CN116352721A

CN116352721A - Cooperative control method and system for dual-bus protocol

Info

Publication number: CN116352721A
Application number: CN202310418303.4A
Authority: CN
Inventors: 章林; 方志宏; 黄飞; 邓进锋
Original assignee: Shenzhen Lavichip Technology Co ltd
Current assignee: Shenzhen Lavichip Technology Co ltd
Priority date: 2023-04-17
Filing date: 2023-04-17
Publication date: 2023-06-30

Abstract

The application relates to a cooperative control method and a cooperative control system of a double bus protocol, which belong to the technical field of driving and controlling integration, and the method comprises the steps of receiving a shaft action signal sent by a demonstrator, and obtaining a target shaft action corresponding to the shaft action signal, wherein the target shaft action comprises an internal shaft action and an expansion shaft action; if the target shaft motion is the internal shaft motion, a control module of the driving and controlling integrated machine is controlled to execute an internal shaft motion flow; if the target shaft motion is the expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow; the expansion shaft module is electrically connected with the control module. The mechanical arm driving and controlling integrated machine has the effect that the driving and controlling integrated machine meets the requirements of the mechanical arm with seven or more product forms.

Description

Cooperative control method and system for dual-bus protocol

Technical Field

The application relates to the technical field of driving and controlling integration, in particular to a cooperative control method and system of a dual-bus protocol.

Background

The driving and controlling integrated machine is used as main equipment of the mechanical arm control system, integrates the controller and the driver into a whole, is more convenient to operate, and effectively reduces cost. In the prior art, a driver and a controller of the driving and controlling integrated machine communicate by adopting an internal bus, and at present, the mechanical arm mainly has a three-axis to six-axis product form, because the driving and controlling integrated machine has strict requirements on the volume of the mechanical arm, if the product form of the mechanical arm is more than six axes, the cost is increased and the whole product structure of the driving and controlling integrated machine is affected, and the prior mechanical arm often has the requirement of an expansion axis, such as that the product form of the mechanical arm is seven axes or more, so the applicant believes that the prior driving and controlling integrated machine cannot meet the requirement of the mechanical arm with seven axes or more.

Disclosure of Invention

In order to enable the driving and controlling integrated machine to meet the requirements of the mechanical arm in the form of seven-axis and above products, the application provides a cooperative control method and a cooperative control system of a double-bus protocol.

In a first aspect, the present application provides a cooperative control method for a dual bus protocol, which adopts the following technical scheme:

a cooperative control method of a dual bus protocol includes:

receiving an axis action signal sent by a demonstrator, and obtaining a target axis action corresponding to the axis action signal, wherein the target axis action comprises an internal axis action and an expansion axis action;

if the target shaft motion is the internal shaft motion, a control module of the driving and controlling integrated machine is controlled to execute an internal shaft motion flow;

if the target shaft motion is the expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow; the expansion shaft module is electrically connected with the control module.

By adopting the technical scheme, the expansion shaft module is additionally arranged in the driving and controlling integrated machine and is used for executing the action flow of the expansion shaft, so that when the product form of the mechanical arm is seven shafts or more, namely the expansion shaft exists, the expansion shaft can be controlled through the expansion shaft module, and the driving and controlling integrated machine can meet the requirements of the mechanical arm with the product form of seven shafts or more.

Optionally, the internal axis action flow includes an internal bus axis start flow;

and if the target shaft motion is the internal shaft motion, controlling a control module of the driving and controlling integrated machine to execute an internal shaft motion flow, wherein the method comprises the following steps:

organizing operation data of the mechanical arm according to an internal bus protocol;

and sending the operation data to the driving module through an internal bus to start the internal bus shaft, so as to finish the starting flow of the internal bus shaft.

By adopting the technical scheme, the control module and the driving module are a bus, namely the driving and controlling integrated machine is on the basis of comprising the expansion shaft module, and the driving module is not influenced to start the internal bus shaft.

