CN206363106U - A kind of multi-functional I/O module for robot - Google Patents
A kind of multi-functional I/O module for robot Download PDFInfo
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- CN206363106U CN206363106U CN201621411454.9U CN201621411454U CN206363106U CN 206363106 U CN206363106 U CN 206363106U CN 201621411454 U CN201621411454 U CN 201621411454U CN 206363106 U CN206363106 U CN 206363106U
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Abstract
The utility model discloses a kind of multi-functional I/O module for robot, including power interface unit (CN1), external equipment input interface unit (CN2), external equipment output interface unit (CN3), input I O process unit, output I O process unit；Power interface unit includes internal electric source interface and external power source interface；External equipment input interface unit (CN2) receives the external signal (IN) that external equipment is sent, and delivers to input I O process unit and is handled, the external signal after processing delivers to robot controller；Export I O process unit and receive the internal signal that robot controller is sent, sent after internal signal is handled by external equipment output interface unit (CN3) to external equipment.Multi-functional I/O module disclosed in the utility model can realize the level conversion processing and transmission of signal between robot controller and external equipment.
Description
Technical field
The utility model belongs to automation control area, and in particular to a kind of multi-functional IO moulds for all-purpose robot
Block.
Background technology
Robot is important equipment irreplaceable in advanced manufacturing industry and means, is the emphasis hair of emerging strategic industries
Direction is opened up, is the important symbol for weighing national a manufacturing industry level and core competitiveness.Robot is in current production, life
Using more and more extensively, the effect become more and more important is played in terms of substituting artificial work.With big data, internet, cloud
The fast development of the correlation techniques such as calculating, new perception, the development rate of robot technology is more and more faster, and intelligence degree is more next
Higher, application field constantly extends, in industrial production, community service, Edutainment, ocean development, interplanetary probe, national defense safety
Etc. every field, robot suffers from wide development space and application prospect.
With the continuous intelligent and advanced development of robot, to the core controller internal resource of robot will
Also more and more higher is sought, robot will develop more functions, connect increasing external equipment, then need increasing IO
Resource, due to the limitation of I/O port resource inside robot controller, when robot interior I/O resource is not enough, it is necessary to external one kind
The module of abundant IO communication interfaces can be provided, the purpose communicated with peripheral equipment is easily realized to reach.
Utility model content
Utility model purpose：It is of the present utility model to disclose a kind of multi-functional I/O module for robot, PCI can be passed through
Bus is connected with robot control cabinet, it is possible to achieve between robot controller and external equipment signal level conversion processing with
Transmission.
Technical scheme：A kind of multi-functional I/O module for robot, including power interface unit (CN1), external equipment
Input interface unit (CN2), external equipment output interface unit (CN3), input I O process unit, output I O process unit；Its
Middle power interface unit includes internal electric source interface and external power source interface；External equipment input interface unit (CN2) receives outer
The external signal (IN) that portion's equipment is sent, delivers to input I O process unit and is handled, the external signal after processing delivers to machine
People's controller；Export I O process unit and receive the internal signal that robot controller is sent, lead to after internal signal is handled
External equipment output interface unit (CN3) is crossed to send to external equipment.
Specifically, power interface unit include internal electric source interface and external power source interface, wherein internal electric source interface by
Robot is powered, and external power source interface is powered by other power supplys；External power source includes outside V24_EX and V3.3_EX power supplys, interior
Portion's power supply includes V24_IN and V3.3_IN；If using internal electric source, by V24_EX and V24_IN short circuits, G24_EX and G24_
IN short circuits, V3.3_EX and V3.3_IN short circuits, G3.3_EX and G3.3_IN short circuits；If using external power source, directly by V24_
EX is connected in V3.3_EX with external power source.
Specifically, external equipment input interface unit includes the significant level of some groups of input I/O ports and every group of input I/O port
Control mouth.
Specifically, external equipment output interface unit includes the significant level of some groups of output I/O ports and every group of output I/O port
Control mouth.
