CN209895159U - Industrial robot controller hardware platform with bus compatibility - Google Patents
Industrial robot controller hardware platform with bus compatibility Download PDFInfo
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- CN209895159U CN209895159U CN201920953340.4U CN201920953340U CN209895159U CN 209895159 U CN209895159 U CN 209895159U CN 201920953340 U CN201920953340 U CN 201920953340U CN 209895159 U CN209895159 U CN 209895159U
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Abstract
The utility model provides an industrial robot controller hardware platform with bus compatibility, include: an expansion slot board used as a hardware platform base bottom board and used for expanding and connecting a functional hardware board; and a functional module expansion board; the functional module expansion board is divided into a power supply board, a main control board, a bus board, a digital board and an analog board according to the category characteristics of hardware functions; the on-board physical hardware interface resources of the expansion slot board include: the power panel slot, the main control panel slot, the bus board slot, the digital board slot and the analog board slot; the power panel, the main control panel, the bus panel, the digital panel and the analog panel are respectively connected with the expansion slot panel through the power panel slot, the main control panel slot, the bus panel slot, the digital panel slot and the analog panel slot. The utility model discloses divide and design the hardware function demand according to the modularization, have the characteristics of hardware design and customization flexibility and expansibility, not only reduce hardware reconfiguration cost and maintenance cost, have stronger practicality and higher using value moreover.
Description
Technical Field
The utility model relates to an industrial robot controller hardware design technical field, more specifically say, relate to an industrial robot controller hardware platform with bus compatibility.
Background
At present, industrial robots are widely applied to the field of industrial automation, a robot control system is the technical core of the industrial robot, and a hardware platform is the foundation of the core. The hardware platform can provide a hardware running environment for control system software, can establish a physical connection bridge with external sensor equipment, and finally organically combines and unifies the robot control system and the external equipment. At present, the hardware platform of the industrial robot controller is mainly divided into two categories: one type of PC platform is based on x86 CPU, can run general operating system software, is connected with external equipment through a general standard PCIE physical interface, and has complex hardware circuit design, high power consumption and higher cost; and the other type is based on an embedded CPU platform, the hardware composition is reconstructed and customized according to specific application, specific special operating system software needs to be cross-compiled, the hardware circuit design is simple and small, the power consumption is low, and the hardware composition cost is relatively low.
In addition, the industrial robot control system mainly indirectly controls the mechanical body mechanism through a control servo system. Compared with the traditional numerical control machine tool, the control system of the modern industrial robot generally adopts an industrial bus type control servo system through a pulse type control servo system. The hardware circuit interface is greatly reduced, the system connection is simplified, and the reliability of the whole servo control system is improved. Meanwhile, rich state data of each servo slave station can be synchronously acquired through the industrial bus, so that feedback control can be conveniently formed with the control system.
The modern mainstream industrial bus implementation modes mainly include two modes: the industrial bus type is based on a chip special for an industrial bus main stack protocol, a bus realization protocol and analysis are packaged to the special chip, and the communication with a main control CPU is realized through digital signals such as a data bus, an address bus, an interrupt and the like, so that the software design complexity of a controller host is reduced and the software processing efficiency is improved. The other type is an industrial bus type based on a universal Ethernet network card chip, the bus communication is realized by developing a special network card device driver and main stack protocol software, and higher requirements are placed on the software design of a controller host and the system operation environment.
