CN209311904U - A kind of autonomous bus-type IO compartment system - Google Patents
A kind of autonomous bus-type IO compartment system Download PDFInfo
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- CN209311904U CN209311904U CN201822266848.5U CN201822266848U CN209311904U CN 209311904 U CN209311904 U CN 209311904U CN 201822266848 U CN201822266848 U CN 201822266848U CN 209311904 U CN209311904 U CN 209311904U
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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]
Abstract
The utility model embodiment is related to field of communication technology, disclose a kind of autonomous bus-type IO compartment system, it include: controller, coupler, I/O module group, starting interconnecting module and terminal interconnecting module, I/O module group includes the first I/O module group and the second I/O module group, originating interconnecting module includes the first starting interconnecting module and the second starting interconnecting module, and terminal interconnecting module includes first terminal interconnecting module and second terminal interconnecting module；First starting interconnecting module is connected with coupler, and first terminal interconnecting module is connected via the first I/O module group with the first starting interconnecting module；Second starting interconnecting module is connected with first terminal interconnecting module, and second terminal interconnecting module is connected via the second I/O module group with the second starting interconnecting module；First terminal interconnecting module is configured to Transfer Mode, and second terminal interconnecting module is configured to terminal pattern.Autonomous bus-type IO compartment system provided by the embodiment of the utility model, can be realized the flexible topology of I/O module.
Description
Technical field
The utility model embodiment is related to field of communication technology, in particular to a kind of autonomous bus-type IO compartment system.
Background technique
In recent years, with the propulsion of national intelligence manufacture " 2025 " plan and industry 4.0, the application of industrial robot is just prolonged
More and more industries are reached, production is also more and more intelligent, in order to meet various manufacturing process, to controller system
Opening require it is higher and higher.Since the robot of industry spot is frequently necessary to cooperate with other equipment, need a large amount of
The modules such as various types of I/O modules, including digital quantity, analog quantity, encoder, PWM, general line system.
At least there are the following problems in the prior art for inventor's discovery: in the prior art, the topology of I/O module is restricted,
To largely limit the intelligence of industrial robot.Therefore, it is necessary to provide a kind of new autonomous bus-type IO points
Distribution system solves the above problems.
Utility model content
The utility model embodiment is designed to provide a kind of autonomous bus-type IO compartment system, can be realized IO mould
The flexible topology of block.
In order to solve the above technical problems, the embodiments of the present invention provides a kind of autonomous bus-type IO distribution system
System, comprising: controller, coupler and the I/O module group being connected via the coupler with the controller, the I/O module
Group includes the first I/O module group and the second I/O module group；The autonomous bus-type IO compartment system further include starting interconnecting module and
Terminal interconnecting module, the starting interconnecting module include the first starting interconnecting module and the second starting interconnecting module, the terminal
Interconnecting module includes first terminal interconnecting module and second terminal interconnecting module；The first starting interconnecting module is coupled with described
Device is connected, and the first terminal interconnecting module is connected via the first I/O module group with the first starting interconnecting module；Institute
It states the second starting interconnecting module to be connected with the first terminal interconnecting module, the second terminal interconnecting module is via described second
I/O module group is connected with the second starting interconnecting module；The first terminal interconnecting module is configured to Transfer Mode, and described
Two terminal interconnecting modules are configured to terminal pattern.
The utility model embodiment in terms of existing technologies, passes through the first starting interconnecting module and the coupling
Clutch is connected, and the first terminal interconnecting module is connected via the first I/O module group with the first starting interconnecting module；
The second starting interconnecting module is connected with the first terminal interconnecting module, and the second terminal interconnecting module is via described the
Two I/O module groups are connected with the second starting interconnecting module；The first terminal interconnecting module is configured to Transfer Mode, described
Second terminal interconnecting module is configured to terminal pattern, that is, by originating interconnecting module and terminal interconnecting module for the first IO
Module group and the second I/O module group connect, and realize the flexible topology of I/O module.
In addition, the first starting interconnecting module, the first I/O module group, the first terminal interconnecting module, described
Second starting interconnecting module, the second I/O module group and the second terminal interconnecting module successively connect via universal serial bus
It connects, the first starting interconnecting module is connected via the universal serial bus with the coupler, and the universal serial bus is described the
Winding is formed on two terminal interconnecting modules.
In addition, the universal serial bus is REEX bus.So set, when user's physics increases and decreases I/O module, REEX bus
Can automatic identification and configuration, and the dynamic hardware information of I/O module is uploaded to the controller automatically, is upper layer application journey
The api interface of sequence offer dynamic hardware information.
