CN114800610A

CN114800610A - Drive cabinet and robot control system

Info

Publication number: CN114800610A
Application number: CN202210411102.7A
Authority: CN
Inventors: 周建君; 吕标俊; 伊利冬; 忻孝琦; 陈立; 黄川�
Original assignee: Hangzhou Core Control Intelligent Technology Co ltd
Current assignee: Hangzhou Core Control Intelligent Technology Co ltd
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2022-07-29

Abstract

The invention relates to a drive cabinet and a robot control system. This drive cabinet includes: the driving module is arranged on one side inside the driving cabinet shell and used for driving the robot to act; the heat dissipation module is embedded and fixed on the panel of the driving cabinet shell to form a heat dissipation and ventilation air channel from front to back; the power supply wiring port module is fixed on the rear panel of the driving cabinet shell and is used for connecting a power supply; and the interface module is arranged on the other side, opposite to the driving module, in the driving cabinet shell and used for connecting a communication signal line and a power supply. The driving cabinet is small in size, good in heat dissipation function and capable of supporting unlimited expansion.

Description

Drive cabinet and robot control system

Technical Field

The invention relates to the technical field of robot control, in particular to a driving cabinet and a robot control system.

Background

With the development of the technical field of industrial automation, the realization of industrial automation production cannot be separated from a control system, a control module and a driving module in the traditional control system are integrated in a robot, or the control module and the driving module are integrated in a cabinet independently, so that one control module can only be connected with one driving module, and the scheme has the advantages of long design time, low efficiency, high cost, complex field installation and difficulty in having unified standard in implementation; the design scheme is difficult to copy, the product stability cannot be guaranteed, the production details are difficult to manage, and the like.

In the existing robot control system, each robot needs an independent control module and a drive module, which causes resource waste.

Disclosure of Invention

Accordingly, there is a need for a drive cabinet and a robot control system that can be independently connected.

A drive cabinet comprising:

the driving module is arranged on one side inside the driving cabinet shell and used for driving the robot to act;

the heat dissipation module is embedded and fixed in the panel of the driving cabinet shell to form a heat dissipation and ventilation air channel from front to back;

the power supply wiring port module is fixed on the rear panel of the driving cabinet shell and is used for connecting a power supply;

and the interface module is arranged on the other side, opposite to the driving module, in the driving cabinet shell and used for connecting a communication signal line and a power supply.

In one embodiment, the driving cabinet further includes:

the IO module is fixed on the front panel of the drive cabinet shell and used for data transmission of the drive module;

and the switch module is fixed on the front panel of the drive cabinet shell, is connected with the power supply wiring port module and is used for controlling the on-off of the power supply.

In one embodiment, the driving module includes: the device comprises drivers and driving supports, wherein at least one driver is movably connected with the bottom of the driving cabinet shell through the driving supports.

In one embodiment, the bottom of the driving bracket is provided with an inwards concave rail groove, and the rail groove is connected with a strip-shaped support rib fixed at the bottom of the driving cabinet shell in a matching manner.

In one embodiment, a resistor fixing tube is transversely arranged on one side of the driving bracket.

In one embodiment, the two sides of the driving support are raised, the rear end of the driving support is fixed on the rear panel, the front end of the driving support is bent and lowered, and a wiring binding hole is formed in the raised position.

In one embodiment, the heat dissipation module comprises an air inlet and an air outlet, the air inlet is located at the bottom end of the front panel and/or the side panels close to the driving module, and the air outlet is located at the rear panel.

In one embodiment, the air inlet comprises a first screen plate, a second screen plate and dustproof cotton, the dustproof cotton is fixed between the first screen plate and the second screen plate, and the dustproof cotton covers the net-shaped air vents of the first screen plate and the second screen plate.

In one embodiment, the air outlets are divided into two groups, one group is fixed at the bottom end of the rear panel close to the driving module, and the other group is fixed at the upper end of the rear panel close to the power supply wiring port module.

In one embodiment, the power port module comprises: the power supply is connected with the wire port, the alternating current contactor and the filter; the power supply connecting wire port is packaged into a box body and is fixed at the bottom end of the rear panel; the alternating current contactor is connected with a power supply connecting wire port, the alternating current contactor is fixed at the bottom of the driving cabinet shell through an inverted L-shaped support frame, one end of the inverted L-shaped support frame is fixed at the bottom of the driving cabinet shell, and the other end of the inverted L-shaped support frame is fixed at the top of the box body; the filter is fixed in the bottom of drive cabinet shell, and the filter is connected with ac contactor electricity.