Optionally, the internal axis action flow further includes an internal bus axis stop flow;

and if the target shaft motion is the internal shaft motion, controlling a control module of the driving and controlling integrated machine to execute an internal shaft motion flow, and further comprising:

acquiring operation data of the driving module through the control module;

judging whether the internal bus shaft is positioned at a preset target position or not according to the operation data;

and if the internal bus shaft is at the target position, sending stop data to the driving module through the control module so as to stop the internal bus shaft, and finishing the internal bus shaft stop flow.

By adopting the technical scheme, on the bus of the control module and the driving module, the internal bus shaft can be started through the driving module, and the internal bus shaft can be stopped through the driving module.

Optionally, the expansion axis action flow includes an expansion axis start flow;

and if the target shaft motion is the expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow, wherein the method comprises the following steps of:

organizing action data of the mechanical arm according to an expansion bus protocol;

and sending the action data to a preset external servo through an expansion bus and the expansion shaft module so as to start an expansion shaft and finish the starting flow of the expansion shaft.

By adopting the technical scheme, the control module and the expansion shaft module form the other bus, namely the driving and controlling integrated machine is provided with the two buses, and the bus formed by the control module and the expansion shaft module does not influence the operation of the other bus.

Optionally, the expansion axis action flow further includes an expansion axis stop flow;

if the target shaft motion is the expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow, and further comprising:

acquiring the running state and real-time data of the expansion shaft through the control module;

judging whether the current expansion shaft is at a preset standard position or not according to the running state and the real-time data;

and if the standard position is in the standard position, sending stop data to the external servo to stop the expansion shaft, and completing the flow of stopping the expansion shaft.

By adopting the technical scheme, on the buses formed by the control module and the expansion shaft module, the expansion shaft can be started through the expansion shaft module, and the expansion shaft can be stopped through the expansion shaft module, namely, the two buses of the driving and controlling integrated machine are not interfered with each other.

Optionally, the method further comprises:

simultaneously transmitting the operation data and the action data to simultaneously start the internal bus shaft starting flow and the expansion shaft starting flow;

and acquiring and outputting the starting interval time of the internal bus shaft and the expansion shaft.

By adopting the technical scheme, the two buses can be used for controlling the shafts not only respectively, but also simultaneously, and when the two buses are used for controlling the shafts simultaneously, the control effect equivalent to that of the same bus can be achieved.

Optionally, the acquiring and outputting the start interval time between the internal bus shaft and the expansion shaft includes:

acquiring first sending processing logic time and first data transmission time of the internal bus axis;

calculating a first time sum of the first transmit processing logic time and the first data transmission time;

acquiring a second sending processing logic time and a second data transmission time of the expansion shaft;

calculating a second time sum of the second transmission processing logic time and the second data transmission time;

and taking the difference value between the first time sum and the second time sum as a starting interval time and outputting the starting interval time.

By adopting the technical scheme, the starting interval time is used for representing the interval time when the two buses simultaneously transmit data, namely, the expansion shaft and the internal bus shaft are synchronously started, and the starting interval time is calculated and output, so that the driving and controlling integrated machine is convenient to manage.

In a second aspect, the present application provides a cooperative control system of a dual bus protocol, which adopts the following technical scheme:

the cooperative control system of the double bus protocol comprises a driving and control integrated machine, a demonstrator, an external servo and a mechanical arm motor, wherein the driving and control integrated machine comprises a driving module, a control module, a power module and an expansion shaft module, the control module is connected with the demonstrator, the driving module is connected with the control module, the power module is connected with the driving module, the mechanical arm motor is connected with the power module, the expansion shaft module is connected with the control module, the external servo is connected with the expansion shaft module, and the external servo is connected with the mechanical arm motor;

the demonstrator is used for sending out an axis action signal, and the axis action signal corresponds to the target axis action; the target axis motion includes an inner axis motion and an extension axis motion;

if the target shaft motion is the internal shaft motion, the control module executes an internal shaft motion flow;

and if the target shaft motion is the expansion shaft motion, the expansion shaft module executes an expansion shaft motion flow.

