CN118003371A - High-integration encoder transmission device - Google Patents
High-integration encoder transmission device Download PDFInfo
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- CN118003371A CN118003371A CN202311765219.6A CN202311765219A CN118003371A CN 118003371 A CN118003371 A CN 118003371A CN 202311765219 A CN202311765219 A CN 202311765219A CN 118003371 A CN118003371 A CN 118003371A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 55
- 230000003993 interaction Effects 0.000 claims abstract description 12
- 238000013461 design Methods 0.000 claims abstract description 4
- 230000010354 integration Effects 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- 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)
- Arrangements For Transmission Of Measured Signals (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-integration encoder transmission device, which relates to the technical field of high-integration encoder transmission, and can realize the position information interaction of all motion axes by using only one encoder shielding cable between a robot body and a control electric cabinet, and is characterized in that: the high-integration encoder transmission device has the following technical characteristics: s1: and (3) design: the high-integration encoder transmission device is installed in the body base of the industrial robot. The invention reduces the use amount of cables and the complexity of the system: a traditional 6-axis industrial robot control mode needs to use a plurality of encoder shielding cables, and the technical scheme is that through a high-integration encoder transmission device, only one encoder shielding cable is needed to carry out position information interaction of all motion axes, so that the use amount of the cables and the complexity of a system are reduced.
Description
Technical Field
The invention relates to the technical field of high-integration encoder transmission, in particular to a high-integration encoder transmission device.
Background
The traditional 6-axis industrial robot control mode uses 6 motors and 6 encoders to realize motion control, and each encoder directly performs data interaction with an electric cabinet through a shielding cable. This approach requires a large number of cables, which not only increases the complexity and cost of the system, but also increases the difficulty of maintenance of the cables.
In order to solve the problems in the conventional industrial robot control manner, a high-integration encoder transmission device is provided. The device is installed in the robot body base, and can realize the position information interaction of all motion axes through an encoder shielding cable. The device contains a plurality of encoder data interfaces and associated control circuitry therein capable of receiving control commands and identifying information such as the total number of encoder axes, the type of encoder for each axis, and the command ID. According to the received command information, the device sends instructions to each encoder and receives feedback information of the encoder. Finally, the device combines the received encoder feedback information of all the shafts into a data frame according to the technical protocol, and transmits the data frame back to a servo driver in the control electric cabinet through the encoder total interface. Due to the advancement of the technical scheme, the method can be widely applied to the field of industrial robots. The high-integration encoder transmission device can realize the position information interaction of all motion axes through one encoder shielding cable, and greatly reduces the use amount and maintenance difficulty of the cable. The control system can effectively solve the problems of complexity, high cost and difficult maintenance of cables in the traditional industrial robot control mode.
In the market demand, with the transformation, upgrading and intelligent development of manufacturing industry, the industrial robot market continues to grow. The high-integration encoder transmission device has wide market demands as a key technology for improving the performance and control precision of the industrial robot. Various manufacturing enterprises and factories wish to improve production efficiency and product quality by introducing advanced control techniques, which provides a good opportunity for market application of high-integration encoder transmission devices.
Problems in the prior art:
the traditional 6-axis industrial robot control mode needs to use a plurality of encoders to shield cables, so that the complexity and the cost of the system are increased; the plurality of cables also increase the maintenance difficulty of the cables, and the problems of wiring errors, cable faults and the like are easy to occur; the high-integration encoder transmission device in the prior art solution can realize the position information interaction of all shafts through one cable, so that the use amount of the cable is reduced, but the specific implementation and the working principle of the device are not yet described in detail, and further research and improvement are needed; while the high-integration encoder transmission device in the prior art can meet the application requirements, there may be some problems in terms of performance and stability, and further verification and improvement are required.