In addition, the I/O module group further includes third I/O module group；The autonomous bus-type IO compartment system further includes
Three starting interconnecting modules and third terminal interconnecting module, the second starting interconnecting module originate switching model via the third
Block, the third I/O module group and the third terminal interconnecting module are connected with the first terminal interconnecting module；Described second
Starting interconnecting module is connected with the third terminal interconnecting module, and the third terminal interconnecting module is via the third I/O module
Group is connected with third starting interconnecting module, and the third starting interconnecting module is connected with the first terminal interconnecting module.
It is connected by the second starting interconnecting module with the third terminal interconnecting module, the third terminal interconnecting module is via institute
It states third I/O module group to be connected with third starting interconnecting module, the third starting interconnecting module and the first terminal turn
Connection module is connected, to realize the extension of third I/O module group.
In addition, the first terminal interconnecting module and the second terminal interconnecting module can be switched to end via toggle switch
End mode or Transfer Mode.So set, can flexibly realize the increase and decrease of I/O module group, without replacing existing module,
Improve the convenience of the increase and decrease of I/O module group.
In addition, the first I/O module group respectively includes the IO mould that multiple plates connect plate with the second I/O module group
Block.In such a way that plate is to plate connection, the physical installation space of I/O module group can be reduced, reduce cost.
In addition, each I/O module respectively includes autonomous bus module, multiple autonomous bus module plates connect plate
It connects.So set, complete data loop can be constituted, to realize the signal communication between each I/O module and coupler
In addition, the first I/O module group and the second I/O module group respectively include DI module, DO module, AI module with
And AO module.
In addition, the first starting interconnecting module includes the power output interface being connected with the first I/O module group, institute
Stating the second starting interconnecting module includes the power output interface being connected with the second I/O module group.So set, can pass through
First starting interconnecting module provides power supply to first I/O module, gives second I/O module by the second starting interconnecting module
Power supply is provided, the inadequate problem of source driving capability is avoided, ensure that the reliability service of autonomous bus-type IO compartment system.
In addition, the coupler is connected via Ethercat bus with the controller.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the autonomous bus-type IO compartment system that the utility model embodiment provides；
Fig. 2 is the structural schematic diagram for the coupler that the utility model embodiment provides；
Fig. 3 is the structural schematic diagram for the DI module that the utility model embodiment provides；
Fig. 4 is the structural schematic diagram for the dial-up configuration that the utility model embodiment provides；
Fig. 5 is the structural schematic diagram for the extension mouth that the utility model embodiment provides.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with attached drawing to this
Each embodiment of utility model is explained in detail.However, it will be understood by those skilled in the art that practical at this
In novel each embodiment, many technical details are proposed in order to make reader more fully understand the utility model.But even if
Without these technical details and various changes and modifications based on the following respective embodiments, the utility model also may be implemented and wanted
Seek the technical solution of protection.
The first embodiment of the utility model is related to a kind of autonomous bus-type IO compartment system, as shown in Figures 1 to 5,
It include: controller 11, coupler 12 and I/O module group, I/O module group is connected via coupler 12 with controller 11, I/O module
Group includes the first I/O module group 131 and the second I/O module group 132；Autonomous bus-type IO compartment system further includes starting interconnecting module
With terminal interconnecting module, originating interconnecting module includes the first starting interconnecting module 141 and the second starting interconnecting module 142, terminal
Interconnecting module includes first terminal interconnecting module 151 and second terminal interconnecting module 152；First starting interconnecting module 141 and coupling
Clutch 12 is connected, and first terminal interconnecting module 151 is connected via the first I/O module group 131 with the first starting interconnecting module 141；The
Two starting interconnecting modules 142 are connected with first terminal interconnecting module 151, and second terminal interconnecting module 152 is via the second I/O module
Group 132 is connected with the second starting interconnecting module 142；First terminal interconnecting module 151 is configured to Transfer Mode, second terminal switching
Module 152 is configured to terminal pattern.
The utility model embodiment in terms of existing technologies, passes through the first starting interconnecting module 141 and coupler
12 are connected, and first terminal interconnecting module 151 is connected via the first I/O module group 131 with the first starting interconnecting module 141；Second
Beginning interconnecting module 142 is connected with first terminal interconnecting module 151, and second terminal interconnecting module 152 is via the second I/O module group 132
It is connected with the second starting interconnecting module 142；First terminal interconnecting module 151 is configured to Transfer Mode, second terminal interconnecting module
152 are configured to terminal pattern, that is, by originating interconnecting module and terminal interconnecting module for the first I/O module group 131 and the 2nd IO
Module group 132 connects, and realizes the flexible topology of I/O module.
