CN116587256A - Valve island for robot integrated clamp - Google Patents
Valve island for robot integrated clamp Download PDFInfo
- Publication number
- CN116587256A CN116587256A CN202310869656.6A CN202310869656A CN116587256A CN 116587256 A CN116587256 A CN 116587256A CN 202310869656 A CN202310869656 A CN 202310869656A CN 116587256 A CN116587256 A CN 116587256A
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- processing unit
- mcu processing
- digital quantity
- module
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- 238000012545 processing Methods 0.000 claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000010354 integration Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 238000012795 verification Methods 0.000 description 5
- 238000002955 isolation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011990 functional testing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a valve island for a robot integrated clamp, and relates to the technical field of valve islands. The valve island comprises an MCU processing unit, a digital quantity input unit, a digital quantity output unit and a communication unit, wherein the digital quantity input unit is connected with the MCU processing unit, so that the MCU processing unit can read the state information of the input unit to select an input signal NPN or PNP; the digital quantity output unit is connected with the MCU processing unit to select an output signal NPN or PNP, so that the problems of more air pipes, more wiring and fussy wiring of the traditional multi-jaw robot clamp are solved, the air pipes of the electric control valve are integrated with the circuits through the design of the main air circuit board, the use of the air pipes is reduced, the high integration is realized, and the quick application under multiple scenes such as taking, placing and assembling products is realized.
Description
Technical Field
The invention relates to the technical field of valve islands, in particular to a valve island for a robot integrated clamp.
Background
The SCARA robot is used as a robot arm applied to assembly operation, and can realize rapid material feeding, assembly and transportation by being matched with an end robot clamp for adsorption (grabbing), and the SCARA robot mainly performs operation in a horizontal plane. The rotational and vertical joints of the SCARA robot enable translational movement of the robot arm along the X and Y axes and rotational and vertical movement, thus accomplishing complex assembly, spot welding, handling and assembly tasks that are compliant or flexible in one particular direction, typically along the vertical axis. This means that the robot can have a certain bending or elasticity in this direction, so that it can adapt to the assembly and operating requirements in different working scenarios.
The SCARA robot clamp used in the market at present, in particular to a multi-clamping jaw robot clamp, which has the problems of multiple clamp air pipes, multiple wiring, complicated layout and the like, and the problems of corrugated pipe fracture, interference and the like of the excessive air pipes and wires which are routed through the corrugated pipes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a valve island for a robot integrated clamp, which integrates an electric control valve gas circuit and a circuit together through the design of a main gas circuit board, reduces the use of gas pipes and solves the problems of more gas pipes, more wiring and complicated and messy wiring of the prior multi-jaw robot clamp.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the utility model provides a valve island for robot integrated fixture, includes input grafting module, relay plug module, integrated bus module and output grafting module, wherein: the input plug-in module pins are connected with the relay plug module pins and are connected with the integrated bus module; the output plug-in module pins are connected with the integrated bus module pins; the integrated bus module comprises an MCU processing unit, a digital quantity input unit, a digital quantity output unit, a communication unit and a power management unit, wherein: the MCU processing unit performs signal interaction with an external CAN/RS485 interface through a control circuit of the CAN/RS485 bus communication unit, and distributes signals to the digital quantity input unit and the digital quantity output unit through the processing of the MCU processing unit; the digital quantity input unit is connected with the pins of the MCU processing unit, so that the MCU processing unit can read input signals, and the input signals comprise NPN or PNP; the digital quantity output unit is connected with the pin of the MCU processing unit and is used for receiving an output signal transmitted by the MCU processing unit, and the output signal comprises NPN or PNP; the power management unit is used for supplying power to the MCU processing unit and the IC.
Further, the device also comprises a debugging verification unit, wherein the debugging verification unit is used for being connected with the MCU processing module so as to use a debugger to debug and verify the functions of the MCU, observe variables, register states and execution flows in the program execution process, and perform single-step execution and breakpoint setting.
Furthermore, the digital quantity input unit is isolated by adopting a bipolar photoelectric coupler, and the electric connection between the input end signal and the output end signal is disconnected, so that the anti-interference performance and the reliability are improved.
Further, the digital quantity output unit adopts a nonpolar Photo MOS relay to isolate output, and the electrical connection between the input end and the output end is disconnected, so that the transmission of ground wire interference, voltage peak value, current interference and electrical noise between the input signal source and the MCU is prevented.
Further, the input plug-in module is a plurality of mini type connectors, and each mini type connector is provided with three pins, including a power positive pin, a power negative pin and a signal pin.