Specifically, input I O process unit includes the first light emitting diode (LED1), the second light emitting diode (LED2), the
One resistance (R1), second resistance (R2), 3rd resistor (R3), the 4th resistance (R4), the 5th resistance (R5), the first electric capacity (C1) and
Two-way optocoupler (PC1)；
The external signal (IN) that wherein external equipment is sent connects the first light emitting diode (LED1) negative electrode, second luminous two
The anode of pole pipe (LED2)；Anode, the negative electrode of the second light emitting diode (LED2) of first light emitting diode (LED1) connect jointly
It is connected to second resistance (R2) one end；First resistor (R1) is in parallel with the first light emitting diode (LED1)；Second resistance (R2)
The anode of one the first light emitting diode of termination (LED1), 2 pin of another termination bi-directional light coupling (PC1)；3rd resistor (R3) and the
One electric capacity (C1) is connected in parallel to 1 pin and 2 pin of two-way optocoupler (PC1), and 1 pin of two-way optocoupler (PC1) is connected to ComIn signals；It is double
To optocoupler (PC1) 3 pin connect the 4th resistance (R4) one end and the 5th resistance (R5) one end, the 5th resistance (R5) it is another
Signal is delivered to robot controller, another termination power supply signal V3.3_EX of the 4th resistance (R4) by end；Two-way optocoupler (PC1)
4 pin meet power supply signal G3.3_EX.
Specifically, output I O process unit includes the 6th resistance (R6), the 7th resistance (R7), the 8th resistance (R8), output
Optocoupler (PC2), triode (Q1), the first diode (D1), the second diode (D2), relay (K1), the first both-end row's pin
(J1), the second both-end row's pin (J2), the 3rd both-end row's pin (J3)；
The internal signal that wherein robot controller is sent is connected to the 1 of output optocoupler (PC2) by the 6th resistance (R6)
Pin, 2 pin of output optocoupler (PC2) are connected with external power source signal G3.3_EX, and the 7th resistance (R7) is connected in parallel to output optocoupler
(PC2) between 1 pin and 2 pin；Export the c pin of 3 pin and the triode (Q1) of optocoupler (PC2), the negative electrode of the first diode (D1),
Anode, 2 pin of relay (K1) and the 3rd both-end of second diode (D2) arrange one end connection of pin (J3)；Second diode
(D2) 1 pin of negative electrode and relay (K1) is commonly connected to external power source V24_EX；3rd both-end row pin (J3) be connected in parallel to after
Between 2 pin and 4 pin of electrical equipment (K1)；4 pin of output optocoupler (PC2) are connected with the b pin of triode (Q1)；8th resistance (R8) is simultaneously
It is coupled between the b pin of triode (Q1) and e pin；The anode of the e pin of triode (Q1) and the first diode (D1) is connected to
ComOut signals；Second both-end row's pin (J2) is connected in parallel between 3 pin of ComOut signals and relay (K1)；First both-end arranges pin
(J1) it is connected in parallel between ComOut signals and external power source earth signal G24_EX；The signal that 3 pin of relay (K1) are drawn is
OUTCOM signals, the signal that 4 pin of relay (K1) are drawn is output OUT signal.
Beneficial effect：Multi-functional I/O module has advantages below disclosed in the utility model：1st, changeable internal electric source and
External power source, saves internal electric source resource；2nd, input I O process unit and output I O process unit can believe input or output
Number be configured to that high level is effective or low level effectively, two kinds of level modes are optional, flexibly and easily；3rd, two kinds of way of outputs are optional,
Respectively relay output and the non-relay way of output, if requiring higher to output current, are exported, otherwise using relay
Exported using non-relay；4th, I/O port aboundresources, scalability is strong, and multiple I/O module superpositions are extendable to the IO moulds of more multidigit
Block.
Brief description of the drawings
Fig. 1 is the disclosed multi-functional I/O module composition and connection diagram for robot of the utility model；
Fig. 2 is power interface cell schematics in the disclosed multi-functional I/O module for robot of the utility model；
Fig. 3 is the schematic diagram of outside input interface unit and external equipment output interface unit in embodiment；
Fig. 4 is the schematic diagram of input I O process unit in embodiment；
Fig. 5 is the schematic diagram of output I O process unit in embodiment.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is further elucidated.
As shown in figure 1, a kind of multi-functional I/O module for robot, including the input of power interface unit, external equipment
Interface unit, input I O process unit, output I O process unit, external equipment output interface unit；Wherein power interface unit
Including internal electric source interface and external power source interface；External equipment input interface unit receives the outside letter that external equipment is sent
Number, deliver to input I O process unit and handled, the external signal after processing delivers to robot controller；Export I O process unit
The internal signal that robot controller is sent is received, is sent out after internal signal is handled by external equipment output interface unit
Deliver to external equipment.
