CN204431264U

CN204431264U - Based on the intelligent industrial robot bus module of EtherCAT

Info

Publication number: CN204431264U
Application number: CN201420754983.3U
Authority: CN
Inventors: 李正刚; 范卫国; 金晶; 陈立; 朱彬; 冯玖强
Original assignee: Hangzhou Xin Song Robot Automation Co Ltd
Current assignee: Hangzhou Xin Song Robot Automation Co Ltd
Priority date: 2014-12-05
Filing date: 2014-12-05
Publication date: 2015-07-01
Anticipated expiration: 2024-12-05

Abstract

The utility model relates to a kind of bus module, particularly relates to a kind of intelligent industrial robot bus module based on EtherCAT.EtherCAT bus is connected with embedded microprocessor, and the two ends of embedded microprocessor interconnect mutually with DSP arithmetic unit and teach box respectively; Robot motion's module, I/O module, power feel that module, vision module, EtherCAT bus form topological structure.Based on the intelligent industrial robot bus module of EtherCAT, make industrial robot more intelligent.

Description

Based on the intelligent industrial robot bus module of EtherCAT

Technical field

The utility model relates to a kind of bus module, particularly relates to a kind of intelligent industrial robot bus module based on EtherCAT, for intelligent industrial robot.

Background technology

Along with technical development, being used in modern factories of industrial robot is more and more extensive.Machine man-based development is just high towards control accuracy, and movement velocity is fast, and security better waits direction advance.

Traditional control bus mode cannot support this technical change, must adopt new bus mode, realize the high speed transmission of information.

Utility model content

The utility model mainly solves the deficiencies in the prior art, there is provided a kind of EtherCAT to improve on traditional ethernet basis, have network topology structure flexible, configuration is convenient, real-time is good, the intelligent industrial robot bus module based on EtherCAT that effective data rate is high.

Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals:

A kind of intelligent industrial robot bus module based on EtherCAT, comprise EtherCAT bus, EtherCAT bus is connected with embedded microprocessor, is provided with ethernet controller in embedded microprocessor, and the two ends of embedded microprocessor interconnect mutually with DSP arithmetic unit and teach box respectively; With robot motion's module, I/O module, power, EtherCAT bus feels that module, vision module interconnect mutually respectively; Robot motion's module, I/O module, power feel that module, vision module, EtherCAT bus form topological structure;

Robot motion's module comprises at least one ESC motion module, at least one servo-driver and at least one AC servo motor, and ESC motion module interconnects mutually with servo-driver, and servo-driver interconnects mutually with AC servo motor;

I/O module comprises ESC control module, and ESC control module is connected with 32 road signals at the most;

Power feels that module comprises ESC power and feels that module, power feel that controller and force sensor, ESC power feel with power, module feels that controller and force sensor interconnect mutually respectively;

Vision module comprises ESC vision module, vision controller and vision sensor, and ESC vision module interconnects mutually with vision controller and vision sensor respectively.

The utilization of intelligence sensor, will carry forward vigorously the development of robot automtion, such as smart camera, testing environment more rapidly and efficiently; Various dimensions force snesor, perception all directions force and moment; Range sensor etc.Thing followed problem is, how fast heat transfer agent to be transferred to robot control cabinet, realizes robot real-time change.Use the technology of EtherCAT, these will be no longer difficult problems.Therefore EtherCAT technology has quite open application prospect in modern machines people field.

Whole robot control system adopts the communication of EtherCAT protocol realization controller and each intermodule.System can increase and decrease hardware module arbitrarily according to demand, can expand multiple controller and realize multi robot processing system, adds more intelligent sensor, and the outside axle of robot etc.

Motion module comprises two kinds of modes, and wherein one is that servo-driver is integrated with EtherCAT slave station function, and another kind is that slave station is made up of ESC+ microprocessor, realizes and general servo-driver exchanges data.Described AC servo driver connects communication by corresponding slave station Interface and Controler.