Specifically, the first starting interconnecting module 141, the first I/O module group 131, first terminal interconnecting module 151, second
Starting interconnecting module 142, the second I/O module group 132 and second terminal interconnecting module 152 successively connect via universal serial bus 16
It connects, the first starting interconnecting module 141 is connected via universal serial bus 16 with coupler 12, and universal serial bus 16 is in second terminal switching model
Winding is formed on block 152, further, universal serial bus 16 is REEX bus, and coupler 12 is via Ethercat bus and control
Device 11 is connected, wherein coupler 12 can be convenient in access above topology structure with EtherCAT bus interface.Wherein, REEX
(Real-Time Ethercat based Express) is a kind of high-speed real-time industrial Ethernet based on Ethercat, should be certainly
Master ethernet bus is master-slave type universal serial bus, can be with the equipment in the automatic identification bus, and entire REEX bus system can be with
It is coupled into Ethercat bus, is a kind of customized expansion bus agreement under Ehercat bus, so set, REEX is total
Line can be automatically performed the traversal and identification of the I/O module in bus in electrifying startup, to save into dynamic device information
(unique hardware encoding that every kind of I/O module is identified in hardware design), and it is saturating by Ethercat bus via coupler 12
Biography passes to controller 11, and therefore, when user's physics increases and decreases I/O module, REEX bus is capable of the IO of automatic identification and configuration increase and decrease
Module, and the dynamic hardware information of I/O module is uploaded to controller 11 automatically, dynamic hardware letter is provided for upper level applications
The api interface of breath.
In present embodiment, the first I/O module group 131 and the second I/O module group 132 respectively include DI module, DO module,
AI module and AO module, wherein DI module provides digital quantity input, and DO module provides digital output, and AI module realizes mould
Analog quantity input, AO module then realize analog output.
Further, DI module is digital quantity input module, can receive Multipath digital quantity input, and representative value is 24V, when
Input value is less than 5V, this signal identification is low level, and when input is higher than 11V, this signal identification is high level；DO module is number
Word amount output module, can be with output multi-channel digital quantity, representative value 24V, per the load capacity for having 0.5A all the way；AI module
It for Analog input mModule, can receive a certain range of analog signals, can be configured to current-mode or voltage mode；
I/O module is analog output module, can export a certain range of analog signals, meanwhile, it can be configured to electric current as required
Mode or voltage mode.
Specifically, the first I/O module group 131 respectively includes the IO mould that multiple plates connect plate with the second I/O module group 132
Block can reduce the physical installation space of I/O module group, reduce cost in such a way that plate is to plate connection.
It is noted that each I/O module respectively includes autonomous bus module, multiple autonomous bus module plates connect plate
It connects, so set, complete data loop can be constituted, to realize that the signal between each I/O module and coupler 12 is logical
Letter.
Optionally, I/O module group can also include third I/O module group (not shown)；Autonomous bus-type IO compartment system is also
Interconnecting module (not shown) and third terminal interconnecting module (not shown) are originated including third, the second starting interconnecting module 142 passes through
It is connected by third starting interconnecting module, third I/O module group and third terminal interconnecting module with first terminal interconnecting module 151；The
Two starting interconnecting modules 142 are connected with third terminal interconnecting module, and third terminal interconnecting module is via third I/O module group and the
Three starting interconnecting modules are connected, and third starting interconnecting module is connected with first terminal interconnecting module 151, are transferred by the second starting
Module 142 is connected with third terminal interconnecting module, and third terminal interconnecting module is transferred via third I/O module group and third starting
Module is connected, and third starting interconnecting module is connected with first terminal interconnecting module 151, to realize the expansion of third I/O module group
Exhibition.
It is understood that the quantity of third I/O module group can be for one or multiple, when third I/O module group
Quantity be it is multiple when, multiple third I/O module groups by starting interconnecting module and terminal interconnecting module series connection, i.e., each third
The front end connection starting interconnecting module of IO module group, end connect terminal interconnecting module, and two neighboring third I/O module group passes through
Terminal interconnecting module is connected with starting interconnecting module, so as to combine multiple local I/O module groups, multiple local I/O module groups
Between again can remotely be connected by cable.That is, each I/O module is by cooperating autonomous starting, terminal from main bus
Module can both form local I/O module group, it can be achieved that flexible topology, can also be with the multiple I/O module groups of Remote Expansion, regardless of what
Kind topology all walks unified autonomous bus protocol, and secondary protocol conversion is not present.
