robot.
In an application, the motion device may include, but is not limited to, a controller, an EtherCAT module, and an EtherCAT switch, and may include more components, or combine some components, or different components, such as a control panel, keys, a memory, and the like.
In applications, the storage may in some embodiments be an internal storage unit of the sports device, such as a hard disk or a memory of the sports device. The memory may also be an external storage device of the mobile device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the mobile device. The memory may also include both internal and external storage units of the sports device. The memory is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of computer programs. The memory may also be used to temporarily store data that has been output or is to be output.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An EtherCAT switch is characterized by comprising m EtherCAT slave controllers;
a first EtherCAT port of the EtherCAT slave controller is configured as an input port for inputting control data;
the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are configured as output ports for outputting the control data;
the third EtherCAT port of the ith EtherCAT slave controller is connected with the first EtherCAT port of the (i +1) th EtherCAT slave controller;
wherein i is 1,2, …, m-1, m is an integer greater than 1.
2. The EtherCAT switch of claim 1, wherein the EtherCAT slave controller first EtherCAT port is further configured as an output port for outputting feedback data;
the second EtherCAT port and the third EtherCAT port of the EtherCAT slave controller are also configured as input ports for inputting the feedback data.
3. The EtherCAT switch of claim 2, wherein the feedback data includes alarm data.
4. The EtherCAT switch according to any one of claims 1 to 3, further comprising m +1 application ports;
the jth application port is connected with a second EtherCAT port of the jth EtherCAT slave controller, and the (m +1) th application port is connected with a third EtherCAT port of the mth EtherCAT slave controller;
when the EtherCAT switch is applied to the moving equipment, a first EtherCAT port of a 1 st EtherCAT slave controller is configured to be connected with a controller of the moving equipment, and a k application port is configured to be connected with a k EtherCAT module of the moving equipment;
wherein j is 1,2, …, m, k is 1,2, …, n, n is an integer less than or equal to m + 1.
5. Sports apparatus comprising a controller, n EtherCAT modules comprising at least one EtherCAT motor, and the EtherCAT switch of claim 4.
6. Sports apparatus according to claim 5, wherein the sports apparatus is a robot or a drone.
7. The exercise apparatus of claim 6, wherein the robot is a humanoid robot, the n EtherCAT modules including at least one of a head EtherCAT motor, a hand EtherCAT motor, and a leg EtherCAT motor.
8. The exercise apparatus of claim 7, wherein the EtherCAT motor of the head comprises at least one of a neck joint EtherCAT motor, a jaw joint EtherCAT motor, and an eye joint EtherCAT motor, wherein when the head comprises a plurality of EtherCAT motors, the plurality of EtherCAT motors of the head are connected in series in sequence;
the EtherCAT motor of the hand comprises at least one of a shoulder joint EtherCAT motor, an elbow joint EtherCAT motor, a wrist joint EtherCAT motor and a finger joint EtherCAT motor, and when the hand comprises a plurality of EtherCAT motors, the EtherCAT motors of the hand are sequentially connected in series;
the EtherCAT motor of shank includes hip joint EtherCAT motor, thigh joint EtherCAT motor, shank joint EtherCAT motor and toe joint EtherCAT motor in at least one kind, when the shank includes a plurality of EtherCAT motors, a plurality of EtherCAT motors of shank connect in series in proper order.
9. The exercise apparatus of any of claims 5 to 8, wherein the n EtherCAT modules further comprise at least one of an EtherCAT sensor, an EtherCAT display screen, an EtherCAT audio device, and an EtherCAT communication unit connected to the application port or the EtherCAT motor.
10. The exercise device of claim 9, wherein the EtherCAT sensor includes at least one of an EtherCAT visual sensor, an EtherCAT auditory sensor, and an EtherCAT tactile sensor.
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| CN202210182862.5A CN114531318B (en) | 2022-02-25 | 2022-02-25 | EtherCAT switch and sports equipment |
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| CN202210182862.5A CN114531318B (en) | 2022-02-25 | 2022-02-25 | EtherCAT switch and sports equipment |
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| CN114531318B (en) | 2024-04-16 |
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