In order to obtain a compact hardware structure, many industrial robot controllers often design a power circuit, a main control circuit, a signal interface, a device interface, a bus interface and the like on the same hardware circuit board, and only one bus type can be supported. When the master control CPU needs to be upgraded or other functional circuit modules need to change the requirements, the whole circuit board needs to be redesigned, and the signal integrity of the circuit needs to be evaluated again integrally, so that the design and maintenance cost of a hardware platform is greatly increased. The industrial controller hardware platform belongs to a high-frequency high-speed circuit, and all functional modules are designed on the same hardware circuit board, so that the signal interference probability and the reliability risk are increased, and the high requirements on the circuit design are provided.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome shortcoming and not enough among the prior art, an industrial robot controller hardware platform with bus compatibility is provided, this industrial robot controller hardware platform divides and designs the hardware function demand according to the modularization, have the characteristics of hardware design and customization flexibility and expansibility, not only reduced hardware reconfiguration cost and maintenance cost, help accelerating product hardware upgrade and upgrade, and have stronger practicality and higher using value moreover, can satisfy the development of relevant industrial robot controller hardware platform design.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: an industrial robot controller hardware platform with bus compatibility, characterized in that: the method comprises the following steps:
an expansion slot board used as a hardware platform base bottom board and used for expanding and connecting a functional hardware board;
and a functional module expansion board; the functional module expansion board is divided into a power supply board, a main control board, a bus board, a digital board and an analog board according to the category characteristics of hardware functions;
the onboard physical hardware interface resources of the expansion slot board comprise: the power panel slot, the main control panel slot, the bus board slot, the digital board slot and the analog board slot; the power panel, the main control panel, the bus panel, the digital panel and the analog panel are respectively connected with the expansion slot panel through the power panel slot, the main control panel slot, the bus panel slot, the digital panel slot and the analog panel slot.
The main control board slot and the bus board slot are provided with an address bus signal interface, a data bus signal interface, an interrupt signal interface and an RGMII signal interface; the address bus signal interface, the data bus signal interface, the interrupt signal interface and the RGMII signal interface of the main control board slot are respectively connected with the address bus signal interface, the data bus signal interface, the interrupt signal interface and the RGMII signal interface of the bus board slot.
The main control board slot is also provided with a digital quantity input/output signal interface and an analog quantity input/output signal interface; the digital board slot is provided with an external digital quantity input/output signal interface; the analog board slot is provided with an external analog quantity input/output signal interface;
the digital quantity input/output signal interface of the main control board slot is connected with the external digital quantity input/output signal interface of the digital board slot, so that the industrial robot controller hardware platform supports external 8-channel digital quantity signal input and 8-channel digital quantity signal output;
and an analog quantity input/output signal interface of the main control board slot is connected with an external analog quantity input/output signal interface of the analog board slot, so that an industrial robot controller hardware platform supports 2 external analog quantity voltage signal inputs, 2 analog quantity current signal inputs and 2 analog quantity voltage signal outputs.
The power panel is used as a power supply for the main control panel, the bus panel, the digital panel and the analog panel, and 5V and 3.3V are used as power supply outputs in a cascading power supply mode.
The power panel is formed by connecting an input terminal, an ESD electrostatic absorption circuit, an anti-reverse connection circuit, a pre-filter, a DC-DC voltage reduction circuit, an output terminal and a peripheral circuit; the pre-filter is formed by connecting a yoke current inductor and a filter capacitor.
The power panel further comprises an LDO circuit; the DC-DC voltage reduction circuit comprises a two-stage voltage conversion circuit: the 24V power supply is converted into a 12V power supply, and then the 12V power supply is converted into a 5V power supply; the 5V power supply is input into the LDO circuit and is converted into a 3.3V power supply, and 5V and 3.3V are used as power supply output; and simultaneously, a stable 24V direct current power supply is provided to the outside through an output terminal.
The main control board is formed by connecting a main control CPU minimum system, a main control board slot interface, a reset circuit, a DDR RAM circuit, an NAND FLASH circuit, a NOR FLASH circuit, an FRAM circuit for quickly storing system software power failure data and a peripheral circuit;
the main control board slot interface comprises an address bus signal interface, a data bus signal interface, an interrupt signal interface, an RGMII signal interface, a digital quantity input/output signal interface and an analog quantity input/output signal interface which correspond to the main control board slot; the main control CPU minimum system is provided with a bus port corresponding to a main control board slot interface;
the main control CPU minimum system comprises a circuit for providing an equipment expansion interface to the outside, namely a USB equipment interface circuit, an Ethernet equipment interface circuit and a serial equipment interface circuit; the USB equipment interface circuit provides a 2-way USB equipment port through a USB host interface; the Ethernet equipment interface circuit is connected with a W6100 Ethernet protocol stack chip and an RJ45 interface through an SPI interface to provide a 1-way standard Ethernet communication port; the serial equipment interface circuit is connected with the RS232/485 conversion chip through a UART interface to provide a 1-path serial communication equipment connection port.