Through adopting above-mentioned technical scheme, drive the inside extension axle module that increases of accuse all-in-one to when the product form of arm is seven and above, when there is the extension axle promptly, accessible extension axle module control extension axle, thereby make drive the demand of the arm that controls all-in-one and satisfy seven and above product forms.

Optionally, the control module and the driving module communicate through an SPI bus protocol, and the control module and the extension shaft module communicate through a CANopen bus protocol.

By adopting the technical scheme, the bus protocols of the two buses of the driving and controlling integrated machine are inconsistent, so that the shafts controlled by the two buses can independently operate without interference.

In summary, the present application has at least one of the following beneficial technical effects:

1. the expansion shaft module is additionally arranged in the driving and controlling integrated machine and is used for executing the action flow of the expansion shaft, so that when the product form of the mechanical arm is seven or more, namely the expansion shaft exists, the expansion shaft can be controlled through the expansion shaft module, and the driving and controlling integrated machine can meet the requirement of the mechanical arm with the product form of seven or more.

2. The driving and controlling integrated machine is provided with two buses, and the operation of the other bus is not influenced by the buses formed by the control module and the expansion shaft module.

3. The two buses can control the shafts not only respectively, but also simultaneously, and when the two buses control the shafts simultaneously, the control effect equivalent to that of the same bus can be achieved.

Drawings

Fig. 1 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 2 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 3 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 6 is a flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 7 is a schematic flow chart of one implementation of a cooperative control method of a dual bus protocol according to an embodiment of the present application.

Fig. 8 is an overall structure diagram of a cooperative control system of a dual bus protocol according to an embodiment of the present application.

Reference numerals illustrate:

1. the driving and controlling integrated machine; 2. a demonstrator; 3. an external servo; 4. a mechanical arm motor; 5. a driving module; 6. a control module; 7. a power module; 8. and an expansion axis module.

Detailed Description

The present application is described in further detail below in conjunction with figures 1 to 8.

The embodiment of the application discloses a cooperative control method of a dual-bus protocol.

Referring to fig. 1, a cooperative control method of a dual bus protocol includes the steps of:

s101, receiving an axis motion signal sent by a demonstrator, and obtaining a target axis motion corresponding to the axis motion signal, wherein the target axis motion comprises an internal axis motion and an expansion axis motion.

The teaching device is also called a teaching programmer, and is a core component of the mechanical arm control system and is used for registering and storing mechanical movements or processing memories, and the teaching device is executed by an electronic system or a computer system.

The shaft action signal is used for controlling the mechanical arm to move according to the path operated by the demonstrator, namely controlling the shaft of the mechanical arm to make corresponding actions. The axis motion signals need to be assigned to the robotic arm, so each axis motion signal corresponds to only one axis of the robotic arm. In this embodiment, the axes of the robot arm include an internal bus axis, which refers to the standard 6 axes and below on the robot arm, and an extension axis, which refers to the axis that extends on the robot arm. Upon receiving the shaft actuation signal, the target shaft actuation includes an internal shaft actuation and an extension shaft actuation, as the shaft of the robotic arm includes an internal bus shaft and an extension shaft.

From the above, after receiving the axis motion signal, the target axis can be positioned according to the axis motion signal, and the target axis motion can be performed.

S102, if the target shaft motion is the internal shaft motion, a control module of the driving and controlling integrated machine is controlled to execute an internal shaft motion flow.

If the target shaft motion is the internal shaft motion, executing an internal shaft motion flow according to a control module of the driving and controlling integrated machine. In this embodiment, the driving and controlling integrated machine includes a control module, a driving module, a power module and a mechanical arm. The control module is connected with the driving module through wires, the control module and the driving module form a bus, the driving module is connected with the power module through wires, and the power module is connected with the mechanical arm through wires. Specifically, the power module is connected with a plurality of motors on the mechanical arm through wires, and each motor corresponds to one shaft of the mechanical arm. The control module is used for sending signals to the driving module, and the driving module is used for connecting the mechanical arm and receiving signals so as to control the movement of the inner shaft of the mechanical arm. The internal axis action flow includes an internal axis start flow and an internal axis stop flow.