Further, the mini-type connector is a plug-in type spring connector.
Further, the output plug-in module is a plurality of groups of pin needles welded and used for being connected with the electromagnetic valve, and each group of pin needles comprises two pins.
Further, the mini-type connector is identical in pin needle and integrated circuit layout, and identical in interface function definition.
Further, the power management unit reduces and stabilizes DC24V to 3.3V and 5V when supplying power to the MCU processing unit and the IC.
The invention has the following beneficial effects:
the invention comprises an MCU processing unit, a digital quantity input unit, a digital quantity output unit and a communication unit, wherein the digital quantity input unit is used for being connected with the MCU processing unit, so that the MCU processing unit can read the state information of the input unit to select an input signal NPN or PNP; the digital quantity output unit is used for being connected with the MCU processing unit to select an output signal NPN or PNP. The problems of more air pipes, more wiring and complicated wiring of the traditional multi-jaw robot clamp are solved, and the air channels and the circuits of the electric control valve are integrated together through the design of a main air channel board, so that the use of the air pipes is reduced; the high-flexibility cable and the main air pipe walk inside the robot together, a bellows structure is canceled, high integration is realized, and quick application under multiple scenes such as product taking, placing, assembling and carrying is realized.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
FIG. 1 is a functional diagram of an integrated bus remote input/output module of the present invention;
FIG. 2 is a diagram of an IO signal distribution board provided by the present invention;
fig. 3 is a diagram of another IO signal distribution plate according to the present invention.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1, an embodiment of the present invention provides a valve island for a robot integration fixture, which can be used as a standard module of the valve island for the SCARA robot integration fixture.
The valve island comprises an input plug-in module, a relay plug module, an integrated bus module and an output plug-in module, wherein the pins of the input plug-in module are connected with the pins of the relay plug module and are connected with the integrated bus module; the output plug-in module pins are connected with the integrated bus module pins. The integrated bus module comprises an MCU processing unit, a digital quantity input unit, a digital quantity output unit, a communication unit and a power management unit. The MCU processing unit performs signal interaction with an external CAN/RS485 interface through a control circuit of the CAN/RS485 bus communication unit, and distributes signals to the digital quantity input unit and the digital quantity output unit through the processing of the MCU processing unit; the digital quantity input unit is connected with the pins of the MCU processing unit, so that the MCU processing unit can read input signals, and the input signals comprise NPN or PNP; the digital quantity output unit is connected with the pins of the MCU processing unit and is used for receiving output signals transmitted by the MCU processing unit, and the output signals comprise NPN or PNP. The power management unit is used for supplying power to the MCU processing unit and the IC, and the power management unit reduces the DC24V to 3.3V and 5V and stabilizes the voltage when supplying power to the MCU processing unit and the IC.
The MCU processing unit performs signal interaction with an external CAN/RS485 interface through a control circuit of the CAN/RS485 bus communication unit, distributes signals to the digital quantity input unit and the digital quantity output unit through the processing of the MCU, and enables the communication unit to perform data exchange and remote control with external equipment or an upper computer through receiving sensor data and user input. The digital quantity input unit is connected with the MCU processing unit, so that the MCU processing unit can read the state information of the input module and select the input signal NPN or PNP. The MCU can monitor the state of the external equipment or the sensor in real time by reading the state of the digital quantity input unit; there may be multiple input channels, and by connecting to the MCU, the number of input channels of the MCU may be expanded so that it can monitor and process the status of multiple external devices or sensors simultaneously. The digital quantity output unit is used for being connected with the MCU processing unit to select an output signal NPN or PNP. By controlling the state change of the digital quantity output unit, the MCU can trigger specific events or operations, and can be used for controlling other devices, executing a certain process or triggering other system operations; the MCU has a plurality of output channels, and the output channels of the MCU can be expanded by connecting the MCU to the MCU, so that the MCU can control a plurality of external devices simultaneously.
Specifically, the present embodiment further includes a debug verification unit. The debugging verification unit is used for being connected with the MCU processing module so as to use a debugger to debug and verify the functions of the MCU, observe variables, register states and execution flows in the program execution process, and perform single-step execution and breakpoint setting. In addition, the debugging verification unit in the embodiment can be used for burning the program into the nonvolatile memory of the MCU to realize loading and updating of the program, and can execute an automatic test program to perform functional test, performance test, signal test, electrical test and the like on the MCU so as to ensure the quality and consistency of products.
