CN114531318B - EtherCAT switch and sports equipment - Google Patents

EtherCAT switch and sports equipment Download PDF

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Publication number
CN114531318B
CN114531318B CN202210182862.5A CN202210182862A CN114531318B CN 114531318 B CN114531318 B CN 114531318B CN 202210182862 A CN202210182862 A CN 202210182862A CN 114531318 B CN114531318 B CN 114531318B
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Prior art keywords
ethercat
motor
port
joint
slave controller
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CN202210182862.5A
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CN114531318A (en
Inventor
董浩
杨国平
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00Data switching networks
    • H04L12/28Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40Bus networks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L49/00Packet switching elements
    • H04L49/10Packet switching elements characterised by the switching fabric construction
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04QSELECTING
    • H04Q1/00Details of selecting apparatus or arrangements
    • H04Q1/02Constructional details
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04QSELECTING
    • H04Q1/00Details of selecting apparatus or arrangements
    • H04Q1/02Constructional details
    • H04Q1/10Exchange station construction
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00Data switching networks
    • H04L12/28Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40Bus networks
    • H04L2012/40208Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215Controller Area Network CAN
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total 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)
  • Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)

Abstract

The application is suitable for the technical field of EtherCAT, and provides an EtherCAT switch and sports equipment, wherein the EtherCAT switch comprises m EtherCAT slave controllers; the 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=1, 2, …, m-1, m is an integer greater than 1. The application can realize dynamic and high-speed real-time bus control, simplify wiring and reduce the development and debugging difficulty of a hardware platform.