S103, if the target shaft motion is used as an expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow; the expansion shaft module is electrically connected with the control module.

In this embodiment, an extension shaft module is further disposed in the driving and controlling integrated machine, and is configured to receive a signal sent by the control module, and control movement of an extension shaft of the mechanical arm. The driving and controlling integrated machine is internally provided with the expansion shaft module, so that the driving and controlling integrated machine is suitable for the mechanical arm with seven or more product forms.

The expansion shaft module is connected with the control module through a wire. Specifically, the extension shaft module is connected with a motor corresponding to an extension shaft of the mechanical arm through a servo motor, namely the servo motor is connected with the extension shaft module through a wire, and the motor corresponding to the extension shaft is connected with the servo motor through a wire. The hardware part of the expansion shaft module CAN be composed of a CAN transceiver circuit, and the software part of the expansion shaft module CAN be communicated with an external single servo motor by adopting a CANopen bus protocol, so that the effect of controlling an external servo shaft is realized.

When the target shaft motion is the expansion shaft motion, the expansion shaft module can execute the expansion shaft motion flow through the signal sent by the control module. The extension axis action flow includes an extension axis start flow and an extension axis stop flow.

It should be noted that the present application is applicable to a multi-axis truss mechanical arm control device adopting a driving and controlling integrated technology.

The implementation principle of the embodiment is as follows: the expansion shaft module is additionally arranged in the driving and controlling integrated machine and is used for executing the action flow of the expansion shaft, so that when the product form of the mechanical arm is seven or more, namely the expansion shaft exists, the expansion shaft can be controlled through the expansion shaft module, and the driving and controlling integrated machine can meet the requirement of the mechanical arm with the product form of seven or more.

In step S102 of the embodiment shown in fig. 1, the internal axis motion flow may be differentiated according to the motion condition of the internal bus axis. The embodiment shown in fig. 2 is specifically described in detail.

Referring to FIG. 2, the internal spool action flow includes an internal bus spool start-up flow;

if the target shaft motion is an internal shaft motion, a control module for controlling the driving and controlling integrated machine executes an internal shaft motion flow, and the method comprises the following steps:

s201, organizing operation data of the mechanical arm according to an internal bus protocol.

In this embodiment, the internal bus protocol adopts an SPI bus protocol, which is a synchronous serial interface technology, and is a high-speed, full duplex and synchronous communication bus. The operation data comprises data such as position, speed, acceleration and deceleration time, and the operation data can be sent to the driving module through the internal bus after being organized according to the internal bus protocol.

S202, sending the operation data to the driving module through the internal bus to start the internal bus shaft, and completing the starting flow of the internal bus shaft.

The internal bus is an SPI bus, after operation data are obtained, the operation data can be sent to the driving module through the internal bus, and after the driving module receives the operation data, the driving module can control the position, the speed, the acceleration and deceleration time and the like of the internal bus shaft according to the operation data, and at the moment, the starting flow of the internal bus shaft is completed.

According to the cooperative control method of the double-bus protocol, the control module and the driving module are one bus, namely the driving and controlling integrated machine is based on the expansion shaft module, and the driving module is not influenced to start the internal bus shaft.

In step S102 of the embodiment shown in fig. 1, the movement of the internal bus shaft further includes stopping the internal bus shaft, so the internal shaft operation flow further includes an internal bus shaft stopping flow. The embodiment shown in fig. 3 is specifically described in detail.

Referring to fig. 3, the internal axis action flow further includes an internal bus axis stop flow;

if the target shaft motion is an internal shaft motion, a control module for controlling the driving and controlling integrated machine executes an internal shaft motion flow, and the method further comprises the following steps:

s301, acquiring operation data of the driving module through the control module.

If the internal bus shaft is required to be stopped, firstly, the control module is used for acquiring the operation data of the driving module, specifically, when the internal bus shaft moves, the driving module is used for acquiring the operation data of the internal bus shaft in real time, and at the moment, the control module can be used for acquiring the operation data of the driving module. The operation data includes data such as real-time position and operation state.