In addition, autonomous bus-type IO compartment system can also include the module of some apolegamys, such as encoder to count module,
PWM wave output module and other bus protocol modules.
It is noted that unique hardware encoding can be set in the module of above-mentioned all these types, from main bus
Main website carries out automatically scanning to slave station after the power-up, identifies the number amount and type of slave station module of the carry in bus, then
The data of the information of self-identifying and all modules are packaged, data friendship is carried out by EtherCAT bus and controller 11
Mutually.The REEX autonomous bus communication period with flexible configuration, can theoretically be set as the Refresh Data period of EtherCAT bus
N (N is integer, N >=1) times, if IO refresh rate requires height, N=1 is set, i.e., keeps one with Ethercat communication cycle
Cause.
In addition, the first starting interconnecting module 141 includes the power output interface being connected with the first I/O module group 131, second
Originating interconnecting module 142 includes the power output interface being connected with the second I/O module group 132, so set, can pass through first
It originates interconnecting module 141 and provides power supply to the first I/O module, provide electricity to the second I/O module by the second starting interconnecting module 142
Source avoids the inadequate problem of source driving capability, ensure that the reliability service of autonomous bus-type IO compartment system.
That is, starting interconnecting module provides Switching-through channel for subsequent I/O module, it will be from main bus by cable connection side
Formula is converted into plate to the connection type of plate, and multiple I/O modules carry out signal transmission to the mode that plate connects via plate, meanwhile, starting
Interconnecting module includes the power output interface being connected with I/O module, and power supply (can be 24V) can be provided for subsequent I/O module.
In present embodiment, first terminal interconnecting module 151 and second terminal interconnecting module 152 can be cut via toggle switch
It is changed to terminal pattern or Transfer Mode, when being configured to terminal pattern, entire line loop (REEX bus) is constituted on that module
Winding, data are back in coupler 12 to this, then are uploaded to controller 11 by EtherCAT bus by coupler 12；When matching
When being set to Transfer Mode, the module as a unit in topological link, behind pick up beginning interconnecting module again, can complete
Long-range I/O expansion, so that solution is worked as, I/O module quantity is more to be caused single distance longer and needs to set up another a row or power supply drive
Kinetic force not enough needs the problem of additionally increasing power supply power supply, it should be noted that needs when being configured to Transfer Mode and another
The starting interconnecting module for playing a row is attached, and both can increase additional I/O module in the row set up another in this way.So set, energy
It enough flexibly realizes the increase and decrease of I/O module group, without replacing existing module, improves the convenience of the increase and decrease of I/O module group.
Generally speaking, EtherCAT bus communication module is contained on coupler 12, autonomous bus module and some other
Functional module, the master chip for choosing suitable MCU as coupler 12 are managed resource, according to the type of acquisition signal
The signal of external sensor is accessed DI module and AI module by difference, and autonomous bus module, which receives, comes from each I/O module of rear class
Data, be transmitted to MCU, MCU by EtherCAT bus is uploaded to controller 11 after being packaged data, and controller 11 passes through
EtherCAT bus sends data to the MCU of coupler 12, and then MCU is by being sent to each IO mould of rear class from main bus
Block exports different digital quantity or analog quantity by DO module and AO module, and the execution unit that can control scene executes phase
The operation answered.
It is illustrated below by citing:
As shown in Fig. 2, coupler 12 selects AMIC110 as master chip, outside the MII by the PRU unit of AMIC110
If connecting PHY chip TLK110, to extend EtherCAT data link, EtherCAT communication bus topology is realized.FPGA core
Plate is realized from main bus REEX bus links, while being communicated by spi bus with AMIC110.
As shown in figure 3, being that the input of 16 railway digital amount of DI module (is -3~30V per input voltage range all the way, passes through optocoupler
Circuit carries out signal isolation) in one group of 4 channel therein input.When input voltage is less than 5V, the light emitting diode of optocoupler is not
Conducting, the output of rear class are low level；When input voltage rises above 11V, it is ensured that the prime driving current of optocoupler is enough big,
It is enough that rear class is made to export reliable high level.
As shown in Figure 4, Figure 5, respectively toggle switch carries out pattern configurations and extension mouth.When SW1 is allocated to left side, 1-
4 connections, 2-3 connection, bus are worked at this time in this winding in terminal pattern；When SW1 is allocated to right side, 1-4 is disconnected, and 2-3 is disconnected
It opens, bus continues to walk downward by RJ45 mouthfuls, until winding at next terminal interconnecting module.