The bus board is formed by connecting an industrial bus main stack protocol special chip, a universal Ethernet network card chip, a bus board slot interface, a unidirectional output transmission circuit, a unidirectional input transmission circuit, a bidirectional communication transmission circuit and a peripheral circuit;
the bus board slot interface comprises an address bus signal interface, a data bus signal interface, an interrupt signal interface and an RGMII signal interface which correspond to the bus board slot; the special chip for the industrial bus main stack protocol is provided with ports corresponding to the bus board slot interface, namely an address bus signal port, a data bus signal port and an interrupt signal port; the universal Ethernet network card chip is provided with an RGMII signal port corresponding to the bus board slot interface;
the unidirectional output transmission circuit, the unidirectional input transmission circuit and the bidirectional communication transmission circuit are all formed by connecting a PHY chip and an integrated network transformer with an RJ45 interface;
the industrial bus master stack protocol special chip is sequentially connected with a PHY chip of the unidirectional output transmission circuit and the integrated network transformer and is output through an RJ45 interface, so that data output communication is established with bus slave stack equipment; the industrial bus master stack protocol special chip is sequentially connected with a PHY chip of the unidirectional input transmission circuit and the integrated network transformer and is input through an RJ45 interface, so that redundant communication is formed with bus slave stack equipment;
the universal Ethernet network card chip is sequentially connected with the PHY chip of the bidirectional communication transmission circuit and the integrated network transformer and outputs/inputs through the RJ45 interface, so that full-duplex data communication is established with the bus slave stack device.
The digital board is formed by connecting an RC filter circuit connected with an input end of external equipment, a first optical coupling isolation device, a digital board slot interface, a pull-up signal circuit, a second optical coupling isolation device connected with an output external equipment end and a peripheral circuit;
the digital board slot interface comprises a system hardware input port and a system hardware output port which correspond to an external digital quantity input/output signal interface of the digital board slot;
the input end of the optical coupling isolation device I is connected with the RC filter circuit, the output end of the optical coupling isolation device I is connected with a pull-up resistor, and forms a pull-up signal circuit with an input power supply provided by a power panel and is connected with a system hardware input port;
and the input end of the second optical coupling isolation device is connected with the output port of the system hardware, and the output end of the second optical coupling isolation device is connected with the pull-down resistor, is used as an external digital quantity signal output and is connected with an output external equipment end.
The simulation board is formed by connecting a power supply pre-filter, an input reference power supply circuit, an output reference power supply circuit, a voltage input filter, an input voltage conversion circuit, a current input filter, an input current conversion circuit, an output voltage filter, an output voltage conversion circuit, a simulation board slot interface and a peripheral circuit, wherein the power supply pre-filter is connected with an input power supply provided by the power supply board;
the analog board slot interface comprises a voltage/current type analog quantity input port and a voltage type analog quantity output port which correspond to an external analog quantity input/output signal interface of the analog board slot;
the power supply pre-filter is respectively connected with the input reference power circuit and the output reference power circuit; the input reference power circuit and the voltage input filter are respectively connected with the input end of the input voltage conversion circuit, and the output end of the input voltage conversion circuit is connected with the voltage/current type analog input port;
the current input filter is connected with the input end of the input current conversion circuit through a high-precision sampling resistor; the input reference power circuit is connected with the input end of the input current conversion circuit; the output end of the input current conversion circuit is connected with the voltage/current type analog input port;
the voltage type analog quantity output port is connected with the input end of the output voltage conversion circuit through the output voltage filter; the output reference power circuit is connected with the input end of the output voltage conversion circuit; and the output end of the output voltage conversion circuit is used as the output end of an external analog quantity voltage output signal.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
1. the utility model has the characteristics of bus compatibility's industrial robot controller hardware platform divides and designs the hardware function demand according to the modularization, has hardware design and customization flexibility and expansibility, has not only reduced hardware reconfiguration cost and maintenance cost, helps accelerating product hardware upgrading and upgrading, has stronger practicality and higher using value moreover, can satisfy the development of relevant industrial robot controller hardware platform design.