In specific implementation, the control module periodically acquires operation data such as real-time position and operation state of the driving module from the internal bus every 3 ms.

S302, judging whether the current internal bus axis is positioned at a preset target position according to the operation data.

The target position is preset for a person, the current real-time position of the internal bus shaft can be obtained after the operation data are acquired, and whether the internal bus shaft is located at the target position can be judged according to the real-time position. Specifically, the real-time position and the target position are both represented by coordinates. And if the coordinates of the real-time position are coincident with the coordinates of the target position, indicating that the internal bus axis is positioned at the target position.

S303, if the internal bus shaft is at the target position, sending stop data to the driving module through the control module so as to stop the internal bus shaft, and completing the internal bus shaft stop flow.

If the internal bus shaft is positioned at the target position, the control module sends stop data to the driving module at the moment so that the driving module controls the internal bus shaft to stop, and the internal bus shaft stopping flow is completed.

In the cooperative control method of the dual bus protocol provided in this embodiment, on one bus of the control module and the driving module, the driving module may not only start the internal bus shaft, but also stop the internal bus shaft.

In step S103 of the embodiment shown in fig. 1, the operation flow of the expansion axis may be distinguished according to the movement condition of the expansion axis. The embodiment shown in fig. 4 is specifically described in detail.

Referring to fig. 4, the extension axis action flow includes an extension axis start flow;

if the target shaft motion is an expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow, wherein the method comprises the following steps of:

s401, organizing action data of the mechanical arm according to an expansion bus protocol.

In this embodiment, the expansion bus protocol is a CANopen bus protocol, and if the expansion axis operation flow is an expansion axis start flow, the operation data is first organized according to the CANopen bus protocol, where the operation data includes data such as position, speed, and acceleration/deceleration time. It should be noted that, the action data is set manually, and the action data is organized into a certain message format according to the expansion bus protocol and sent out.

And S402, transmitting the action data to a preset external servo through an expansion bus and an expansion shaft module to start the expansion shaft, and completing an expansion shaft starting flow.

After the action data of the mechanical arm is made according to the expansion bus protocol, the action data is sent to the expansion shaft module through an expansion bus between the control module and the expansion shaft, and then the expansion shaft module sends the action data to an external servo, so that a motor connected with the external servo is started to further start the expansion shaft corresponding to the motor, and the expansion shaft starting process is completed. Feedback control system for servo to follow or reproduce a process accurately, that is, feedback control system whose output is mechanical displacement or displacement speed, acceleration, and whose function is to make the mechanical displacement or rotation angle of output accurately track the displacement or rotation angle of input

In the cooperative control method of the dual-bus protocol provided by the embodiment, the control module and the expansion shaft module form the other bus, namely the driving and controlling integrated machine is provided with the two buses, and the operation of the other bus is not influenced by the bus formed by the control module and the expansion shaft module.

In step S103 of the embodiment shown in fig. 1, the movement condition of the extension shaft further includes stopping of the extension shaft, so the extension shaft operation flow further includes an extension shaft stopping flow. The embodiment shown in fig. 5 is specifically described in detail.

Referring to fig. 5, the extension axis action flow further includes an extension axis stop flow;

if the target shaft motion is an expansion shaft motion, controlling an expansion shaft module preset in the driving and controlling integrated machine to execute an expansion shaft motion flow, and further comprising the following steps:

s501, acquiring the running state and real-time data of the expansion shaft through a control module.

If the expansion shaft needs to be stopped, firstly, the control module needs to acquire the running state and real-time data of the expansion shaft, wherein the real-time data in the embodiment refer to the real-time position, and the running state comprises a starting state and a stopping state. Specifically, the control module periodically acquires the running state of the expansion shaft from the CAN bus at intervals of 1ms, and periodically acquires real-time data such as the real-time position of the expansion shaft from the CAN bus at intervals of 5 ms. Each bus transfer cycle τ is the time the CPU completes one access read.