In one embodiment, the interface module comprises an interface panel and a plurality of interfaces fixed on the interface panel, the bottom of the interface panel is fixed at the bottom of the driving cabinet shell, and the interface panel is perpendicular to the bottom plane of the driving cabinet shell.

In one embodiment, the IO module includes: and the external expansion IO port and the internal IO port are connected.

In one embodiment, the switch module includes a power switch and an emergency stop switch.

In one embodiment, a fixing strip is arranged below the top of the driving cabinet shell, a handle is arranged above the top of the driving cabinet shell, screw holes are formed in two ends of the handle, the handle is fixed to the top of the driving cabinet shell through screws, and the screws penetrate through the screw holes in the fixing strip and the screw holes in the top of the driving cabinet shell and are connected with the screw holes in the handle.

In one embodiment, the top of the driving cabinet is integrally formed with the left and right side panels to form a cover plate.

A robotic control system, comprising: the control cabinet is in communication connection with the plurality of driving cabinets.

Above-mentioned drive cabinet through integrated drive module, heat dissipation module, power wiring mouth module and interface module in drive cabinet shell, lets driving function independently come out and forms the drive cabinet, sets up drive module through one side in drive cabinet shell inside, and the opposite side sets up interface module, can reduce the volume of drive cabinet to it forms by preceding to the heat dissipation ventilation duct after to set up heat dissipation module, is convenient for dispel the heat to drive module. Above-mentioned robot control system adopts an independent drive cabinet to be connected with a robot, and a plurality of drive cabinets are unified to be connected through a switch board and control, can avoid setting up the waste of a plurality of switch boards.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of a driving cabinet according to an embodiment;

FIG. 2 is a perspective view of a driving cabinet in another embodiment;

FIG. 3 is a schematic view of an embodiment of a drive bracket;

FIG. 4 is a schematic view of a mounting structure of a driving bracket according to an embodiment;

FIG. 5 is a schematic view of an exemplary heat dissipation module;

FIG. 6 is a schematic diagram of an exemplary embodiment of an intake vent;

FIG. 7 is a schematic diagram illustrating the structure of the housing according to an embodiment;

FIG. 8 is a front view of a drive cabinet with a second front panel in one embodiment;

fig. 9 is a schematic structural diagram of a robot control system according to an embodiment.

Description of reference numerals:

10-a drive cabinet; 100-driving a cabinet shell; 101-a cover plate; 102-a first front panel; 103-a second front panel; 104-a bottom panel; 105-a first back panel; 106-a second rear panel; 110-a fixation bar; 120-a handle; 200-a drive module; 210-a driver; 220-a drive bracket; 221-a track groove; 222-support ribs; 223-resistance fixing tube; 300-a heat dissipation module; 310-an air inlet; 311-a first mesh panel; 312-a second mesh panel; 320-air outlet; 400-power supply wiring port module; 410-power connection ports; 420-an alternating current contactor; 430-a filter; 500-an interface module; 510-an interface panel; 520-an interface; 521-a robot interface; 522-EtherCAT OUT interface; 523-secure IO interface; 524-EtherCAT IN interface; 525-user IO interface; 526-brake release interface; 600-IO module; 610-external expansion IO port; 620 — internal IO port; 700-a switch module; 710-a power switch; 720-emergency stop switch; 20-a control cabinet; 30-robot.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first resistance may be referred to as a second resistance, and similarly, a second resistance may be referred to as a first resistance, without departing from the scope of the present application. The first resistance and the second resistance are both resistances, but they are not the same resistance.

It is to be understood that "connection" in the following embodiments is to be understood as "electrical connection", "communication connection", and the like if the connected circuits, modules, units, and the like have communication of electrical signals or data with each other.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

In one embodiment, as shown in fig. 1, there is provided a drive cabinet comprising: the driving module 200 is arranged at one side inside the driving cabinet 100 and is used for driving the robot 30 to act; a heat dissipation module 300 embedded and fixed in the panel of the driving cabinet 100 to form a heat dissipation and ventilation air duct from front to back; a power connection port module 400 fixed to the rear panel of the driving cabinet 100 for connecting a power supply; and the interface module 500 is arranged at the other side of the interior of the driving cabinet 100 opposite to the driving module 200, and is used for connecting a communication signal line and a power supply.

The driving module comprises a driver in the control system, and the main function of the driver is to receive signals from the control cabinet, process the signals, transfer the processed signals to the motor and the sensor related to the motor, and feed back the working condition of the motor to the control cabinet. The bottom of the driving module is provided with the radiating fins, so that the contact area with air is increased, and the radiating efficiency is improved. The drive cabinet shell is a rectangular hollow shell, the drive module, the heat dissipation module and the power wiring port module interface module are fixedly packaged, and the drive cabinet shell has a dustproof effect. The heat dissipation module is provided with a plurality of air inlets on the front panel and the side part of the drive cabinet shell, and a plurality of air outlets are arranged on the rear panel of the drive cabinet shell to form a heat dissipation ventilation air channel from front to back. The power supply wiring port module can be a plug wiring port.