2. The utility model has the advantages of each functional module circuit is absorbed in self functional circuit characteristics design relatively independently among the compatible industrial robot controller hardware platform of bus, establishes the connection through the digital signal interface of unified standard to it uses to provide abundant external equipment connection port and compatible mainstream industrial bus. When the functional module needs to be upgraded and updated, only the circuit of the corresponding functional module is redesigned, so that the high-frequency signal interference is effectively isolated, and the hardware design and maintenance cost is greatly reduced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the hardware platform of the industrial robot controller of the present invention;
fig. 2 is a schematic diagram of an expansion socket board of the industrial robot controller hardware platform of the present invention;
fig. 3 is a schematic diagram of a power board circuit of the industrial robot controller hardware platform of the present invention;
fig. 4 is a schematic circuit diagram of a main control board of the hardware platform of the industrial robot controller according to the present invention;
fig. 5 is a schematic circuit diagram of a bus board of the hardware platform of the industrial robot controller according to the present invention;
fig. 6 is a digital board circuit schematic diagram of the industrial robot controller hardware platform of the present invention;
fig. 7 is a schematic diagram of a simulation board circuit of the industrial robot controller hardware platform according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 7, the industrial robot controller hardware platform with bus compatibility of the present invention includes:
an expansion slot board 110 serving as a hardware platform base backplane and used for expanding and connecting functional hardware boards;
and a functional module expansion board divided into a power board 120, a main control board 130, a bus board 140, a digital board 150, and an analog board 160 according to the hardware function class characteristics.
Wherein, the onboard physical hardware interface resources of the expansion slot board 110 include: the power panel slot 111, the main control panel slot 112, the bus panel slot 113, the digital panel slot 114 and the analog panel slot 115 are connected with the expansion slot panel 111 through the power panel slot 111, the main control panel slot 112, the bus panel slot 113, the digital panel slot 114 and the analog panel slot 160 respectively.
The utility model discloses a master control board slot 112 and bus board slot 113 all are provided with address bus signal interface, data bus signal interface, interrupt signal interface and RGMII signal interface, wherein, 16 bit address bus signal interface 221, 16 bit data bus signal interface 222 and interrupt signal interface 224 of master control board slot 112 respectively with bus board slot 113 in the 16 bit address bus signal interface 231, 16 bit data bus signal interface 232 and the interrupt signal interface 234 of the special chip of industry bus main stack protocol. The RGMII signal interface 223 of the main control board slot 112 is connected to the RGMII signal interface 233 of the general ethernet card chip in the bus board slot 113.
The utility model discloses a main control board slot 112 still is provided with digital quantity input/output signal interface 225 and analog quantity input/output signal interface 226, digital board slot 114 is provided with external digital quantity input/output signal interface 241, the analog board is inserted, 115 is provided with external analog quantity input/output signal interface 251, wherein, digital quantity input/output signal interface 225 of main control board slot 112 is connected with external digital quantity input/output signal interface 241 of digital board slot 114, realize that industrial robot controller hardware platform supports external 8 digital quantity signal input and 8 digital quantity signal output; the analog quantity input/output signal interface 226 of the main control board slot 112 is connected with the external analog quantity input/output signal interface 251 of the analog board slot 115, so that the industrial robot controller hardware platform supports external 2-channel analog quantity voltage signal input, 2-channel analog quantity current signal input and 2-channel analog quantity voltage signal output.