S502, judging whether the current expansion shaft is at a preset standard position according to the running state and the real-time data.

If the running state of the expansion shaft is in a stop state and the coordinates of the real-time position of the expansion shaft are obtained, whether the expansion shaft is in the standard position can be judged according to whether the coordinates of the real-time position of the expansion shaft are consistent with the coordinates of the standard position.

S503, if the expansion axis is at the standard position, sending stop data to the external servo to stop the expansion axis, and completing the flow of stopping the expansion axis.

If the expansion shaft is at the standard position, namely, sending stop data to an external servo, specifically, sending the stop data by a control module, and sending the stop data to the external servo through the expansion shaft module by a CAN bus, wherein the external servo CAN control the corresponding expansion shaft to stop, so as to finish the stop flow of the expansion shaft.

According to the cooperative control method of the double-bus protocol, on buses formed by the control module and the expansion shaft module, the expansion shaft can be started through the expansion shaft module, and the expansion shaft can be stopped through the expansion shaft module, namely, two buses of the driving and controlling integrated machine are not interfered with each other.

The two buses can also simultaneously control the corresponding axes, as is specifically described in detail with respect to the embodiment shown in fig. 6.

Referring to fig. 6, the cooperative control method of the dual bus protocol further includes the steps of:

s601, simultaneously transmitting operation data and action data to simultaneously start an internal bus axis starting process and an expansion axis starting process.

If the expansion shaft and the internal bus shaft are required to be started simultaneously, namely, firstly, the transmission of the operation data of the internal bus and the transmission of the action data of the expansion bus are started simultaneously, namely, the operation data are transmitted through the internal bus and the action data are transmitted through the expansion bus simultaneously, and at the moment, the internal bus shaft starting process and the expansion shaft starting process can be started simultaneously.

S602, acquiring and outputting the starting interval time of the internal bus shaft and the expansion shaft.

The time of receiving data by the two axes of the expansion axis and the internal bus axis is related to the sending processing logic time and the time of transmitting data on the bus, so the time when the expansion axis and the internal bus axis are started is different, the starting interval time of the expansion axis and the internal bus axis can be calculated and output according to the sending processing logic time and the time of transmitting data on the bus, and the synchronous starting effect of the expansion axis and the internal bus axis is equivalent to the control effect of the same bus.

According to the cooperative control method of the dual-bus protocol, which is provided by the embodiment, the two buses can be used for controlling the shafts respectively and simultaneously, and when the two buses are used for controlling the shafts simultaneously, the control effect equivalent to that of the same bus can be achieved.

In step S602 of the embodiment shown in fig. 6, the start interval time may be calculated by the transmission processing logic time and the data transmission time of the axis. The embodiment shown in fig. 7 is specifically described.

Referring to fig. 7, the start interval time of the internal bus shaft and the extension shaft is acquired and output, comprising the steps of:

s701, acquiring a first transmission processing logic time and a first data transmission time of the internal bus axis.

The first transmit processing logic time and the first data transfer time of the internal bus axis are both available via the internal bus protocol.

S702, calculating a first time sum of the first sending processing logic time and the first data transmission time.

First time sum = first transmit processing logic time + first data transmission time.

S703, acquiring a second transmission processing logic time and a second data transmission time of the expansion axis.

The second transmission processing logic time and the second data transmission time of the expansion axis can be obtained by expanding the bus protocol in the same manner as in step S701.

S704, calculating a second time sum of the second transmission processing logic time and the second data transmission time.

Second time sum = second transmit processing logic time + second data transmission time.

And S705, taking the difference value between the first time sum and the second time sum as the starting interval time and outputting.

Start interval time= |first time-second time|.

According to the cooperative control method of the dual bus protocol, the starting interval time is used for representing the interval time when the two buses simultaneously send data, namely when the expansion shaft and the internal bus shaft are synchronously started, the starting interval time is calculated and output, and management of the driving and control integrated machine is facilitated.

The embodiment of the application also discloses a cooperative control system of the double bus protocol.