As shown in Fig. 2 power interface unit (CN1) includes internal electric source interface and external power source interface, internal electric source connects
Mouth is powered by robot, and external power source interface is powered by other power supplys；External power source includes outside V24_EX and V3.3_EX electricity
Source, internal electric source includes V24_IN and V3.3_IN；If using internal electric source, by V24_EX and V24_IN short circuits, G24_EX with
G24_IN short circuits, V3.3_EX and V3.3_IN short circuits, G3.3_EX and G3.3_IN short circuits；If using external power source, directly will
V24_EX is connected in V3.3_EX with external power source.
The present embodiment is so that 32 input I/O port and 32 output I/O ports as an example.
As shown in Fig. 3 (a), external equipment input interface unit CN2 totally 32 I/O ports are divided into 4 groups, every group of 8 interfaces；The
One group of input I/O port IN1-IN8 signal levels effective means is consistent, follows first group of significant level control mouth INCOM1 letter
Number；Second group of input I/O port IN9-IN16 signal levels effective means is consistent, follows second group of significant level control mouth
INCOM2 signal；3rd group of input I/O port IN17-IN24 signal levels effective means is consistent, follows the 3rd group of significant level
Control mouth INCOM3 signal；The level effective means of 4th group of input I/O port IN25-IN32 signal is consistent, follows the 4th group
Significant level control mouth INCOM4 signals；External equipment is connected by the input I/O port of cable or connector and CN2, can be carried out
The parallel input of 32 data.
As shown in Fig. 3 (b), external equipment output interface unit CN3 totally 32 I/O ports are divided into 4 groups, every group of 8 interfaces；The
One group of output I/O port OUT1-OUT8 signal levels effective means is consistent, follows first group of significant level control mouth OUTCOM1
Signal；Second group of output I/O port OUT9-OUT16 signal levels effective means is consistent, follows second group of significant level control mouth
OUTCOM2 signal；3rd group of output I/O port OUT17-OUT24 signal levels effective means is consistent, follows the 3rd group effective
Automatic level control mouthful OUTCOM3 signal；The level effective means of 4th group of output I/O port OUT25-OUT32 signal is consistent, follows
4th group of significant level control mouth OUTCOM4 signals.External equipment is connected by the output I/O port of cable or connector and CN3
Connect, the parallel output of 32 data can be carried out.
Every input data (INx, x=1..32) all the way that CN2 is received, sends after the processing by inputting I O process unit
To robot controller.As shown in Fig. 4 (a), the input I O process unit of input signal (IN) includes the first light-emitting diodes all the way
Manage (LED1), the second light emitting diode (LED2), first resistor (R1), second resistance (R2), 3rd resistor (R3), the 4th resistance
(R4), the 5th resistance (R5), the first electric capacity (C1) and two-way optocoupler (PC1)；The external input signal that wherein external equipment is sent
(IN) the first light emitting diode (LED1) negative electrode, the anode of the second light emitting diode (LED2) is connect；First light emitting diode
(LED1) anode, the negative electrode of the second light emitting diode (LED2) is commonly connected to second resistance (R2) one end；First resistor
(R1) it is in parallel with the first light emitting diode (LED1)；The sun of one the first light emitting diode of termination (LED1) of second resistance (R2)
Pole, 2 pin of another termination bi-directional light coupling (PC1)；3rd resistor (R3) is connected in parallel to two-way optocoupler (PC1) with the first electric capacity (C1)
1 pin and 2 pin, 1 pin of two-way optocoupler (PC1) are connected to ComIn signals；3 pin of two-way optocoupler (PC1) connect the 4th resistance (R4)
One end and the 5th resistance (R5) one end, signal delivered to robot controller, the 4th electricity by the other end of the 5th resistance (R5)
Hinder another termination power supply signal V3.3_EX of (R4)；4 pin of two-way optocoupler (PC1) meet power supply signal G3.3_EX.
Input can both be configured to high level effectively by two-way optocoupler (PC1), low level is configurable to again effective；If
ComIn connects high level, and input IN is then configured to low level effectively, and now LED 1 is bright, if ComIn connects low level,
Input IN is then configured to high level effectively, and now LED 2 is bright.
For 32 input I/O ports, it is divided into 4 groups, one ComIn of input I O process units shared of each group of input signal
Signal, so needs 4 ComIn signals altogether.It is effective by setting ComIn low and high level input can be configured into high level
Or low level is effectively, if ComIn connects high level, input IN is then configured to low level effectively, if ComIn connects low level, input
It is effective that IN is then configured to high level.4 ComIn signals numberings are ComIn1-ComIn4, CN4 are connected to, shown in such as Fig. 4 (b).