Description

EtherCAT switch and sports equipment
Technical Field
The application belongs to the field of Ethernet control automation technology (Ethernet for Control Automation Technology, etherCAT), and particularly relates to an EtherCAT switch and sports equipment.
Background
At present, motion control needs to be achieved by adopting multiple servo motors, the current servo motors generally adopt controller area network (Controller Area Network, CAN) bus ports, robots and unmanned aerial vehicles based on the CAN bus servo motors have more cases, but the communication speed of the CAN bus is difficult to meet the requirements of dynamic and high-speed real-time communication and motion control, and meanwhile, the bus bandwidth which CAN be distributed by each component of the CAN bus along with the increase of loads CAN be narrowed, so that the application of the CAN bus is further limited, the problems of complex wiring, poor assembly and maintainability and high development and debugging difficulty of a hardware platform generally exist.
Disclosure of Invention
The embodiment of the application provides an EtherCAT switch and a motion device, which are used for solving the problems that the motion device based on a CAN bus is difficult to meet the requirements of dynamic and high-speed real-time communication and motion control, the wiring is complex, the assemblability and maintainability are poor, and the development and debugging difficulty of a hardware platform are high.
The first aspect of the embodiment of the application provides an EtherCAT switch, which comprises m EtherCAT slave controllers;
The first EtherCAT port of the EtherCAT slave controller is configured as an input port and is used 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=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 and third EtherCAT ports of the EtherCAT slave controller are further configured as input ports for inputting the feedback data.
In one embodiment, the feedback data includes alarm data.
In one embodiment, the EtherCAT switch further comprises m+1 application ports;
The j-th application port is connected with the second EtherCAT port of the j-th EtherCAT slave controller, and the (m+1) -th application port is connected with the third EtherCAT port of the m-th EtherCAT slave controller;
When the EtherCAT switch is applied to the sports equipment, a first EtherCAT port of a1 st EtherCAT slave controller is configured to be connected with the controller of the sports equipment, and a kth application port is configured to be connected with a kth EtherCAT module of the sports equipment;
Wherein j=1, 2, …, m, k=1, 2, …, n, n is an integer less than or equal to m+1.
A second aspect of an embodiment 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 apparatus is a robot or an unmanned aerial vehicle.
In one embodiment, the robot is a humanoid robot, and the n EtherCAT modules include at least one of an EtherCAT motor of a head, an EtherCAT motor of a hand, and an EtherCAT motor of a leg.
In one embodiment, the EtherCAT motor of the head includes at least one of a cervical joint EtherCAT motor, a jaw joint EtherCAT motor, and an eye joint EtherCAT motor, and when the head includes a plurality of EtherCAT motors, the plurality of EtherCAT motors of the head are sequentially connected in series;
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 sequentially connected in series;
The EtherCAT motor of shank includes at least one of hip joint EtherCAT motor, thigh joint EtherCAT motor, shank joint EtherCAT motor and toe joint EtherCAT motor, when the shank includes a plurality of EtherCAT motors, a plurality of EtherCAT motors of shank are established ties in proper order.
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 by the first aspect of the embodiment of the application comprises m EtherCAT slave controllers; the 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=1, 2, …, m-1, m is an integer greater than 1; the EtherCAT switch can improve bus bandwidth, realize dynamic and high-speed real-time bus control of the movement equipment, simplify wiring of the movement equipment, improve assemblability and maintainability, reduce development and debugging difficulty of a hardware platform, and conveniently realize EtherCAT module expansion.
It will be appreciated that the advantages of the second aspect may be found in the relevant description of the first aspect, and will not be described in detail herein.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a first architecture of an EtherCAT switch provided by an embodiment of the present application;
fig. 2 is a schematic diagram of a second structure of the EtherCAT switch provided by the embodiment of the present application;
Fig. 3 is a schematic diagram of a third structure of an EtherCAT switch provided by an embodiment of the present application;
Fig. 4 is a schematic structural view of a humanoid robot according to 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 the particular system architecture, 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 should 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 the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the 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 application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified 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, the embodiment of the application provides an EtherCAT exchanger, which comprises m EtherCAT slave controllers 11-1 m;
The first EtherCAT port P1 of EtherCAT slave controllers 11 to 1m is configured as an input port for inputting control data;
The second and third EtherCAT ports P2 and P3 of the EtherCAT slave controllers 11 to 1m are configured as output ports 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, …, the third EtherCAT port of the m-1 st 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 of m can be set according to actual needs, namely the number of EtherCAT slave controllers can be set according to actual needs. The number of m may be determined by the number of EtherCAT modules of the mobile device to which the EtherCAT switch is applied, in general, 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 enough, and since the number of external output ports is equal to m+1, the number of m should be greater than or equal to the number of EtherCAT modules minus 1.
In the application, when the EtherCAT exchanger is applied to the sports equipment, the 1 st EtherCAT is used for connecting the controller of the sports equipment from the first EtherCAT port of the controller so as to input control data output by the controller, and all EtherCAT ports from the second EtherCAT port and the third EtherCAT port of the controller are configured as output ports and are used for outputting the control data; the second EtherCAT port of the EtherCAT slave controller and the third EtherCAT port of the last EtherCAT slave controller are respectively used for being connected with different EtherCAT modules of the sports equipment so as to realize the control of the controller of the sports equipment on each EtherCAT module; the third EtherCAT port of other EtherCAT slave controllers except the last EtherCAT slave controller is used for being connected with the first EtherCAT port of the next EtherCAT slave controller and is used for transmitting control data to the next EtherCAT slave controller, all EtherCAT slave controllers are connected in series, so that the control data output by the controllers can be sequentially transmitted to the first EtherCAT port of each EtherCAT slave controller through a serial link, and step-by-step transmission of the control data among all EtherCAT slave controllers can be realized.