Above-mentioned drive cabinet through integrated drive module, heat dissipation module, power wiring mouth module and interface module in drive cabinet shell, lets driving function independently come out and forms the drive cabinet, sets up drive module through one side in drive cabinet shell inside, and the opposite side sets up interface module, can reduce the volume of drive cabinet to it forms by preceding to the heat dissipation ventilation duct after to set up heat dissipation module, is convenient for dispel the heat to drive module.

In one embodiment, as shown in fig. 1, the driving cabinet further includes: the IO module 600 is fixed to the front panel of the drive cabinet 100 and used for data transmission of the drive module 200; the switch module 700 is fixed on the front panel of the driving cabinet 100, connected with the power connection port module 400, and used for controlling the power supply to be switched on and off. Wherein the IO module is used to connect the driver and the robot end effector.

In one embodiment, as shown in fig. 2, the driving module 200 includes: the driving device comprises drivers 210 and driving brackets 220, wherein at least one driver 210 is movably connected with the bottom of the driving cabinet 100 through the driving brackets 220. The plurality of drivers 210 may be fixed to the driving bracket 220, for example, four drivers are fixed to the driving bracket to drive a four-axis robot module to move, of course, the number of the drivers 210 may also be 6 to drive a six-axis robot module to move, and so on, and the number of the drivers 210 is determined according to the number of the movement axes of the robot. In this embodiment, the bottom of drive cabinet shell is linked in the drive support activity, can be convenient for take out the drive support and change and maintain the driver.

In one embodiment, as shown in fig. 3, the driving bracket 220 is provided with a concave rail groove 221 at the bottom thereof, and the rail groove 221 is connected with a strip-shaped support rib 222 fixed at the bottom of the driving cabinet 100 in a matching manner. The support ribs 222 are multiple, so that the contact area can be reduced, and the support structure is reinforced.

In one embodiment, as shown in fig. 4, a resistor fixing tube 223 is transversely disposed on one side of the driving bracket 220. A resistor is fixed in the resistor fixing tube 223, and the resistor is a brake resistor connected to the actuator. The resistor fixing tube 223 is trapezoidal in plan view, so that the resistor is convenient to mount and dissipate heat.

In one embodiment, as shown in fig. 1-5, the driving bracket 220 is raised on both sides, the rear end is fixed to the rear panel, the front end is bent downward, and a wire-passing hole is formed at the raised position.

In one embodiment, the heat dissipation module 300 includes an air inlet 310 and an air outlet 320, the air inlet 310 is located near the bottom end of the front panel and/or the side panel of the driving module 200, and the air outlet 320 is located at the rear panel. The air inlet 310 is located at the bottom end of the front panel and/or the side panel close to the driving module 200, so that the driver can be conveniently cooled, and the safe operation of the driver is ensured. Specifically, the front panel near the driving module 200 is the first front panel 102, as shown in fig. 7. When the air inlet 310 is located near the bottom end of the front panel and the side panel of the driving module 200, a forward and a lateral air inlet surrounding the driver can be formed, which is more beneficial to heat dissipation of the driver.

In one embodiment, as shown in fig. 6, the air inlet 310 includes a first screen 311, a second screen 312, and dust-proof cotton fixed between the first screen 311 and the second screen 312, wherein the dust-proof cotton covers the mesh vents of the first screen 311 and the second screen 312. The second screen 312 faces the inside of the driving cabinet, the first screen 311 faces the outside of the driving cabinet, and the second screen 312 is provided with a groove for placing dustproof cotton. In this embodiment, set up the dust cover at the air intake, can filter the air that gets into the drive cabinet, avoid the trouble and the damage of components and parts in the drive cabinet.

In one embodiment, the air outlets 320 are multiple, and the air outlets 320 are divided into two groups, one group is fixed at the bottom end of the rear panel close to the driving module 200, and the other group is fixed at the upper end of the rear panel close to the power wiring port module 400. As shown in fig. 5 and 7, one set of air outlets is located at the bottom end of the second back panel 106, one set of air outlets is located at the upper end of the first back panel 105, and two sets of air outlets are provided with fans which drive the air flow to form a ventilation channel from front to back.