Referring to fig. 8, a cooperative control system of a dual bus protocol includes a driving and controlling integrated machine, a demonstrator, a servo motor and a mechanical arm motor, the driving and controlling integrated machine includes a driving module, a control module, a power module and an extension shaft module, the control module is connected with the demonstrator through electric wires, the driving module is connected with the control module through electric wires, the power module is connected with the driving module through electric wires, the mechanical arm motor is connected with the power module through electric wires, the extension shaft module is connected with the control module through electric wires, the servo motor is connected with the extension shaft module through electric wires, and the servo motor is connected with the mechanical arm motor through electric wires.

The demonstrator is used for sending out an axis action signal, and the axis action signal corresponds to the target axis action; the target axis motion includes an inner axis motion and an extension axis motion.

If the target shaft motion is an internal shaft motion, the control module executes an internal shaft motion flow. Specifically, the power module is connected with a plurality of motors on the mechanical arm through wires, and each motor corresponds to one shaft of the mechanical arm. The control module is used for sending signals to the driving module, and the driving module is used for connecting the mechanical arm and receiving signals so as to control the movement of the inner shaft of the mechanical arm. The internal axis action flow includes an internal axis start flow and an internal axis stop flow.

The power module has rectification and inversion functions, integrates the power module and the motor module together, and is connected with a power grid at an inlet end and a mechanical arm motor at an outlet end.

If the target shaft motion is an expansion shaft motion, the expansion shaft module executes an expansion shaft motion flow.

Specifically, the extension shaft module is connected with a motor corresponding to an extension shaft of the mechanical arm through a servo motor, namely the servo motor is connected with the extension shaft module through a wire, and the motor corresponding to the extension shaft is connected with the servo motor through a wire. The hardware part of the expansion shaft module CAN be composed of a CAN transceiver circuit, and the software part of the expansion shaft module CAN be communicated with an external single servo motor by adopting a CANopen bus protocol, so that the effect of controlling an external servo shaft is realized.

The control module and the driving module are communicated through an SPI bus protocol, and the control module and the expansion shaft module are communicated through a CANopen bus protocol.

The implementation principle of the cooperative control system of the dual bus protocol in the embodiment of the application is as follows: the expansion shaft module is additionally arranged in the driving and controlling integrated machine, so that when the product form of the mechanical arm is seven or more, namely, the expansion shaft exists, the expansion shaft can be controlled through the expansion shaft module, and the driving and controlling integrated machine can meet the requirement of the mechanical arm with the product form of seven or more.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. A cooperative control method of a dual bus protocol, comprising:

2. The cooperative control method of a dual bus protocol according to claim 1, wherein the internal bus axis action process includes an internal bus axis start process;

3. The cooperative control method of a dual bus protocol according to claim 2, wherein the internal axis action flow further comprises an internal bus axis stop flow;

acquiring operation data of the driving module through the control module;

4. The cooperative control method of a dual bus protocol according to claim 2, wherein the extended axis action flow includes an extended axis start flow;

5. The cooperative control method of a dual bus protocol according to claim 4, wherein the extended axis action flow further comprises an extended axis stop flow;

6. The cooperative control method of a dual bus protocol according to claim 4, further comprising:

7. The cooperative control method of a dual bus protocol according to claim 6, wherein the acquiring and outputting the start interval time between the internal bus axis and the expansion axis comprises:

8. A cooperative control system of a dual bus protocol, characterized in that: the automatic control system comprises a driving and control integrated machine, a demonstrator, an external servo and a mechanical arm motor, wherein the driving and control integrated machine comprises a driving module, a control module, a power module and an expansion shaft module, the control module is connected with the demonstrator, the driving module is connected with the control module, the power module is connected with the driving module, the mechanical arm motor is connected with the power module, the expansion shaft module is connected with the control module, the external servo is connected with the expansion shaft module, and the external servo is connected with the mechanical arm motor;

9. The cooperative control system of claim 8, wherein: the control module and the driving module are communicated through an SPI bus protocol, and the control module and the expansion shaft module are communicated through a CANopen bus protocol.