In application, when the EtherCAT switch is applied to the sports equipment, the EtherCAT port of each EtherCAT slave controller can be configured through the controller of the sports equipment, and EtherCAT configuration files corresponding to the EtherCAT ports 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 ports of each EtherCAT slave controller by reading the EtherCAT configuration files, thereby realizing automatic matching of software and hardware, and being convenient for the controller to control each EtherCAT slave controller and the EtherCAT module connected with each EtherCAT slave controller.
As shown in fig. 2, in one embodiment, the first EtherCAT port P1 of the EtherCAT slave controllers 11 to 1m is further configured as an output port for outputting feedback data;
the second and third EtherCAT ports P2 and P3 of the EtherCAT slave controllers 11 to 1m are also configured as input ports for inputting feedback data.
In application, when the EtherCAT switch is applied to the sports equipment, each EtherCAT module of the sports equipment can execute corresponding operation according to control data output by the controller, and can send feedback data to the controller at any time when the need arises, for example, after receiving the control data or executing corresponding operation, send feedback data for feeding back the working state of the EtherCAT switch to the controller. 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, the transmission directions are opposite, and the transmission principle of the feedback data is referred to as the transmission principle part of the control data, which is not repeated here.
Each EtherCAT port of the EtherCAT slave controller shown in fig. 1 is a unidirectional transmission port for transmitting control data only;
each EtherCAT port of the EtherCAT slave controller is illustratively shown in fig. 2 as a bi-directional transmission port for transmitting both control data and feedback data;
The right solid arrow indicates the transmission direction of control data between different components, the left solid arrow indicates the transmission direction of feedback data between different components, the right dotted arrow indicates the transmission direction of control data from the inside of the controller by EtherCAT, and the left dotted arrow indicates the transmission direction of feedback data from the inside of the controller by EtherCAT.
In the application, the feedback data can include alarm data, and each EtherCAT module can send the alarm data to the controller when the working state of the EtherCAT module is abnormal. The controller can be connected with the alarm to send out corresponding alarm signals when the working state of any EtherCAT module is abnormal. The alarm can be realized by at least one of an audible alarm, a light alarm and an audible and visual alarm, the audible alarm can be realized by a voice chip and a loudspeaker, and the voice data processing function can be realized by a controller instead of the voice chip. The alarm can send out multiple different alarm signals to send out different alarm signals when every EtherCAT module trouble respectively, do benefit to and distinguish and discern different EtherCAT module trouble, for example, the audible alarm can carry out different voice prompt to different EtherCAT module trouble.
In an application, the controller may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-programmable gate array (field-programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The 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 m-th application port Em is connected to the second EtherCAT port P2 of the m-th EtherCAT slave controller 1m, and the m+1st application port E (m+1) is connected to the third EtherCAT port P3 of the m-th EtherCAT slave controller 1 m.
In an application, the sports apparatus includes a controller and n EtherCAT modules, when the EtherCAT switch is applied to the sports apparatus, the 1 st EtherCAT is configured to be connected with the controller from a first EtherCAT port of the controller, the 1 st application port is configured to be connected with the 1 st EtherCAT module, the 2 nd application port is configured to be connected with the 2 nd EtherCAT module, …, and the (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 of n can be set according to actual needs, that is, the number of EtherCAT modules of the mobile device can be set according to actual needs. The number of m may be determined by the number of EtherCAT modules, typically each EtherCAT module needs to be connected to an application port, and 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, i.e. the number of application ports may be redundant or just sufficient, and since the number of application ports is equal to m+1, the number 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 in general, and the application port can be set as a plug-in port, so as to realize plug-in connection between EtherCAT switch and each EtherCAT module of the sports equipment, thereby facilitating wiring and installation.
In application, the EtherCAT module of the sports equipment at least comprises an EtherCAT motor for realizing a sports function, and can also comprise an EtherCAT sensor for realizing a data sensing function, an EtherCAT display screen for realizing a data display function, an EtherCAT communication unit for realizing a data communication function and the like. The movement device may be a robot, a drone, or the like. The robot can be bionic robot such as humanoid robot, quadruped robot, and etherCAT motor can set up in bionic robot's head, movable joint department such as neck, waist, four limbs, and etherCAT sensor then can set up in optional position according to actual need. Unmanned aerial vehicle can be single rotor, two rotors, four rotors, six rotor etc. rotor unmanned aerial vehicle, and etherCAT motor can set up in rotor, undercarriage etc. moving part department, and 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 four-legged robot, and the n EtherCAT modules include at least one of an EtherCAT motor for the head and an EtherCAT motor for the leg.
In application, the EtherCAT motor can be implemented based on a servo motor with EtherCAT ports.
In one embodiment, the EtherCAT motor of the head includes at least one of a cervical joint EtherCAT motor, a jaw joint EtherCAT motor, and an eye joint EtherCAT motor, and when the head includes a plurality of EtherCAT motors, the plurality of EtherCAT motors of the head are sequentially connected in series.
In application, according to the different number of movable joints of the head, the specific composition structure of the EtherCAT motor of the head is also different, for example, the head can comprise at least one of a cervical joint, a jaw joint and an eye joint, and correspondingly, the EtherCAT motor of the head can comprise at least one of a cervical 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 sequentially connected in series; for example, when the head includes a neck joint, a jaw joint, and an eye joint, the EtherCAT motor of the head includes 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 includes at least one of a shoulder EtherCAT motor, an elbow EtherCAT motor, a wrist EtherCAT motor, and a finger EtherCAT motor, and when the hand includes a plurality of EtherCAT motors, the plurality of EtherCAT motors of the hand are sequentially connected in series.