The utility model discloses a power supply panel 120 is as main control board 130, bus board 140, digital board 150 and analog board 160's power supply to adopt the mode of cascading power supply to use 5V and 3.3V as power output, with the chip power supply requirement that satisfies each function board. As shown in fig. 3, the power board 120 is composed of an input terminal 302, an ESD electrostatic absorption circuit 303, an anti-reverse connection circuit 304, a pre-filter 305, a DC-DC voltage reduction circuit 306, an output terminal 308, and peripheral circuit connections, wherein the pre-filter 305 is composed of a yoke current inductor and a filter capacitor. Power panel 120 further includes LDO circuit 307, and DC-DC buck circuit 306 includes a two-stage voltage conversion circuit: the 24V power supply is converted into the 12V power supply, then the 12V power supply is converted into the 5V power supply, the 5V power supply is input into the LDO circuit 307 and is converted into the 3.3V power supply, the 5V power supply and the 3.3V power supply are taken as power output, and meanwhile, the stable 24V direct current power supply is provided for the outside through the output terminal 308.
The working principle of the power panel 120 is as follows: the power board 120 connects an external 24V/GND/PE signal through the 3-bit input terminal 302, inputs a 24V stable power signal to the DC-DC voltage reducing circuit 306 through the ESD electrostatic absorption circuit 303, the reverse connection preventing circuit 304 and the pre-filter 305 composed of a yoke current inductor and a filter capacitor, and provides a stable 24V DC power to the outside through the output terminal 308. The DC-DC voltage reduction circuit 306 includes a two-stage voltage conversion circuit, which converts a 24V power supply into a 12V power supply, converts the 12V power supply into a 5V power supply, inputs the 5V power supply into an LDO circuit 307, converts the 5V power supply into a 3.3V power supply, and provides a power supply for a next stage slot as a power board slot interface 301, and provides a stable 24V DC power supply to the outside through an output terminal 308.
As shown in fig. 4, the main control board 130 of the present invention comprises a basic main control CPU minimum system, a main control board slot interface 410, and a circuit 430 as a main control CPU minimum system periphery: the main control CPU minimum system comprises a reset circuit 431, a DDR RAM circuit 432, a nand FLASH circuit 433, a NOR FLASH circuit 434, an FRAM circuit 435 for system software power-down data fast storage, and a peripheral circuit, wherein the main control board slot interface 410 comprises an address bus signal interface, a data bus signal interface, an interrupt signal interface, an RGMII signal interface, a digital quantity input/output signal interface, and an analog quantity input/output signal interface corresponding to the main control board slot 112, and the main control CPU minimum system is provided with a bus port 420 corresponding to the main control board slot interface 410.
The main control CPU minimum system comprises a circuit for providing a device expansion interface to the outside, namely a USB device interface circuit 440, an Ethernet device interface circuit 450 and a serial device interface circuit 460, wherein the USB device interface circuit 440 provides a 2-path USB device port through a USB host interface, the Ethernet device interface circuit 450 is connected with a W6100 Ethernet protocol stack chip and an RJ45 interface through an SPI interface to provide a 1-path quasi Ethernet communication port, and the serial device interface circuit 460 is connected with an RS232/485 conversion chip through an UART interface to provide a 1-path serial communication device connection port.
As shown in fig. 5, the bus board 140 of the present invention is composed of an industrial bus master stack protocol dedicated chip 530, a general ethernet network card chip 520, a bus board slot interface 510, a unidirectional output transmission circuit 534, a unidirectional input transmission circuit 535, a bidirectional communication transmission circuit 522 and a peripheral circuit, wherein the bus board 140 is compatible with and supports the industrial bus type based on the industrial bus master stack protocol dedicated chip 530, and the bus board slot interface 510 includes an address bus signal interface, a data bus signal interface, an interrupt signal interface and an RGMII signal interface corresponding to the bus board slot 113. The dedicated chip 530 for industrial bus master stack protocol is provided with ports corresponding to the bus board slot interface 510, which are a 16-bit address bus signal port 533, a 16-bit data bus signal port 532 and an interrupt signal port 531, and the universal ethernet card chip 520 is provided with an RGMII signal port 521 corresponding to the bus board slot interface 510.
