CN209737652U - Engineering mechanical arm data acquisition device - Google Patents
Engineering mechanical arm data acquisition device Download PDFInfo
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- CN209737652U CN209737652U CN201920462237.XU CN201920462237U CN209737652U CN 209737652 U CN209737652 U CN 209737652U CN 201920462237 U CN201920462237 U CN 201920462237U CN 209737652 U CN209737652 U CN 209737652U
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Abstract
The utility model provides an engineering machinery arm data acquisition device for gather the data of arm and give data processing unit with data transmission, the arm is connected with the encoder, acquisition device includes CPLD collector and STM32 controller, the CPLD collector through SSI interface module with encoder electric connection, the CPLD collector passes through SPI interface electric connection with STM32 controller, the STM32 controller passes through CAN interface circuit electric connection with the CAN interface, the CAN interface with data processing unit electric connection. The utility model provides an engineering arm data acquisition device can stabilize and the efficient collection arm data.
Description
Technical Field
The utility model relates to a mechanical arm control technical field, specific engineering arm data acquisition device that says so.
Background
The mechanical arm is an operation tool which can imitate certain motion functions of the arm and work according to fixed program instructions. The efficient and safe operation of the mechanical arm has very important significance to production and life. At present, with the development trend of high speed and heavy load of mechanical equipment, people put higher and higher requirements on the working stability and safety performance of mechanical arms. Signals acquired by the system are analog signals, but because the analog signals are large in transmission distortion, poor in confidentiality and poor in data processing adaptability, the analog signals are required to be converted into digital signals in many times, and then data are transmitted. The phenomenon of data loss often can appear when carrying out data transmission in present many data acquisition system, and data conversion in-process system response is slower moreover, and stability is relatively poor, can influence whole mechanical equipment's work efficiency like this, still can cause the difficulty for operating personnel, and in the middle of the arm data acquisition system, the good or bad of data acquisition has decided whole system's performance good or bad.
In the prior art, for example, in a scheme for acquiring data with an Endat interface encoder, serial data synchronous transmission is adopted for the interface, so that the interface has wide application in the fields of numerical control machines, radars and the like, and has less application in the field of heavy industrial machinery, and an Endat interface reading chip circuit is very expensive and has a complex structure of an interface circuit matched with the Endat interface reading chip circuit; the scheme is suitable for industrial equipment needing high-speed operation, has high requirement on environment, is high in price, is not suitable for occasions needing frequent sampling, and has great limitation on mechanical equipment with high sampling rate.
SUMMERY OF THE UTILITY MODEL
In order to solve the deficiencies in the prior art, the utility model provides an engineering arm data acquisition device can stabilize and the efficient collection to arm data.
In order to achieve the above object, the utility model discloses a concrete scheme does: the utility model provides an engineering machinery arm data acquisition device for gather the data of arm and give data processing unit with data transmission, the arm is connected with the encoder, acquisition device includes CPLD collector and STM32 controller, the CPLD collector through SSI interface module with encoder electric connection, the CPLD collector passes through SPI interface electric connection with STM32 controller, the STM32 controller passes through CAN interface circuit electric connection with the CAN interface, the CAN interface with data processing unit electric connection.
preferably, the model of the CPLD collector is MAX V5M 160ZE64, and the model of the STM32 controller is STM32F412CEU 6.
As a preferred scheme, the SSI interface module includes a differential converter, the model of the differential converter is SN65HVD74, an RO pin of the differential converter is electrically connected to the IO _2_53 pin of the CPLD collector, and a DI pin of the differential converter is electrically connected to the IO _2_54 pin of the CPLD collector.
As a preferable scheme, a PA4 pin of the STM32 controller is electrically connected to an IO _2_36 pin of the CPLD collector, a PA5 pin of the STM32 controller is electrically connected to an IO _2_35 pin of the CPLD collector, a PA6 pin of the STM32 controller is electrically connected to an IO _2_34 pin of the CPLD collector, and a PA7 pin of the STM32 controller is electrically connected to an IO _1_33 pin of the CPLD collector.
as a preferred scheme, the acquisition device includes a power module, the power module includes a current monitor for receiving external power supply, the current monitor is electrically connected to a first power regulating circuit, the first power regulating circuit is electrically connected to a second power regulating circuit, the first power regulating circuit is electrically connected to the STM32 controller and the CPLD acquirer, and the second power regulating circuit is electrically connected to the CPLD acquirer.
Preferably, the current monitor is model ZXCT1109, the first power supply regulating circuit comprises an MP2451 voltage reduction chip, and the second power supply regulating circuit comprises an RT9193 voltage stabilizer.
