CN207915486U - A kind of analog to digital conversion circuit of robot control system - Google Patents

Abstract

A kind of analog to digital conversion circuit of robot control system provided by the utility model, the circuit includes analog-digital converter, reference voltage source and FPGA data acquisition module, analog-digital converter is ADS8345 chips, CH0~CH7 leads ends acquisition robot external analog amount signal of ADS8345 chips, the DCLK leads ends of ADS8345 chips are electrically connected with the dclk leads ends of FPGA data acquisition module, ADS8345 chipsLeads ends are electrically connected with the cs leads ends of FPGA data acquisition module, the DIN leads ends of ADS8345 chips are electrically connected with the adtxd leads ends of FPGA data acquisition module, the DOUT leads ends of ADS8345 chips are electrically connected with the adrxd leads ends of FPGA data acquisition module, and the VREF leads ends of ADS8345 chips are electrically connected with the reference voltage output terminal of reference voltage source.The utility model is simple in structure, at low cost, can be that robot control system acquires multi-analog input signal in real time.

Description

A kind of analog to digital conversion circuit of robot control system

Technical field

The utility model is related to signaling conversion circuit technical field, a kind of especially analog-to-digital conversion of robot control system Circuit.

Background technology

In robot control system, required movement is executed by controller control robot, however due to some factors It influences, in practical implementation, the movement locus of robot will appear certain deviation, therefore, in order to reduce in time partially Difference improves kinematic accuracy, which usually also needs to connect with analog to digital conversion circuit, and analog to digital conversion circuit can detect outside robot The state parameter (analog signal) in portion simultaneously converts it into digital signal and sends control system to, for control system carry out it is corresponding Feedback regulation, such as：There can be subtle deformation after each joint motions fever of robot, analog to digital conversion circuit is needed to carry out online The temperature detection of multiple spot, control system carry out corresponding linear position compensation again；It becomes increasingly complex with the structure of robot, more Carry out more analog signals and needs online high frequency sample detecting, however existing robot analog to digital conversion circuit is usually more complex, Of high cost, accommodation is relatively narrow.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of analog to digital conversion circuit knots of robot control system Structure is simple, at low cost, can be that robot control system acquires multi-analog input signal in real time.

In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution：A kind of robot control system Analog to digital conversion circuit, including analog-digital converter, reference voltage source and FPGA data that reference voltage is provided for analog-digital converter Acquisition module, the FPGA data acquisition module include rst leads ends, the input module clock frequency signal that signal resets Clk leads ends, the dclk leads ends for exporting sample clock frequency signal, the cs leads ends for exporting chip selection signal, output control word Adtxd leads ends, input conversion signal adrxd leads ends, addata0~addata7 leads ends of output digit signals, The analog-digital converter is the ADS8345 chips of 16 8 multi-channel serials output, CH0~CH7 pins of the ADS8345 chips End acquisition robot external analog amount signal, the DCLK leads ends of the ADS8345 chips and FPGA data acquisition module Dclk leads ends are electrically connected, the ADS8345 chipsThe cs leads ends of leads ends and FPGA data acquisition module are electrically connected It connects, the DIN leads ends of the ADS8345 chips are electrically connected with the adtxd leads ends of FPGA data acquisition module, described The DOUT leads ends of ADS8345 chips are electrically connected with the adrxd leads ends of FPGA data acquisition module, the ADS8345 chips VREF leads ends be electrically connected with the reference voltage output terminal of reference voltage source, the series connection of the COM leads ends of the ADS8345 chips It is grounded after resistance R1, the ADS8345 chipsLeads ends, two+VCC pin end are all connected with power supply, described Two GND pin ends of ADS8345 chips are grounded.

Further, CH0~CH7 leads ends of the ADS8345 chips are respectively connected to a capacitance and each capacitance is grounded； The DCLK leads ends pull down resistors R2 of the ADS8345 chips, the ADS8345 chipsLeads ends pull down resistor R3, After the DIN leads ends pull down resistors R4 of the ADS8345 chips, the DOUT leads ends series resistances R7 of the ADS8345 chips It is electrically connected with the adrxd leads ends of FPGA data acquisition module, and the DOUT leads ends series resistances R7 of the ADS8345 chips Pull down resistor R8 afterwards.