The unidirectional output transmission circuit 534, the unidirectional input transmission circuit 535 and the bidirectional communication transmission circuit 522 are all formed by connecting a PHY chip and an integrated network transformer with an RJ45 interface. The chip 530 special for the industrial bus master stack protocol is sequentially connected with a PHY chip of the unidirectional output transmission circuit 534 and the integrated network transformer and is output through an RJ45 interface, so that data output communication is established with bus slave stack equipment; the chip 530 special for the industrial bus master stack protocol is sequentially connected with a PHY chip of the unidirectional input transmission circuit 535 and an integrated network transformer and is input through an RJ45 interface, so that redundant communication is formed with bus slave stack equipment; the universal ethernet network card chip 520 is sequentially connected to the PHY chip of the bidirectional communication transmission circuit 522 and the integrated network transformer, and outputs/inputs through an RJ45 interface, so as to establish full-duplex data communication with the bus slave stack device.
As shown in fig. 6, the digital board 150 of the present invention is formed by connecting an RC filter circuit 622 connected to an external device input end 621, a first opto-isolator 623, a digital board slot interface, a pull-up signal circuit, a second opto-isolator 631 connected to an output external device end, and a peripheral circuit; the digital board socket interface includes a system hardware input port 620 and a system hardware output port 630 corresponding to an external digital input/output signal interface of the digital board socket 114.
The input end of the opto-isolator element one 623 is connected to the RC filter circuit 622, and the output end is connected to the pull-up resistor 624, and forms a pull-up signal circuit with the input power 610 provided by the power board 120, and is connected to the system hardware input port 620. The input end of the second optocoupler isolator 631 is connected with the system hardware output port 630, and the output end is connected with the pull-down resistor 632, and outputs the signal as an external digital quantity signal, and is connected with the output external device end 633.
The working principle of the digital board 150 is as follows: the digital board 150 supports 8-channel digital quantity signal input, and an input end 621 of an external device passes through an RC filter circuit 622 and is connected to an input end of the opto-isolator device one 623. The output end of the optical coupling isolation device I623 is connected with a pull-up resistor 624, and forms a pull-up signal circuit with the input power supply 610, and is connected with a digital quantity input/output signal interface corresponding to the main control board 130 through the system hardware input port 620. The digital board 150 supports 8-channel digital quantity signal output, and connects a digital quantity input/output signal interface signal corresponding to the main control board 130 to the input end of the second opto-isolator 631 through the system hardware output port 630, and the output end of the second opto-isolator 631 is connected to a pull-down resistor 632, and outputs an external digital quantity signal, and is connected to the output external device end 633.
As shown in fig. 7, the analog board 160 of the present invention is composed of a power supply pre-filter 711 connected to an input power supply 710 provided by the power board 120, an input reference power circuit 713, an output reference power circuit 712, a voltage input filter 731, an input voltage conversion circuit 732, a current input filter 733, an input current conversion circuit 735, an output voltage filter 721, an output voltage conversion circuit 722, an analog board socket interface and a peripheral circuit connection, wherein the analog board socket interface includes a voltage/current type analog input port 730 and a voltage type analog output port 720 corresponding to an external analog input/output signal interface of the analog board socket 115.
The power supply prefilter 711 is formed by connecting an inductance element and an RC circuit, the input reference power supply circuit 713 and the output reference power supply circuit 712 are formed by connecting a voltage stabilizing power supply chip and an RC circuit, and the power supply prefilter 711 is connected with the input reference power supply circuit 713 and the output reference power supply circuit 712 respectively. The voltage input filter 731 is formed by connecting an inductance element and an RC circuit, and the input voltage conversion circuit 732 is formed by connecting a voltage input comparison operational amplifier, an RC circuit, and a clamp circuit. The input reference power supply circuit 713 and the voltage input filter 731 are connected to the input terminal of the input voltage conversion circuit 732, and the output terminal of the input voltage conversion circuit 732 is connected to the voltage/current analog input port 730.