Disclosure of Invention
The present invention provides a high-integration encoder transmission device to solve the above-mentioned problems in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
The utility model provides a high integration degree encoder transmission device, this high integration degree encoder transmission device can realize using only an encoder shielding cable to carry out the positional information interaction of all motion axes between robot body and the control electric cabinet, and this high integration degree encoder transmission device has following technical characteristics:
s1: and (3) design: the high-integration encoder transmission device is arranged in the body base of the industrial robot;
S2: control command identification: the reception control command identifying means in the high-integration encoder transmitting means is capable of decoding information such as the total number of axes of the encoder, the type of encoder (brand, number of single-turn bits of the encoder) for each axis, and the encoder command ID for each axis;
S3: instruction sending and feedback information receiving: according to the received command information, the high-integration encoder transmission device can respectively send instructions to each encoder and receive feedback information of the encoder;
s4: data frame combining and transmission: the device combines the received encoder feedback information of all the shafts into a data frame according to a technical protocol, and the data frame protocol is matched with a servo driver at the electric cabinet end for use;
s5: information back transmission: and the encoder information of all the shafts of the robot body is transmitted back to a servo driver in the control electric cabinet through the encoder total interface.
The technical scheme of the invention is further improved as follows: the S1 comprises the following steps: the high integration encoder transmission device comprises a plurality of encoder data interfaces and associated control circuits, and associated control protocols.
The technical scheme of the invention is further improved as follows: the step S3 comprises the following steps: the feedback information includes, but is not limited to, encoder single turn position, encoder multi-turn position, encoder battery voltage information, encoder temperature information, and encoder related alarm information.
By adopting the technical scheme, compared with the prior art, the invention has the following technical progress:
1. the invention provides a high-integration encoder transmission device, which reduces the use amount of cables and the complexity of a system: a traditional 6-axis industrial robot control mode needs to use a plurality of encoder shielding cables, and the technical scheme is that through a high-integration encoder transmission device, only one encoder shielding cable is needed to carry out position information interaction of all motion axes, so that the use amount of the cables and the complexity of a system are reduced.
2. The invention provides a high-integration encoder transmission device, which reduces cost and maintenance difficulty: the traditional mode needs a large amount of cables, increases the cost of the system, and the maintenance difficulty of the cables is high. The high-integration encoder transmission device in the technical scheme can reduce the number of cables, reduce the cost of the system and simplify the maintenance of the cables.
3. The invention provides a high-integration encoder transmission device, which improves the system performance and stability: the high-integration encoder transmission device in the technical scheme can send instructions to each encoder according to the received command information, receive the feedback information of the encoder, and finally combine the feedback information of the encoders of all the shafts into a data frame to be transmitted back to the servo driver in the control electric cabinet. Thus, the response speed of the system can be improved, errors can be reduced, and the stability of the system can be enhanced.
4. Compared with the traditional 6-axis industrial robot control mode, the high-integration encoder transmission device provided by the invention has the advantages of reducing the use amount of cables and the complexity of a system, reducing the cost and the maintenance difficulty, and improving the performance and the stability of the system. The technical scheme is more suitable for the field of industrial robot control, and has higher practicability and economic benefit.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a schematic diagram of a conventional industrial robot encoder technology framework of the present invention;
FIG. 3 is a schematic diagram of the return data protocol format for each axis of the present invention;
FIG. 4 is a schematic diagram of a transmission frame of a robot encoder according to the present invention;
fig. 5 is a schematic diagram of a total data protocol frame transmitted to a controller electrical cabinet in accordance with the present invention.
Detailed Description
The invention is further illustrated by the following examples:
Example 1
As shown in fig. 1 to 5, the present invention provides a high-integration encoder transmission device, which can implement position information interaction of all motion axes between a robot body and a control electric cabinet by using only one encoder shielding cable, and has the following technical characteristics:
s1: and (3) design: the high-integration encoder transmission device is arranged in the body base of the industrial robot;
S2: control command identification: the reception control command identifying means in the high-integration encoder transmitting means is capable of decoding information such as the total number of axes of the encoder, the type of encoder (brand, number of single-turn bits of the encoder) for each axis, and the encoder command ID for each axis;
S3: instruction sending and feedback information receiving: according to the received command information, the high-integration encoder transmission device can respectively send instructions to each encoder and receive feedback information of the encoder;
s4: data frame combining and transmission: the device combines the received encoder feedback information of all the shafts into a data frame according to a technical protocol, and the data frame protocol is matched with a servo driver at the electric cabinet end for use;
s5: information back transmission: and the encoder information of all the shafts of the robot body is transmitted back to a servo driver in the control electric cabinet through the encoder total interface.
Wherein S1 comprises: the high integration encoder transmission device comprises a plurality of encoder data interfaces and associated control circuits, and associated control protocols.
Wherein S3 comprises: the feedback information includes, but is not limited to, encoder single turn position, encoder multi-turn position, encoder battery voltage information, encoder temperature information, and encoder related alarm information.