In one embodiment, as shown in fig. 1, the power connection port module 400 includes: a power connection port 410, an ac contactor 420, and a filter 430; the power connection wire port 410 is packaged as a box body and fixed at the bottom end of the rear panel; the alternating current contactor 420 is connected with the power supply connecting wire port 410, the alternating current contactor 420 is fixed at the bottom of the driving cabinet shell 100 through an inverted L-shaped support frame, one end of the inverted L-shaped support frame is fixed at the bottom of the driving cabinet shell 100, and the other end of the inverted L-shaped support frame is fixed at the top of the box body; the filter 430 is fixed to the bottom of the driving cabinet 100, and the filter 430 is electrically connected to the ac contactor 420. The power supply wiring port module 400 and the interface module 500 are located on the same side in the drive cabinet, and the size of the drive cabinet can be reduced by the arrangement mode.

In one embodiment, as shown in fig. 1 and 8, the interface module 500 includes an interface panel 510 and a plurality of interfaces 520 fixed to the interface panel, the bottom of the interface panel 510 is fixed to the bottom of the driving cabinet 100, and the interface panel 510 is perpendicular to the bottom plane of the driving cabinet 100. As shown IN fig. 8, after the second front panel 103 is detached, it can be seen that a plurality of interfaces 520 are disposed on the interface panel 510, where the interfaces 520 include a robot interface 521, an EtherCAT OUT interface 522, a security IO interface 523, an EtherCAT IN interface 524, a user IO interface 525, and a brake release interface 526.

In one embodiment, the IO module 600 includes: external expansion IO port 610 and internal IO port 620. Wherein, external extension IO mouth 610 connects robot end effector, and inside IO mouth 620 connects the driver.

In one embodiment, as shown in FIG. 8, the switch module 700 includes a power switch 710 and an emergency stop switch 720. The power switch 710 is used for controlling an external power supply connected with the drive cabinet, and the emergency stop switch 720 is used for controlling the turn-off of the whole power supply of the drive cabinet. As shown in fig. 1, the driving cabinet further includes a built-in power supply 440.

As shown in fig. 2, the power switch 710 includes a first relay 711, and the emergency stop switch 720 includes a second relay 721.

In one embodiment, as shown in fig. 2 and 7, a fixing strip 110 is disposed below the top of the driving cabinet 100, a handle 120 is disposed above the top, screw holes are disposed at two ends of the handle 120, the handle 120 is fixed to the top of the driving cabinet 100 by screws, and the screws pass through the screw holes of the fixing strip 110 and the screw holes of the top of the driving cabinet 100 to be connected with the screw holes of the handle 120. In this embodiment, the fixing strip can reinforce the fixing area between the handle and the top panel 101, so as to prevent the handle from falling off.

In one embodiment, as shown in fig. 7, the top of the driving cabinet 100 is integrally formed with the left and right side panels to form a cover plate 101. The edge of the cover plate 101 is processed by an arc angle, and the bottom panel 104 and the cover plate 101 enclose the upper, lower, left and right sides of the driving cabinet. As shown in fig. 7, the cover plate 101 is detachable in the drive cabinet, so as to facilitate the inspection of the internal circuit of the drive cabinet.

In one embodiment, as shown in fig. 9, there is provided a robot control system including: a control cabinet 20 and a plurality of driving cabinets 10 of the above embodiments, wherein the control cabinet 20 is connected with the plurality of driving cabinets 10 in a communication way.

The control cabinet 20 is provided with a main control board, a safety relay, a filter, an internal IO interface, and a power interface, and the control cabinet 20 is configured to control each driving cabinet, for example, the control cabinet 20 may select a driving cabinet that needs to send a signal, and send a control instruction for controlling the robot 30 to operate, and the driving cabinet drives the robot 30 to operate according to the control instruction of the control cabinet. In fig. 9, one robot is connected to each drive cabinet, and the robots may be a three-axis modular robot, a four-axis modular robot, and a nine-axis modular robot. One control cabinet 20 is connected with a plurality of driving cabinets, and the driving cabinet 10 in fig. 9 can be used as a signal transmission medium to transmit signals of the control cabinet 20 to other driving cabinets, so that the wiring line can be greatly shortened. Specifically, the driving cabinet 10 is provided with a plurality of network ports to transmit signals of the control cabinet 20 to other driving cabinets.