Power feel module and vision module, the change of perception robot self and ambient state, is sent in controller by information by EtherCAT in time, and controller controls the change of each movable joint in real time by optimized algorithm.

Beneficial effect:

1, main station controller adopts real time operating system RT-Linux, greatly improves system responses ability.

2, adopt EtherCAT industrial Ethernet technology, possess the technology such as Processing on the fly, distributed clock synchronization, each joint synchronous is high, fast response time, realizes industrial robot high speed, accurate motion.

3, EtherCAT fieldbus transmission speed is high, and topological structure is flexible, and the interpolation of sensing module is more prone to, and does not worry efficiency of transmission problem simultaneously, thus makes robot more intelligent, uses field more extensive.

By EtherCAT bus, external sensible information can be sent in main website in time, controller can process these feedback data fast, makes corresponding adjustment, the adjustment campaign that each closing energy-saving of robot sent controller in the very first time.Generally speaking, industrial robot change to external world can have and respond faster, namely more intelligent, and its career field has been widened in the utilization of multiple sensing module simultaneously.

The utility model provides the intelligent industrial robot bus module based on EtherCAT, makes industrial robot more intelligent, possesses the utilization of multiple sensing module simultaneously.

Accompanying drawing explanation

Fig. 1 is system architecture schematic diagram of the present utility model.

Detailed description of the invention

Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.

Embodiment 1: as shown in Figure 1, a kind of intelligent industrial robot bus module based on EtherCAT, comprise EtherCAT bus 1, EtherCAT bus 1 is connected with embedded microprocessor 2, be provided with ethernet controller 3 in embedded microprocessor 2, the two ends of embedded microprocessor 2 interconnect with DSP arithmetic unit 4 and teach box 5 phase respectively; EtherCAT bus 1 feels that module 8, vision module 9 phase interconnect respectively with robot motion's module 6, I/O module 7, power; Robot motion's module 6, I/O module 7, power feel that module 8, vision module 9, EtherCAT bus 1 form topological structure;

Robot motion's module comprises at least one ESC motion module 10, at least one servo-driver 11 and at least one AC servo motor 12, ESC motion module 10 and interconnects with servo-driver 11 phase, and servo-driver 11 interconnects with AC servo motor 12 phase;

I/O module comprises ESC control module 13, ESC control module 13 and is connected with 32 road signals at the most;

Power feels that module comprises ESC power and feels that module 14, power feel that controller 15 and force sensor 16, ESC power feel that module 14 feels that controller 15 and force sensor 16 phase interconnect respectively with power;

Vision module comprises ESC vision module 17, vision controller 18 and vision sensor 19, ESC vision module 17 and interconnects with vision controller 18 and vision sensor 19 phase respectively.

Claims

1. the intelligent industrial robot bus module based on EtherCAT, it is characterized in that: comprise EtherCAT bus (1), EtherCAT bus (1) is connected with embedded microprocessor (2), be provided with ethernet controller (3) in embedded microprocessor (2), the two ends of embedded microprocessor (2) interconnect mutually with DSP arithmetic unit (4) and teach box (5) respectively; With robot motion's module (6), I/O module (7), power, EtherCAT bus (1) feels that module (8), vision module (9) interconnect mutually respectively; Robot motion's module (6), I/O module (7), power feel that module (8), vision module (9), EtherCAT bus (1) form topological structure;

Robot motion's module comprises at least one ESC motion module (10), at least one servo-driver (11) and at least one AC servo motor (12), ESC motion module (10) interconnects mutually with servo-driver (11), and servo-driver (11) interconnects mutually with AC servo motor (12);

I/O module comprises ESC control module (13), and ESC control module (13) is connected with 32 road signals at the most;

Power feels that module comprises ESC power and feels that module (14), power feel that controller (15) and force sensor (16), ESC power feel that module (14) feels that controller (15) and force sensor (16) interconnect mutually respectively with power;

Vision module comprises ESC vision module (17), vision controller (18) and vision sensor (19), and ESC vision module (17) interconnects mutually with vision controller (18) and vision sensor (19) respectively.