The bus type module is additionally provided with a control circuit based on the communication of the singlechip and the CAN/RS485 bus on the basis of an integrated circuit board, and external equipment performs signal interaction with the singlechip of the module through a CAN/RS485 interface and distributes signals to each input/output interface through the processing of the singlechip.
Because the communication mode is adopted, the robot can be realized by only needing a small amount of cables, the core number of the cables and the size of the cables are reduced, and the robot is easier to arrange
Specifically, in this embodiment, the digital input unit is isolated by using a bipolar photoelectric coupler, which can realize electrical isolation, and disconnect electrical connection between the input end signal and the output end signal, so that ground line interference, voltage peak, current interference and electrical noise between the input signal source and the MCU can be effectively isolated, so as to improve anti-interference performance and reliability. In addition, the bipolar photoelectric coupler converts an input signal into an optical signal through the optical element and then converts the optical signal back into an electric signal, so that electric interference or overvoltage at the input end can be prevented from being transmitted to the MCU end, and the MCU is protected from potential damage.
Specifically, in the present embodiment, the digital quantity output unit employs a nonpolar PhotoMOS relay isolation output to achieve electrical isolation. The isolation design can effectively prevent the transmission of ground wire interference, voltage peak value, current interference and electric noise between an input signal source and an MCU, thereby improving the anti-interference performance and reliability of the system. In addition, the nonpolar PhotoMOS relay has the characteristic of quick response, and can switch states at microsecond level, so that the digital quantity input module can respond to the change of an input signal in real time and quickly transmit the changed signal to the MCU.
Specifically, the input plug-in module is a plurality of mini plug-in spring connectors, and each mini plug-in spring connector is provided with three pins, including a power positive pin, a power negative pin and a signal pin. The output plug-in module is a plurality of groups of welded pin needles and is used for connecting an electromagnetic valve, each group of pin needles comprises two pins, mini type connectors, the pin needles and integrated circuits are identical in layout, and interface functions are identical in definition.
In this embodiment, as shown in fig. 2, the function of electrical connection of the integrated circuit board is that the external I/O signal card signal is connected to the integrated circuit board 4V through a cable and a 20Pin/24Pin connector, the input signal is distributed to the pluggable connector to be connected with the sensor through signal distribution of the circuit board, and the output signal is distributed to the welded Pin to be directly connected with the interface assembly of the electromagnetic valve. The input connector adopts mini plug-in spring connector, disposes respectively in the module both sides, and every connector is 3Pin, is power+, power-, respectively to and signal S, and the output connector adopts welded Pin needle for connecting the solenoid valve, and every group Pin needle is 2, disposes 8 in quantity.
Of course, in another embodiment, as shown in FIG. 3, the function of the integrated circuit board electrical connection is that the external I/O signal card signals are connected to the integrated circuit board 6V by cables and 20Pin/24Pin connectors. Through the signal distribution of circuit board, distribute the input signal to connect with the sensor on the plug-in connector, output signal distributes to the interface assembly connection of direct and solenoid valve on the welded PIN needle, input connector adopts mini plug-in spring connector, dispose in the module both sides respectively, every connector is 3Pin, be power respectively+, power-, and signal S, output connector adopts welded PIN needle for connecting the solenoid valve, every group PIN needle is 2, dispose quantity is 12 groups.
The integrated bus module can also be connected with a light emitting diode and a resistor for indicating when the power-on is started.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (9)
1. The utility model provides a valve island for robot integration anchor clamps which characterized in that, includes input grafting module, relay plug module, integrated bus module and output grafting module, wherein:
the input plug-in module pins are connected with the relay plug module pins and are connected with the integrated bus module;
the output plug-in module pins are connected with the integrated bus module pins;
the integrated bus module comprises an MCU processing unit, a digital quantity input unit, a digital quantity output unit, a communication unit and a power management unit, wherein:
the MCU processing unit performs signal interaction with an external CAN/RS485 interface through a control circuit of the CAN/RS485 bus communication unit, and distributes signals to the digital quantity input unit and the digital quantity output unit through the processing of the MCU processing unit;
the digital quantity input unit is connected with the pins of the MCU processing unit, so that the MCU processing unit can read input signals, and the input signals comprise NPN or PNP;
the digital quantity output unit is connected with the pin of the MCU processing unit and is used for receiving an output signal transmitted by the MCU processing unit, and the output signal comprises NPN or PNP;
the power management unit is used for supplying power to the MCU processing unit and the IC.