Preferably, the CAN interface circuit comprises a transceiver, the model of the transceiver is TCAN337GDCNR, a TXD pin of the transceiver is electrically connected with a PB13 pin of the STM32 controller, and an RXD pin of the transceiver is electrically connected with a PB12 pin of the STM32 controller.
As a preferred scheme, the STM32 controller is electrically connected with a four-way dial switch, and the model of the four-way dial switch is DSHP04 TSGER.
Has the advantages that: the utility model discloses a CPLD collector adds the mode of STM32 controller, utilizes the CPLD collector that the logical operation ability is stronger to realize the accurate collection of arm data, then utilizes the higher STM32 controller of conversion efficiency to upload arm data in real time to carry out stable and efficient collection to arm data.
Drawings
Fig. 1 is a block diagram of the overall structure of the present invention;
fig. 2 is a schematic diagram of a connection mode of the SSI differential converter circuit of the present invention;
Fig. 3 is a schematic diagram a of the circuit connection of the STM32 controller according to the present invention;
Fig. 4 is a schematic diagram B of the circuit connection of the STM32 controller of the present invention;
Fig. 5 is a schematic diagram a of the connection mode of the CPLD collector circuit of the present invention;
Fig. 6 is a schematic diagram B of the connection mode of the CPLD collector circuit of the present invention;
Fig. 7 is a schematic diagram C of the connection mode of the CPLD collector circuit of the present invention;
FIG. 8 is a schematic diagram of the circuit connection of the current monitor of the present invention;
Fig. 9 is a schematic diagram of a circuit connection manner of the first power supply regulating circuit of the present invention;
fig. 10 is a schematic diagram of a circuit connection manner of a second power supply regulating circuit according to the present invention;
Fig. 11 is a schematic diagram of the circuit connection mode of the CAN transceiver of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
please refer to fig. 1 to 11, a data acquisition device for an engineering mechanical arm, which is used for acquiring data of the mechanical arm and sending the data to a data processing unit, the mechanical arm is connected with an encoder, the encoder is installed at a designated position of the mechanical arm, the acquisition device comprises a CPLD collector and an STM32 controller, the CPLD collector is electrically connected with the encoder through an SSI interface module, the CPLD collector is electrically connected with the STM32 controller through an SPI interface, the STM32 controller is electrically connected with a CAN interface through a CAN interface circuit, and the CAN interface is electrically connected with the data processing unit.
When the utility model is used, the encoder converts the analog signal of the collected data into a digital signal, and then sends the data to the CPLD collector through the SSI interface, and the SSI interface is adopted for transmission, so that the operation is more stable and efficient; the CPLD acquisition unit is used for further processing the data, and the CPLD chip has strong logic capability, high reliability and strong anti-interference capability, so that the acquired data can be accurately processed; after the processing is completed, the CPLD collector further sends the data to the STM32 controller, then the STM32 controller sends the data to the data processing unit through the CAN interface circuit and the CAN interface in sequence, because the conversion rate of the STM32 controller is high, the real-time uploading of the data CAN be ensured, the uploading is carried out in a CAN bus mode, the simultaneous uploading of a plurality of devices CAN be realized, and the higher working efficiency is realized in a complex environment.
in the present embodiment, the model of the CPLD collector is MAX V5M 160ZE64, and the model of the STM32 controller is STM32F412CEU 6. On the basis of meeting the data acquisition requirement, the cost is lower.
furthermore, the SSI interface module includes a differential converter, the model of the differential converter is SN65HVD74, an RO pin of the differential converter is electrically connected to an IO _2_53 pin of the CPLD collector, and a DI pin of the differential converter is electrically connected to an IO _2_54 pin of the CPLD collector. The clock and the data are sent to the CPLD collector after differential conversion by using the differential converter, so that the data transmission efficiency can be improved.
The electrical connection mode of the STM32 controller and the CPLD collector is as follows: the PA4 pin of the STM32 controller is electrically connected with the IO _2_36 pin of the CPLD collector, the PA5 pin of the STM32 controller is electrically connected with the IO _2_35 pin of the CPLD collector, the PA6 pin of the STM32 controller is electrically connected with the IO _2_34 pin of the CPLD collector, and the PA7 pin of the STM32 controller is electrically connected with the IO _1_33 pin of the CPLD collector.