In application, according to the different number of movable joints of the hand, specific composition structures of the EtherCAT motors of the hand are also different, for example, the hand can comprise at least one of a shoulder joint, an elbow joint, a wrist joint and a finger joint, and correspondingly, the EtherCAT motors of the hand can comprise 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 joints, a plurality of EtherCAT motors corresponding to the joints are sequentially connected in series; for example, when the hand includes shoulder joint, elbow joint, wrist joint and finger joint, the EtherCAT motor of the hand includes shoulder joint EtherCAT motor, elbow joint EtherCAT motor, wrist joint EtherCAT motor and finger joint EtherCAT motor connected in series in order; 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 shoulder joints, elbow joints and finger joints, 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 shoulder joints, wrist joints and finger joints, 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 includes elbow joint, wrist joint and knuckle, the etherCAT motor of hand includes elbow joint etherCAT motor, wrist joint etherCAT motor and knuckle etherCAT motor that establish ties in proper order.
In one embodiment, the EtherCAT motor of the leg includes at least one of a hip EtherCAT motor, a thigh joint EtherCAT motor, a shank joint EtherCAT motor, and a toe joint EtherCAT motor, and when the leg includes a plurality of EtherCAT motors, the plurality of EtherCAT motors of the leg are sequentially connected in series.
In application, according to the different number of the movable joints of the leg, the specific composition structure of the EtherCAT motor of the leg is also different, for example, the leg can comprise at least one of a hip joint, a thigh joint, a shank joint and a toe joint, and correspondingly, the EtherCAT motor of the leg can comprise 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. 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 includes a hip joint, a thigh joint, a shank joint, and a toe joint, the EtherCAT motor of the leg includes a hip joint EtherCAT motor, a thigh joint EtherCAT motor, a shank 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 the hip joint EtherCAT motor, the thigh joint EtherCAT motor and the 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 shank joint and a toe joint, the EtherCAT motor of the leg comprises the hip joint EtherCAT motor, the shank joint EtherCAT motor and the toe joint EtherCAT motor which are sequentially connected in series; when the leg comprises thigh joints, shank joints and toe joints, the EtherCAT motor of the leg comprises thigh joint EtherCAT motor, shank joint EtherCAT motor and toe joint EtherCAT motor which are connected in series in sequence.
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 comprises an EtherCAT sensor, an EtherCAT display screen, an EtherCAT audio device, an EtherCAT communication unit and the like, and the components can be directly connected with an application port or an EtherCAT motor, and the components are specifically determined by the construction of the sports equipment. Each EtherCAT component can be directly connected to an application port or in series with other EtherCAT components.
In one embodiment, the EtherCAT sensor comprises at least one of an EtherCAT vision sensor, an EtherCAT hearing sensor, and an EtherCAT tactile sensor.
In application, the EtherCAT vision sensor can be implemented based on an EtherCAT camera with an EtherCAT port; the EtherCAT hearing sensor can be realized based on 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 motion equipment; the EtherCAT tactile sensor may be implemented based on an EtherCAT pressure sensor or an EtherCAT touch sensor with an EtherCAT port.
In the application, the EtherCAT display screen may be a thin film transistor liquid crystal display screen (Thin Film Transistor Liquid CRYSTAL DISPLAY, TFT-LCD) with EtherCAT port, a liquid crystal display screen (liquid CRYSTAL DISPLAY, LCD), an organic light-emitting diode (OLED), a quantum dot LIGHT EMITTING diodes (QLED) display screen, a seven-segment or eight-segment nixie tube, etc.
In an application, the EtherCAT audio device may include a speaker, microphone, etc. with an EtherCAT port.
In application, the EtherCAT communication unit may be a wired or wireless communication unit with an EtherCAT port, and may be set as any device capable of directly or indirectly performing communication according to actual needs, for example, the wireless communication unit may provide a solution of communication including a wireless local area network (Wireless Localarea Networks, WLAN) (such as Wi-Fi network), bluetooth, zigbee, mobile communication network, global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS), frequency modulation (Frequency Modulation, FM), short-range wireless communication technology (NEAR FIELD communication, NFC), infrared technology (IR), and the like, which are applied to a network device. The wireless communication unit may include an antenna, which may have only one array element, or may be an antenna array including a plurality of array elements. The wireless communication unit may receive electromagnetic waves through an antenna, frequency-modulate and filter the electromagnetic wave signals, and transmit the processed signals to a processor. The wireless communication unit can also receive signals to be transmitted from the processor, frequency modulate and amplify the signals, and convert the signals into electromagnetic waves through the antenna to radiate.
As shown in fig. 4, the embodiment of the application provides a humanoid robot, which comprises an EtherCAT switch 100, a controller 200 and 6 EtherCAT modules 300-800, wherein the EtherCAT switch 100 comprises 6 application ports E1-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 at 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 includes a hip joint EtherCAT motor, a thigh joint EtherCAT motor and a shank joint EtherCAT motor which are sequentially connected in series and are positioned on the right leg of the humanoid robot.
In applications, the sports apparatus may include, but is not limited to, a controller, an EtherCAT module, and an EtherCAT switch, and may include more components, or may combine some components, or may be different components, such as a control panel, keys, a memory, and the like.
In application, the memory 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 sports device in other embodiments, such as a plug-in hard disk provided on the sports device, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. The memory may also include both internal storage units and external storage devices of the exercise device. The memory is used to store an operating system, application programs, boot Loader (Boot Loader), data, and other programs, etc., such as program code for a computer program, etc. 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 manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over 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 embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (8)