Further, the ADS8345 chips+VCC pin terminates into capacitance C9 and capacitance C10, the capacitance C9 It is electrically connected with+VCC the leads ends of ADS8345 chips with one end of capacitance C10, the other end of the capacitance C9 and capacitance C10 It is grounded, the VREF leads ends access capacitance C11 and capacitance C12, the capacitance C11 and capacitance C12 of the ADS8345 chips One end be electrically connected with the VREF leads ends of ADS8345 chips, the other end of the capacitance C11 and capacitance C12 are grounded.

Further, the reference voltage source uses ADR3425 chips, the GND-F leads ends of the reference voltage source It is grounded with GND-S leads ends, the ENABLE leads ends of the reference voltage source are electrically connected with Vin leads ends, the benchmark electricity The Vin leads ends of potential source access power supply, are grounded after the Vout-f leads ends series capacitances C13 of the reference voltage source, the base The Vout-s leads ends of reference voltage source are electrically connected with the VREF leads ends of ADS8345 chips.

Further, the Vout-s leads ends of the reference voltage source also access capacitance C13, and the one of the capacitance C13 End is electrically connected with the Vout-s leads ends of reference voltage source, Vout-f leads ends, the other end ground connection of the capacitance C13；Institute State reference voltage source Vin leads ends access capacitance C14 and one end of capacitance C15, the capacitance C14 and capacitance 15 and benchmark The Vin leads ends of voltage source are electrically connected, the other end ground connection of the capacitance C14 and capacitance 15.

Its reference voltage source of the analog to digital conversion circuit of robot control system provided by the utility model can not only be ADS8345 chips provide reference voltage, and job stability is high, and FPGA data acquisition modules can not only be that ADS8345 chips carry For sample clock frequency, chip selection signal and control word, and reliable operation is high, the overall structure of the analog to digital conversion circuit and work Principle is very simple, under the control of FPGA, ADS8345 chips by collected 8 road analog signals it is orderly convert, And under the control of FPGA chip selection signals by FPGA data acquisition module acquire transformed digital signal for control system into The corresponding feedback regulation of row, in addition, low in energy consumption, the cost of ADS8345 chips, reference voltage stabilizing source and FPGA data acquisition module It is low, it is safe, in conclusion a kind of this analog to digital conversion circuit of robot control system is simple in structure, at low cost, can be machine Device people control system acquires multi-analog input signal in real time.

Description of the drawings

Fig. 1 is the structure diagram of the analog to digital conversion circuit in the utility model；

Fig. 2 is the circuit diagram of the digital analog converter in the utility model；

Fig. 3 is the circuit diagram of the reference voltage source in the utility model；

Fig. 4 is the circuit diagram of the FPGA data acquisition module in the utility model.

Specific implementation mode

For the ease of the understanding of those skilled in the art, the utility model is made with reference to embodiment and attached drawing further Explanation, the content that embodiment refers to not is restriction to the utility model.

In the description of the present invention, it should be understood that term "upper", "lower", "front", "rear", "left", "right", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on ... shown in the drawings or Position relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or member Part must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, can also be the company inside two elements It is logical, it can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, it can To understand the concrete meaning of the term as the case may be.

As shown in Figs 1-4, a kind of analog to digital conversion circuit of robot control system, including analog-digital converter, for modulus turn Parallel operation provides the reference voltage source and FPGA data acquisition module of reference voltage, and FPGA data acquisition module includes that signal resets Rst leads ends, the clk leads ends of input module clock frequency signal, export sample clock frequency signal dclk leads ends, The cs leads ends for exporting chip selection signal, the adtxd leads ends for exporting control word, the adrxd leads ends for inputting conversion signal, output Addata0~addata7 leads ends of digital signal, the FPGA data acquisition modules can realize that 8 railway digital signal datas are adopted Collection, analog-digital converter are ADS8345 chips, and the conversion rate 100KHz of the ADS8345 chips is, it can be achieved that 16 8 channel serials Output sampling；CH0~CH7 leads ends acquisition robot external analog amount signal of ADS8345 chips, ADS8345 chips DCLK leads ends are electrically connected with the dclk leads ends of FPGA data acquisition module, ADS8345 chipsLeads ends and FPGA The cs leads ends of data acquisition module are electrically connected, the DIN leads ends of ADS8345 chips and the adtxd of FPGA data acquisition module Leads ends are electrically connected, and the DOUT leads ends of ADS8345 chips are electrically connected with the adrxd leads ends of FPGA data acquisition modules, The VREF leads ends of ADS8345 chips are electrically connected with the reference voltage output terminal of reference voltage source, and the COM of ADS8345 chips draws It is grounded after foot series resistance R1, ADS8345 chipsLeads ends, two+VCC leads ends are all connected with power supply, Two GND pin ends of ADS8345 chips are grounded.It needs to propose to illustrate, ADS8345 chips acquire mould with FPGA data Block is carried out data transmission using serial line interface connection, and it is fast to save I/O mouthfuls of resources, high resolution, conversion speeds.