Installing a high-integration encoder transmission device in a body base of the industrial robot; connecting the encoder data interface, the related control circuit and the electric cabinet; the receiving control command recognition device decodes information such as the total number of the encoder shafts, the type of the encoder of each shaft, the command ID of the encoder and the like; transmitting an instruction to each encoder according to the received command information, and receiving feedback information of the encoder; combining the received feedback information into a data frame according to a technical protocol; and the encoder information of all the shafts of the robot body is transmitted back to a servo driver in the control electric cabinet through the encoder total interface.
As shown in fig. 2, the encoder for each axis needs to be connected to a separate communication cable, and then the command ID and the encoder return data for each axis are communicated via the separate communication cable.
As shown in fig. 4, only a pair of data transmission cables is needed between the robot body and the robot electric cabinet to realize the position information interaction of all the shafts; the high-integration encoder transmission device divides one command ID into 6 separate command IDs after receiving the command IDs from the control cabinet, and transmits the command IDs to encoders of the motors 1 to 6, respectively. And after receiving the corresponding command ID, the 6 motor encoders return relevant encoder data to the high-integration encoder transmission device, and then the encoder transmission device synthesizes a new frame of data internally and transmits the new frame of data to the robot control electric cabinet.
To sum up, as shown in fig. 1 to 5, first, a high-integration encoder transmission device is installed in a body base of an industrial robot; connecting the encoder data interface, the related control circuit and the electric cabinet; the receiving control command recognition device decodes information such as the total number of the encoder shafts, the type of the encoder of each shaft, the command ID of the encoder and the like; transmitting an instruction to each encoder according to the received command information, and receiving feedback information of the encoder; combining the received feedback information into a data frame according to a technical protocol; and the encoder information of all the shafts of the robot body is transmitted back to a servo driver in the control electric cabinet through the encoder total interface. Through this high integration encoder transmission device, can realize only using an encoder shielding cable to carry out the positional information interaction of all motion axes between industrial robot body and the control electric cabinet to reduce the complexity and the cost of system, reduced the use amount and the maintenance degree of difficulty of cable. The device also has certain performance and stability, and can meet application requirements.
The foregoing invention has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.
Claims (3)
1. The utility model provides a high integration degree encoder transmission device, this high integration degree encoder transmission device can realize only using an encoder shielding cable to carry out the positional information interaction of all motion axes between robot body and the control electric cabinet, its characterized in that: the high-integration encoder transmission device has the following technical characteristics:
s1: and (3) design: the high-integration encoder transmission device is arranged in the body base of the industrial robot;
s2: control command identification: the reception control command identifying means in the high-integration encoder transmitting means is capable of decoding the total number of axes of the encoder, the type of encoder for each axis, and the encoder command ID information for each axis;
S3: instruction sending and feedback information receiving: according to the received command information, the high-integration encoder transmission device can respectively send instructions to each encoder and receive feedback information of the encoder;
s4: data frame combining and transmission: the device combines the received encoder feedback information of all the shafts into a data frame according to a technical protocol, and the data frame protocol is matched with a servo driver at the electric cabinet end for use;
s5: information back transmission: and the encoder information of all the shafts of the robot body is transmitted back to a servo driver in the control electric cabinet through the encoder total interface.
2. The high-integration encoder transmission device of claim 1, wherein: the S1 comprises the following steps: the high integration encoder transmission device comprises a plurality of encoder data interfaces and associated control circuits, and associated control protocols.
3. The high-integration encoder transmission device of claim 1, wherein: the step S3 comprises the following steps: the feedback information includes, but is not limited to, encoder single turn position, encoder multi-turn position, encoder battery voltage information, encoder temperature information, and encoder related alarm information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311765219.6A CN118003371A (en) | 2023-12-21 | 2023-12-21 | High-integration encoder transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311765219.6A CN118003371A (en) | 2023-12-21 | 2023-12-21 | High-integration encoder transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118003371A true CN118003371A (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311765219.6A Pending CN118003371A (en) | 2023-12-21 | 2023-12-21 | High-integration encoder transmission device |
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| Country | Link |
|---|---|
| CN (1) | CN118003371A (en) |
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2023
- 2023-12-21 CN CN202311765219.6A patent/CN118003371A/en active Pending
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