Wherein CN4 is the model B4P-VH (LF) (SN) used in a general connector, the present embodiment.
The inside output signal that robot controller is sent is after exporting the processing of I O process unit by external equipment
Output interface unit (CN3) is sent to external equipment.As shown in Fig. 5 (a), I O process unit is exported all the way includes the 6th resistance
(R6), the 7th resistance (R7), the 8th resistance (R8), output optocoupler (PC2), triode (Q1), the first diode (D1), the two or two
Pole pipe (D2), relay (K1), the first both-end row's pin (J1), the second both-end row's pin (J2), the 3rd both-end row's pin (J3)；Wherein machine
The internal signal that device people controller is sent is connected to 1 pin of output optocoupler (PC2) by the 6th resistance (R6), exports optocoupler
(PC2) 2 pin are connected with external power source signal G3.3_EX, and the 7th resistance (R7) is connected in parallel to 1 pin and 2 pin of output optocoupler (PC2)
Between；Export 3 pin of optocoupler (PC2) and c pin, the negative electrode of the first diode (D1), the second diode (D2) of triode (Q1)
Anode, 2 pin of relay (K1) and the 3rd both-end row pin (J3) one end connection；The negative electrode and relay of second diode (D2)
1 pin of device (K1) is commonly connected to external power source V24_EX；3rd both-end row's pin (J3) is connected in parallel to 2 pin and 4 of relay (K1)
Between pin；4 pin of output optocoupler (PC2) are connected with the b pin of triode (Q1)；8th resistance (R8) is connected in parallel to triode (Q1)
Between b pin and e pin；The e pin of triode (Q1) and the anode of the first diode (D1) are connected to ComOut signals；Second both-end is arranged
Pin (J2) is connected in parallel between 3 pin of ComOut signals and relay (K1)；First both-end row's pin (J1) is connected in parallel to ComOut signals
Between external power source earth signal G24_EX；The signal that 3 pin of relay (K1) are drawn is OUTCOM signals, is connected to CN3's
Significant level control mouth, the signal that 4 pin of relay (K1) are drawn is output OUT signal, is connected to CN3 output I/O port.
The present embodiment can carry out the parallel output of 32 data, each circuit-switched data by CN3 output I/O port send to
External equipment；32 output datas are divided into 4 groups, one ComOut letter of output I O process units shared of each group of output signal
Number, 4 ComOut signals are so needed altogether, and following signal and configure output OUT signal as output OUT signal will
ComOut numberings are ComOut1-ComOut4, CN5 are connected to, shown in such as Fig. 5 (b).CN5 is a general connector, this implementation
The model B4P-VH (LF) (SN) used in example.
When output needs larger output current, exported using relay, both-end is arranged into pin J1 short circuit cap short circuits, it is double
Row pin J2 and J3 do not connect at end, and now ComOut signals meet external power source earth signal G24_EX, when the high electricity of robot controller output
Usually, output optocoupler PC2 work, output optocoupler PC2 3 pin signals are 0V, and now relay K1 coil electricities work, output
OUT signal follows OUTCOM signal, if OUTCOM is high level, and output OUT signal is high level, if OUTCOM is low electricity
Flat, then it is low level to export OUT；If output does not need larger electric current, it can be exported without using relay, both-end is arranged into pin
J2 and J3 carries out short circuit with short circuit cap, and both-end row pin J1 does not connect then, ComOut linked together with OUTCOM, now ComOut
Signal follows OUTCOM signals, after PC2 work, if OUTCOM connects high level, ComOut signals are high level, therefore are exported
OUT signal is high level, if OUTCOM connects low level, ComOut signals are low level, therefore output OUT signal is low electricity
It is flat.
Claims (6)
1. a kind of multi-functional I/O module for robot, it is characterised in that including power interface unit (CN1), external equipment
Input interface unit (CN2), external equipment output interface unit (CN3), input I O process unit, output I O process unit；
The external equipment input interface unit (CN2) receives the external signal (IN) that external equipment is sent, and delivers at input IO
Reason unit is handled, and the external signal after processing delivers to robot controller；
The output I O process unit receives the internal signal that robot controller is sent, and passes through after internal signal is handled
External equipment output interface unit (CN3) is sent to external equipment.