Above-mentioned robot control system adopts an independent drive cabinet to be connected with a robot, and a plurality of drive cabinets are unified to be connected through a switch board and control, can avoid setting up the waste of a plurality of switch boards.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean 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 invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A drive cabinet, comprising:

the driving module (200) is arranged on one side inside the driving cabinet shell (100) and is used for driving the robot (30) to act;

the heat dissipation module (300) is embedded and fixed on a panel of the drive cabinet shell (100) to form a heat dissipation and ventilation air channel from front to back;

the power supply wiring port module (400) is fixed on the rear panel of the driving cabinet shell (100) and is used for connecting a power supply;

and the interface module (500) is arranged on the other side, opposite to the driving module (200), in the driving cabinet shell (100) and is used for connecting a communication signal line and a power supply.

2. The drive cabinet of claim 1, further comprising:

the IO module (600) is fixed on the front panel of the drive cabinet shell (100) and used for data transmission of the drive module (200);

and the switch module (700) is fixed on the front panel of the drive cabinet shell (100), is connected with the power supply wiring port module (400) and is used for controlling the on-off of a power supply.

3. The drive cabinet according to claim 1, wherein the drive module (200) comprises: the driving device comprises drivers (210) and driving brackets (220), wherein at least one driver (210) is movably connected with the bottom of the driving cabinet shell (100) through the driving brackets (220).

4. The driving cabinet according to claim 1, wherein the bottom of the driving bracket (220) is provided with an inward concave rail groove (221), and the rail groove (221) is connected with a strip-shaped support rib (222) fixed at the bottom of the driving cabinet shell (100) in a matching manner.

5. The drive cabinet according to claim 3, characterized in that a resistance fixing tube (223) is transversely arranged on one side of the drive bracket (220).

6. The drive cabinet according to any of the claims 3 to 5, characterized in that the drive bracket (220) is elevated on both sides, the rear end is fixed to the rear panel, the front end bend is reduced, and a wire-passing hole is arranged at the elevated position.

7. The drive cabinet of claim 1, wherein the heat sink module (300) comprises an air inlet (310) and an air outlet (320), the air inlet (310) being located near a bottom end of the front and/or side panels of the drive module (200), and the air outlet (320) being located at the rear panel.

8. The driving cabinet according to claim 7, wherein the air inlet (310) comprises a first mesh plate (311), a second mesh plate (312) and dustproof cotton, the dustproof cotton is fixed between the first mesh plate (311) and the second mesh plate (312), and the dustproof cotton covers the mesh-shaped air vents of the first mesh plate (311) and the second mesh plate (312).

9. The driving cabinet according to claim 7, wherein the air outlet (320) is plural, and the plural air outlets (320) are divided into two groups, one group is fixed at the bottom end of the rear panel close to the driving module (200), and the other group is fixed at the upper end of the rear panel close to the power connection port module (400).

10. The drive cabinet of claim 1, wherein the power connection port module (400) comprises: a power supply connecting port (410), an alternating current contactor (420) and a filter (430); the power supply connecting wire port (410) is packaged into a box body and is fixed at the bottom end of the rear panel; the alternating current contactor (420) is connected with the power supply connecting wire port (410), the alternating current contactor (420) is fixed at the bottom of the driving cabinet shell (100) through an inverted L-shaped support frame, one end of the inverted L-shaped support frame is fixed at the bottom of the driving cabinet shell (100), and the other end of the inverted L-shaped support frame is fixed at the top of the box body; the filter (430) is fixed at the bottom of the drive cabinet shell (100), and the filter (430) is electrically connected with the alternating current contactor (420).

11. The drive cabinet of claim 1, wherein the interface module (500) comprises an interface panel (510) and a plurality of interfaces (520) fixed to the interface panel, wherein the bottom of the interface panel (510) is fixed to the bottom of the drive cabinet housing (100), and the interface panel (510) is perpendicular to the bottom plane of the drive cabinet housing (100).

12. The drive cabinet according to claim 2, wherein the IO module (600) comprises: external expansion IO port (610) and internal IO port (620).

13. The drive cabinet according to claim 2, characterized in that the switch module (700) comprises a power switch (710) and an emergency stop switch (720).

14. The drive cabinet according to claim 1, characterized in that a fixing strip (110) is arranged below the top of the drive cabinet housing (100), a handle (120) is arranged above the top, screw holes are arranged at both ends of the handle (120), the handle (120) is fixed on the top of the drive cabinet housing (100) by screws, and the screws pass through the screw holes of the fixing strip (110), the screw holes at the top of the drive cabinet housing (100) and are connected with the screw holes of the handle (120).

15. The drive cabinet according to claim 1, characterized in that the top of the drive cabinet housing (100) is integrally formed with the left and right side panels to form a cover plate (101).

16. A robotic control system, comprising: a control cabinet (20) and a plurality of drive cabinets (10) of any of claims 1-15, the control cabinet (20) being communicatively coupled to the plurality of drive cabinets (10).