Furthermore, the acquisition device comprises a power supply module, the power supply module comprises a current monitor for receiving external power supply, the current monitor is electrically connected with a first power supply adjusting circuit, the first power supply adjusting circuit is electrically connected with a second power supply adjusting circuit, the first power supply adjusting circuit is electrically connected with the STM32 controller and the CPLD collector, and the second power supply adjusting circuit is electrically connected with the CPLD collector. The current monitor can carry out real-time supervision to power module's power supply condition, guarantees power supply ground stability, and first power supply regulating circuit and second power supply regulating circuit provide different voltages for CPLD collector and STM32 controller, satisfy respective power supply demand.
In this embodiment, the current monitor is model ZXCT1109, the first power supply regulating circuit includes an MP2451 buck chip, and the second power supply regulating circuit includes an RT9193 regulator. The output end of the current monitor is connected with a 104 capacitor to realize the filtering function.
further, the CAN interface circuit includes the transceiver, and the model of transceiver is TCAN337GDCNR, and the TXD pin of transceiver and the PB13 pin electric connection of STM32 controller, the RXD pin of transceiver and the PB12 pin electric connection of STM32 controller.
In order to conveniently select the CAN address, the STM32 controller is electrically connected with a four-way dial switch, and the model of the four-way dial switch is DSHP04 TSGER.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides an engineering arm data acquisition device for gather the data of arm and give data processing unit with data transmission, the arm is connected with encoder, its characterized in that: the acquisition device comprises a CPLD collector and an STM32 controller, the CPLD collector is electrically connected with the encoder through an SSI interface module, the CPLD collector is electrically connected with the STM32 controller through an SPI interface, the STM32 controller is electrically connected with a CAN interface through a CAN interface circuit, and the CAN interface is electrically connected with the data processing unit.
2. The engineering mechanical arm data acquisition device as claimed in claim 1, wherein: the model of the CPLD collector is MAX V5M 160ZE64, and the model of the STM32 controller is STM32F412CEU 6.
3. The engineering mechanical arm data acquisition device as claimed in claim 2, wherein: the SSI module comprises a differential converter, the model of the differential converter is SN65HVD74, an RO pin of the differential converter is electrically connected with an IO _2_53 pin of the CPLD collector, and a DI pin of the differential converter is electrically connected with an IO _2_54 pin of the CPLD collector.
4. The engineering mechanical arm data acquisition device as claimed in claim 2, wherein: the PA4 pin of the STM32 controller is electrically connected with the IO _2_36 pin of the CPLD collector, the PA5 pin of the STM32 controller is electrically connected with the IO _2_35 pin of the CPLD collector, the PA6 pin of the STM32 controller is electrically connected with the IO _2_34 pin of the CPLD collector, and the PA7 pin of the STM32 controller is electrically connected with the IO _1_33 pin of the CPLD collector.
5. The engineering mechanical arm data acquisition device as claimed in claim 2, wherein: the acquisition device comprises a power supply module, the power supply module comprises a current monitor used for receiving external power supply, the current monitor is electrically connected with a first power supply adjusting circuit, the first power supply adjusting circuit is electrically connected with a second power supply adjusting circuit, the first power supply adjusting circuit is electrically connected with the STM32 controller and the CPLD acquirer, and the second power supply adjusting circuit is electrically connected with the CPLD acquirer.
6. The engineering mechanical arm data acquisition device as claimed in claim 5, wherein: the model of the current monitor is ZXCT1109, the first power supply regulating circuit comprises an MP2451 voltage reduction chip, and the second power supply regulating circuit comprises an RT9193 voltage stabilizer.
7. The engineering mechanical arm data acquisition device as claimed in claim 2, wherein: the CAN interface circuit comprises a transceiver, the type of the transceiver is TCAN337GDCNR, a TXD pin of the transceiver is electrically connected with a PB13 pin of the STM32 controller, and an RXD pin of the transceiver is electrically connected with a PB12 pin of the STM32 controller.
8. the engineering mechanical arm data acquisition device as claimed in claim 7, wherein: STM32 controller electric connection has four ways dial switch, and four ways dial switch's model is DSHP04 TSGER.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920462237.XU CN209737652U (en) | 2019-04-08 | 2019-04-08 | Engineering mechanical arm data acquisition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920462237.XU CN209737652U (en) | 2019-04-08 | 2019-04-08 | Engineering mechanical arm data acquisition device |
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| Publication Number | Publication Date |
|---|---|
| CN209737652U true CN209737652U (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920462237.XU Active CN209737652U (en) | 2019-04-08 | 2019-04-08 | Engineering mechanical arm data acquisition device |
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| CN (1) | CN209737652U (en) |
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2019
- 2019-04-08 CN CN201920462237.XU patent/CN209737652U/en active Active
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