2. multi-functional I/O module according to claim 1, it is characterised in that the power interface unit includes internal electric source
Interface and external power source interface；
The internal electric source interface is powered by robot, and the external power source interface is powered by other power supplys；External power source includes
Outside V24_EX and V3.3_EX power supplys, internal electric source includes V24_IN and V3.3_IN；If using internal electric source, by V24_EX
With V24_IN short circuits, G24_EX and G24_IN short circuits, V3.3_EX and V3.3_IN short circuits, G3.3_EX and G3.3_IN short circuits；If
Using external power source, then directly V24_EX is connected in V3.3_EX with external power source.
3. multi-functional I/O module according to claim 1, it is characterised in that the external equipment input interface unit includes
The significant level control mouth of some groups of input I/O ports and every group of input I/O port.
4. multi-functional I/O module according to claim 1, it is characterised in that the external equipment output interface unit includes
The significant level control mouth of some groups of output I/O ports and every group of output I/O port.
5. multi-functional I/O module according to claim 1, it is characterised in that the input I O process unit includes the first hair
Optical diode (LED1), the second light emitting diode (LED2), first resistor (R1), second resistance (R2), 3rd resistor (R3),
Four resistance (R4), the 5th resistance (R5), the first electric capacity (C1) and two-way optocoupler (PC1)；
The external signal (IN) that the external equipment is sent connects the first light emitting diode (LED1) negative electrode, the second light emitting diode
(LED2) anode；Anode, the negative electrode of the second light emitting diode (LED2) of first light emitting diode (LED1) are commonly connected to
One end of second resistance (R2)；First resistor (R1) is in parallel with the first light emitting diode (LED1)；
The anode of one the first light emitting diode of termination (LED1) of second resistance (R2), the 2 of another termination bi-directional light coupling (PC1)
Pin；3rd resistor (R3) is connected in parallel to 1 pin and 2 pin of two-way optocoupler (PC1), 1 pin of two-way optocoupler (PC1) with the first electric capacity (C1)
It is connected to ComIn signals；
3 pin of two-way optocoupler (PC1) connect one end of the 4th resistance (R4) and one end of the 5th resistance (R5), the 5th resistance (R5)
The other end signal is delivered into robot controller, another termination power supply signal V3.3_EX of the 4th resistance (R4)；Two-way optocoupler
(PC1) 4 pin meet power supply signal G3.3_EX.
6. multi-functional I/O module according to claim 1, it is characterised in that the output I O process unit includes the 6th electricity
Hinder (R6), the 7th resistance (R7), the 8th resistance (R8), output optocoupler (PC2), triode (Q1), the first diode (D1), second
Diode (D2), relay (K1), the first both-end row's pin (J1), the second both-end row's pin (J2), the 3rd both-end row's pin (J3)；
The internal signal that the robot controller is sent is connected to 1 pin of output optocoupler (PC2) by the 6th resistance (R6), defeated
2 pin for going out optocoupler (PC2) are connected with external power source signal G3.3_EX, and the 7th resistance (R7) is connected in parallel to the 1 of output optocoupler (PC2)
Between pin and 2 pin；
Export the c pin, the negative electrode of the first diode (D1), the second diode (D2) of 3 pin and the triode (Q1) of optocoupler (PC2)
One end connection of anode, 2 pin of relay (K1) and the 3rd both-end row's pin (J3)；The negative electrode and relay of second diode (D2)
(K1) 1 pin is commonly connected to external power source V24_EX；3rd both-end row's pin (J3) is connected in parallel to 2 pin and 4 pin of relay (K1)
Between；
4 pin of output optocoupler (PC2) are connected with the b pin of triode (Q1)；8th resistance (R8) is connected in parallel to the b pin of triode (Q1)
Between e pin；The e pin of triode (Q1) and the anode of the first diode (D1) are connected to ComOut signals；
Second both-end row's pin (J2) is connected in parallel between 3 pin of ComOut signals and relay (K1)；First both-end row's pin (J1) is simultaneously
It is coupled between ComOut signals and external power source earth signal G24_EX；The signal that 3 pin of relay (K1) are drawn is believed for OUTCOM
Number, the signal that 4 pin of relay (K1) are drawn is output OUT signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621411454.9U CN206363106U (en) | 2016-12-22 | 2016-12-22 | A kind of multi-functional I/O module for robot |
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| CN201621411454.9U CN206363106U (en) | 2016-12-22 | 2016-12-22 | A kind of multi-functional I/O module for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773854A (en) * | 2016-12-22 | 2017-05-31 | 南京熊猫电子股份有限公司 | A kind of multi-functional I/O module for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106773854A (en) * | 2016-12-22 | 2017-05-31 | 南京熊猫电子股份有限公司 | A kind of multi-functional I/O module for robot |
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