Terminal interconnecting module can configure its operating mode using toggle switch.Under normal conditions, coupler 12 is in structure
Be an independent module on position, can be used alone；When needing to extend, coupler 12 is connected to by straight-through network cables
Originate interconnecting module, behind pass sequentially through board to board connector and connect other I/O modules, be eventually adding terminal module, and configure
Its work combines to form a column separate modular and is mounted on guide rail in terminal pattern.Specifically, when I/O module quantity compared with
Cause more it is single when not enough needing additionally to increase power supply power supply and need to set up another a row apart from too long or power drives ability,
It needs to configure terminal interconnecting module, Transfer Mode is configured to the terminal interconnecting module of first row at this time, second row
Terminal interconnecting module is configured to terminal pattern, and the starting interconnecting module of the terminal interconnecting module of first row and second row is passed through
Straight-through network cables connection, wherein starting interconnecting module provides 24V voltage input, and is converted 24V by DCDC power conversion chip
At 5V.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And range.
Claims (10)
1. a kind of autonomous bus-type IO compartment system, comprising: controller, coupler and via the coupler and the control
The connected I/O module group of device, which is characterized in that the I/O module group includes the first I/O module group and the second I/O module group；
The autonomous bus-type IO compartment system further includes starting interconnecting module and terminal interconnecting module, the starting interconnecting module
Including first starting interconnecting module and second starting interconnecting module, the terminal interconnecting module include first terminal interconnecting module and
Second terminal interconnecting module；
The first starting interconnecting module is connected with the coupler, and the first terminal interconnecting module is via the first IO mould
Block group is connected with the first starting interconnecting module；
The second starting interconnecting module is connected with the first terminal interconnecting module, and the second terminal interconnecting module is via institute
The second I/O module group is stated to be connected with the second starting interconnecting module；
The first terminal interconnecting module is configured to Transfer Mode, and the second terminal interconnecting module is configured to terminal pattern.
2. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the first starting switching model
Block, the first I/O module group, the first terminal interconnecting module, the second starting interconnecting module, second I/O module
Group and the second terminal interconnecting module are sequentially connected via universal serial bus, and the first starting interconnecting module is via described
Universal serial bus is connected with the coupler, and the universal serial bus forms winding on the second terminal interconnecting module.
3. autonomous bus-type IO compartment system according to claim 2, which is characterized in that the universal serial bus is that REEX is total
Line.
4. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the I/O module group further includes
Three I/O module groups；
The autonomous bus-type IO compartment system further includes third starting interconnecting module and third terminal interconnecting module, and described second
Originate interconnecting module via third starting interconnecting module, the third I/O module group and the third terminal interconnecting module with
The first terminal interconnecting module is connected；
The second starting interconnecting module is connected with the third terminal interconnecting module, and the third terminal interconnecting module is via institute
It states third I/O module group to be connected with third starting interconnecting module, the third starting interconnecting module and the first terminal turn
Connection module is connected.
5. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the first terminal interconnecting module
It can be switched to terminal pattern or Transfer Mode via toggle switch with the second terminal interconnecting module.
6. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the first I/O module group and institute
It states the second I/O module group and respectively includes the I/O module that multiple plates connect plate.
7. autonomous bus-type IO compartment system according to claim 6, which is characterized in that each I/O module wraps respectively
Autonomous bus module is included, multiple autonomous bus module plates connect plate.
8. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the first I/O module group and institute
It states the second I/O module group and respectively includes DI module, DO module, AI module and AO module.
9. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the first starting interconnecting module
Including the power output interface being connected with the first I/O module group, the second starting interconnecting module includes and the 2nd IO
The connected power output interface of module group.
10. autonomous bus-type IO compartment system according to claim 1, which is characterized in that the coupler via
Ethercat bus is connected with the controller.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116909201A (en) * | 2023-09-13 | 2023-10-20 | 南京德克威尔自动化有限公司 | Bus type IO acquisition and control expansion method, system and computer storage medium |
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Cited By (2)
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|---|---|---|---|---|
| CN116909201A (en) * | 2023-09-13 | 2023-10-20 | 南京德克威尔自动化有限公司 | Bus type IO acquisition and control expansion method, system and computer storage medium |
| CN116909201B (en) * | 2023-09-13 | 2023-11-24 | 南京德克威尔自动化有限公司 | Bus type IO acquisition and control expansion method, system and computer storage medium |
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