The analog to digital conversion circuit of robot control system its reference voltage source that the above embodiment provides can not only be ADS8345 chips provide reference voltage, and job stability is high, and FPGA data acquisition modules can not only be that ADS8345 chips carry For sample clock frequency, chip selection signal and control word, and reliable operation is high, the overall structure of the analog to digital conversion circuit and work Principle is very simple, under the control of FPGA, ADS8345 chips by collected 8 road analog signals it is orderly convert, And under the control of FPGA chip selection signals by FPGA data acquisition module acquire transformed digital signal for control system into The corresponding feedback regulation of row, in addition, low in energy consumption, the cost of ADS8345 chips, reference voltage stabilizing source and FPGA data acquisition module It is low, it is safe, in conclusion a kind of this analog to digital conversion circuit of robot control system is simple in structure, at low cost, can be machine Device people control system acquires multi-analog input signal in real time.

Further, as shown in Fig. 2, CH0~CH7 leads ends of ADS8345 chips are respectively connected to a capacitance and each capacitance is equal Ground connection, specifically, the CH0 leads ends of ADS8345 chips access capacitance C1, one end of capacitance C1 is electrically connected with CH0 leads ends, is another One end is grounded, and the CH1 leads ends of ADS8345 chips access capacitance C2, and one end of capacitance C2 is electrically connected with CH1 leads ends, is another One end is grounded, and so on, access capacitance C3, CH3 leads ends access of CH2 leads ends capacitance C4, CH4 of ADS8345 chips draw Foot accesses capacitance C5, CH5 leads ends access capacitance C6, CH6 leads ends access capacitance C7, CH7 leads ends and accesses capacitance C8, Capacitance C3~C8 is grounded；DCLK leads ends pull down resistor R2, the ADS8345 chips of ADS8345 chipsLeads ends pull down After the DOUT leads ends series resistances R7 of DIN leads ends pull down resistor R4, the ADS8345 chips of resistance R3, ADS8345 chip with The adrxd leads ends of FPGA data acquisition module are electrically connected, and after the DOUT leads ends series resistances R7 of ADS8345 chips under Pull-up resistor R8.

In order to further increase the stability of ADS8345 chip operations, further, as shown in Fig. 2, ADS8345 chips + VCC pin terminates into capacitance C9 and capacitance C10 ,+the VCC of one end of capacitance C9 and capacitance C10 with ADS8345 chips draws Foot is electrically connected, and the other end of capacitance C9 and capacitance C10 are grounded, the VREF leads ends access capacitance C11 of ADS8345 chips and One end of capacitance C12, capacitance C11 and capacitance C12 are electrically connected with the VREF leads ends of ADS8345 chips, capacitance C11 and electricity The other end for holding C12 is grounded.

It further, should as shown in figure 3, reference voltage source is using low cost, low-power consumption, high-precision ADR3425 chips Low output voltage temperature hysteresis characteristic and the low output voltage drift of ADR3425 chips improve the stability of device and system can By property, GND-F leads ends and the GND-S leads ends of reference voltage source are grounded, the ENABLE leads ends of reference voltage source with Vin leads ends are electrically connected, and the Vin leads ends of reference voltage source access power supply, the Vout-f leads ends series electricals of reference voltage source It is grounded after holding C13, the Vout-s leads ends of reference voltage source are electrically connected with the VREF leads ends of ADS8345 chips.

Further, as shown in figure 3, the Vout-s leads ends of reference voltage source also access capacitance C13, the capacitance C13 One end be electrically connected with the Vout-s leads ends of reference voltage source, Vout-f leads ends, the other end of capacitance C13 ground connection；Base The Vin leads ends of reference voltage source access capacitance C14 and capacitance C15, one end of capacitance C14 and capacitance 15 with reference voltage source Vin leads ends are electrically connected, the other end ground connection of capacitance C14 and capacitance 15.