2. The valve island for the robot integrated jig according to claim 1, further comprising a debugging and verifying unit for connecting with the MCU processing unit to use a debugger to debug and verify functions of the MCU processing unit, observe variables, register states and execution flows in a program execution process, and perform single-step execution and breakpoint setting.
3. The valve island for a robot integration jig according to claim 2, wherein: the digital quantity input unit is isolated by adopting a bipolar photoelectric coupler, and the electric connection between the input end signal and the output end signal is disconnected, so that the anti-interference performance and the reliability are improved.
4. A valve island for a robot integration jig according to claim 3, wherein: the digital quantity output unit adopts a nonpolar Photo MOS relay to isolate and output, and breaks the electrical connection between the input end and the output end so as to prevent the transmission of ground wire interference, voltage peak value, current interference and electrical noise between the input signal source and the MCU processing unit.
5. The valve island for a robot integration jig according to claim 4, wherein: the input plug-in module is a plurality of mini type connectors, and each mini type connector is provided with three pins, including a power positive pin, a power negative pin and a signal pin.
6. The valve island for a robot integration jig according to claim 5, wherein: the mini type connector is a plug-in type spring connector.
7. The valve island for a robot integration jig according to claim 6, wherein: the output plug-in module is a plurality of groups of pin needles welded and is used for being connected with the electromagnetic valve, and each group of pin needles comprises two pins.
8. The valve island for a robot integration jig according to claim 7, wherein: the mini type connector has the same pin needle and integrated circuit layout and the same interface function definition.
9. The valve island for a robot integration jig according to claim 1, wherein: the power management unit reduces the DC24V to 3.3V and 5V and stabilizes the voltage when supplying power to the MCU processing unit and the IC.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310869656.6A CN116587256A (en) | 2023-07-17 | 2023-07-17 | Valve island for robot integrated clamp |
| CN202410197125.1A CN118181327A (en) | 2023-05-29 | 2024-02-22 | SCARA robot terminal standard integrated fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310869656.6A CN116587256A (en) | 2023-07-17 | 2023-07-17 | Valve island for robot integrated clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116587256A true CN116587256A (en) | 2023-08-15 |
Family
ID=87594096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310869656.6A Withdrawn CN116587256A (en) | 2023-05-29 | 2023-07-17 | Valve island for robot integrated clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116587256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117215247A (en) * | 2023-10-24 | 2023-12-12 | 上海勃傲自动化系统有限公司 | 5G industrial bus valve island and control method thereof |
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| DE202013011331U1 (en) * | 2013-01-10 | 2014-02-18 | J. Schmalz Gmbh | Valve module and valve terminal |
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| CN107784912A (en) * | 2016-08-30 | 2018-03-09 | 李征 | A kind of pneumatosphere robot experimental system |
| CN113357218A (en) * | 2015-11-03 | 2021-09-07 | 费斯托股份两合公司 | Application-based control of valve discs |
| CN215299795U (en) * | 2021-06-10 | 2021-12-24 | 江西省港航建设投资集团有限公司 | Protection device of medium-voltage switch cabinet and medium-voltage switch cabinet |
| CN216748485U (en) * | 2022-01-06 | 2022-06-14 | 广东恒翼能科技有限公司 | Power electricity core equipment control module and system |
| CN114962729A (en) * | 2021-02-24 | 2022-08-30 | 南京德克威尔自动化有限公司 | Expanded valve terminal based on bus communication technology |
| CN218240725U (en) * | 2022-11-03 | 2023-01-06 | 烟台德荣工业有限公司 | Bus protocol valve terminal control module device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1251595A1 (en) * | 2001-04-20 | 2002-10-23 | Murr-Elektronik Gesellschaft mit beschränkter Haftung | Modular control apparatus for control and automatic systems |
| CN101099343A (en) * | 2005-01-07 | 2008-01-02 | 诺格伦有限公司 | Communication system comprising a controller system and a master control means connected via a multipole connection means |
| CN201132375Y (en) * | 2007-11-14 | 2008-10-15 | 杭州科强智能控制系统有限公司 | Multiplex thermocouple signal switching device for controller of plastic jetting-moulding machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117215247A (en) * | 2023-10-24 | 2023-12-12 | 上海勃傲自动化系统有限公司 | 5G industrial bus valve island and control method thereof |
| CN117215247B (en) * | 2023-10-24 | 2024-04-09 | 上海勃傲自动化系统有限公司 | 5G industrial bus valve island and control method thereof |
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