1. The EtherCAT switch is characterized by comprising m EtherCAT slave controllers and m+1 application ports;
All the first EtherCAT ports of the EtherCAT slave controller are configured as input ports for inputting control data;
all the EtherCAT slave controllers are configured to output ports, namely a second EtherCAT port and a third EtherCAT port, for outputting the control data;
The third EtherCAT port of the ith EtherCAT slave controller is directly connected with the first EtherCAT port of the (i+1) th EtherCAT slave controller;
Wherein i=1, 2, …, m-1, and m is an integer greater than 1;
The first EtherCAT port of the No. 1 EtherCAT slave controller is used for being connected with the controller;
The j-th application port is connected with a second EtherCAT port of the j-th EtherCAT slave controller, the (m+1) -th application port is connected with a third EtherCAT port of the m-th EtherCAT slave controller, and all the application ports are respectively used for being connected with different EtherCAT modules, wherein j=1, 2, … and m;
The controller stores an EtherCAT configuration file corresponding to the EtherCAT port of each EtherCAT slave controller, and obtains the configuration and connection condition of the EtherCAT port of each corresponding EtherCAT slave controller by reading each EtherCAT configuration file, so as to realize automatic matching of software and hardware, and control each EtherCAT slave controller and the EtherCAT module connected with each EtherCAT slave controller;
all the first EtherCAT ports of the EtherCAT slave controller are also configured as output ports for outputting feedback data;
All the EtherCAT slave controllers are further configured as input ports for inputting the feedback data;
The feedback data comprise alarm data sent by each EtherCAT module when the working state of the EtherCAT module is abnormal;
And the controller sends out a corresponding alarm signal when the working state of any EtherCAT module is abnormal.
2. The EtherCAT switch of claim 1, wherein when the EtherCAT switch is applied to a sports device, a1 st EtherCAT slave controller first EtherCAT port is configured to connect with a controller of the sports device, and a kth application port is configured to connect with a kth EtherCAT module of the sports device;
Wherein k=1, 2, …, n, and n is an integer less than or equal to m+1.
3. An exercise device comprising a controller, n EtherCAT modules, and an EtherCAT switch as defined in claim 2, wherein the n EtherCAT modules comprise at least one EtherCAT motor.
4. A sports apparatus as claimed in claim 3, wherein the sports apparatus is a robot or a drone.
5. The exercise apparatus of claim 4 wherein the robot is a humanoid robot and the n EtherCAT modules include at least one of an EtherCAT motor for the head, an EtherCAT motor for the hand, and an EtherCAT motor for the leg.
6. The exercise apparatus of claim 5, wherein 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 sequentially connected in series;
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 sequentially connected in series;
The EtherCAT motor of shank includes at least one of hip joint EtherCAT motor, thigh joint EtherCAT motor, shank joint EtherCAT motor and toe joint EtherCAT motor, when the shank includes a plurality of EtherCAT motors, a plurality of EtherCAT motors of shank are established ties in proper order.
7. The exercise apparatus of any one of claims 3 to 6, 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.
8. The exercise apparatus of claim 7, wherein the EtherCAT sensor comprises at least one of an EtherCAT vision sensor, an EtherCAT hearing sensor, and an EtherCAT tactile sensor.
CN202210182862.5A 2022-02-25 2022-02-25 EtherCAT switch and sports equipment Active CN114531318B (en)

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CN107901044A (en) * 2017-12-29 2018-04-13 上海交通大学 The drive control integral system of joint of robot
CN110045709A (en) * 2019-05-27 2019-07-23 广东速美达自动化股份有限公司 One kind being based on EtherCAT technical grade remote I/O module
CN113510720A (en) * 2021-06-16 2021-10-19 清华大学 Real-time distributed cooperative robot control system
CN113892248A (en) * 2019-05-28 2022-01-04 贝克霍夫自动化有限公司 Automation network, network distributor and method for data transmission

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102495822A (en) * 2011-12-26 2012-06-13 国电南京自动化股份有限公司 Method for realizing support to hot plugging of universal Ethernet for control automation technology (EtherCAT) bus equipment
CN103631190A (en) * 2013-11-05 2014-03-12 上海交通大学 Monitoring system based on EtherCAT network
CN204925765U (en) * 2015-09-09 2015-12-30 华中科技大学 Mirror of shaking laser scanning is flooring forming work control system by a wide margin
CN207115132U (en) * 2017-09-06 2018-03-16 江苏恒毅运控智能设备科技有限公司 Bus-type motion controller and system
CN107901044A (en) * 2017-12-29 2018-04-13 上海交通大学 The drive control integral system of joint of robot
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