Above-described embodiment is the preferable implementation of the utility model, and in addition to this, the utility model can be with other sides Formula realizes that any obvious replacement is in the protection model of the utility model under the premise of not departing from the technical program design Within enclosing.

In order to allow those of ordinary skill in the art more easily understand the improvement of the utility model compared with the existing technology it Place, some attached drawings of the utility model and description have been simplified, and for the sake of clarity, present specification is omitted one A little other elements, those of ordinary skill in the art should be aware that the element that these are omitted also may make up the interior of the utility model Hold.

Claims (5)

1. a kind of analog to digital conversion circuit of robot control system, it is characterised in that：Including analog-digital converter, be analog-digital converter The reference voltage source and FPGA data acquisition module of reference voltage are provided, the FPGA data acquisition module includes that signal resets Rst leads ends, the clk leads ends of input module clock frequency signal, export sample clock frequency signal dclk leads ends, The cs leads ends for exporting chip selection signal, the adtxd leads ends for exporting control word, the adrxd leads ends for inputting conversion signal, output Addata0~addata7 leads ends of digital signal, the analog-digital converter are the ADS8345 cores of 16 8 multi-channel serials output Piece, CH0~CH7 leads ends acquisition robot external analog amount signal of the ADS8345 chips, the ADS8345 chips DCLK leads ends are electrically connected with the dclk leads ends of FPGA data acquisition module, the ADS8345 chipsLeads ends with The cs leads ends of FPGA data acquisition module are electrically connected, the DIN leads ends and FPGA data acquisition module of the ADS8345 chips The electrical connection of adtxd leads ends, the DOUT leads ends of the ADS8345 chips and the adrxd pins of FPGA data acquisition module End electrical connection, the VREF leads ends of the ADS8345 chips are electrically connected with the reference voltage output terminal of reference voltage source, described It is grounded after the COM leads ends series resistances R1 of ADS8345 chips, the ADS8345 chipsLeads ends, two+VCC Leads ends are all connected with power supply, and two GND pin ends of the ADS8345 chips are grounded.

2. the analog to digital conversion circuit of robot control system according to claim 1, it is characterised in that：The ADS8345 CH0~CH7 leads ends of chip are respectively connected to a capacitance and each capacitance is grounded；The DCLK leads ends of the ADS8345 chips Pull down resistor R2, the ADS8345 chipsLeads ends pull down resistor R3, under the DIN leads ends of the ADS8345 chips Adrxd pins after pull-up resistor R4, the DOUT leads ends series resistances R7 of the ADS8345 chips with FPGA data acquisition module End electrical connection, and pull down resistor R8 after the DOUT leads ends series resistances R7 of the ADS8345 chips.

3. the analog to digital conversion circuit of robot control system according to claim 2, it is characterised in that：The ADS8345 Chip+VCC pin terminate into one end of capacitance C9 and capacitance C10, the capacitance C9 and capacitance C10 with ADS8345 chips + electrical connection of VCC pin end, the other end of the capacitance C9 and capacitance C10 is grounded, and the VREF of the ADS8345 chips draws Foot access one end of capacitance C11 and capacitance C12, the capacitance C11 and capacitance C12 with the VREF pins of ADS8345 chips The other end of end electrical connection, the capacitance C11 and capacitance C12 are grounded.

4. the analog to digital conversion circuit of robot control system according to claim 3, it is characterised in that：The reference voltage Source uses ADR3425 chips, GND-F leads ends and the GND-S leads ends of the reference voltage source to be grounded, the reference voltage The ENABLE leads ends in source are electrically connected with Vin leads ends, and the Vin leads ends of the reference voltage source access power supply, the benchmark It is grounded after the Vout-f leads ends series capacitances C13 of voltage source, Vout-s leads ends and the ADS8345 cores of the reference voltage source The VREF leads ends of piece are electrically connected.

5. the analog to digital conversion circuit of robot control system according to claim 4, it is characterised in that：The reference voltage The Vout-s leads ends in source also access capacitance C13, one end of the capacitance C13 and the Vout-s leads ends of reference voltage source, Vout-f leads ends are electrically connected, the other end ground connection of the capacitance C13；The Vin leads ends access electricity of the reference voltage source Hold C14 and one end of capacitance C15, the capacitance C14 and capacitance 15 is electrically connected with the Vin leads ends of reference voltage source, it is described The other end of capacitance C14 and capacitance 15 is grounded.