The current input filter 733 is formed by connecting an inductance element and an RC circuit, and the input current conversion circuit 735 is formed by connecting a current input comparison operational amplifier, an RC circuit, and a clamp circuit. The current input filter 733 is connected to an input terminal of the input current conversion circuit 735 through the high-precision sampling resistor 734, the input reference power supply circuit 713 is connected to an input terminal of the input current conversion circuit 735, and an output terminal of the input current conversion circuit 735 is connected to the voltage/current type analog input port 730.
The output voltage converting circuit 722 is formed by connecting a voltage output comparison operational amplifier and a clamping circuit. The voltage type analog output port 720 is connected to the input terminal of the output voltage conversion circuit 722 through an output voltage filter 721 made of an RC circuit, and the output reference power supply circuit 712 is connected to the input terminal of the output voltage conversion circuit 722; the output terminal of the output voltage converting circuit 722 is used as the output terminal of the external analog voltage output signal.
The utility model discloses the theory of operation of simulation board 160 does: the power board 120 provides the input power 710 to obtain the input reference power through the power pre-filter 711 and the input reference power circuit 713 in sequence, and the power board 120 provides the input power 711 to obtain the output reference power through the power pre-filter 711 and the output reference power circuit 712 in sequence. The analog board 160 supports two external voltage analog quantity signal inputs, the external voltage analog quantity signal is input into the voltage input filter 731 to obtain an output signal, wherein the output signal of the voltage input filter 731 and the input reference power of the input reference power circuit 713 are used together as an input signal of the input end of the input voltage conversion circuit 732, and the output end of the input voltage conversion circuit 732 is connected with an analog quantity input/output signal interface corresponding to the main control board 130 through the voltage/current type analog quantity input port 730.
The analog board 160 supports two external current analog quantity signal inputs, the external current analog quantity signal is input into the current input filter 733 to obtain an output signal, wherein the output signal of the current input filter 733 through a high-precision sampling resistor 734 and the input reference power of the input reference power circuit 713 are used as the input signal of the input end of the input current conversion circuit 735, and the output end of the input current conversion circuit 735 is connected with the analog quantity input/output signal interface corresponding to the main control board 130 through the voltage/current type analog quantity input port 730.
The analog board 160 supports two external voltage analog quantity signal outputs, and the voltage type analog quantity output port 720 connects the signal of the analog quantity input/output signal interface corresponding to the main control board 130 to the output voltage filter 721 to obtain an output signal, wherein the output signal of the output voltage filter 721 and the output reference power supply of the output reference power supply circuit 712 are used together as an input signal of the input end of the output voltage conversion circuit 722; the output terminal of the output voltage converting circuit 722 is used as the output terminal of the external analog voltage output signal.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. An industrial robot controller hardware platform with bus compatibility, characterized in that: the method comprises the following steps:
an expansion slot board used as a hardware platform base bottom board and used for expanding and connecting a functional hardware board;
and a functional module expansion board; the functional module expansion board is divided into a power supply board, a main control board, a bus board, a digital board and an analog board according to the category characteristics of hardware functions;
the onboard physical hardware interface resources of the expansion slot board comprise: the power panel slot, the main control panel slot, the bus board slot, the digital board slot and the analog board slot; the power panel, the main control panel, the bus panel, the digital panel and the analog panel are respectively connected with the expansion slot panel through the power panel slot, the main control panel slot, the bus panel slot, the digital panel slot and the analog panel slot.
2. An industrial robot controller hardware platform with bus compatibility according to claim 1, characterized in that: the main control board slot and the bus board slot are provided with an address bus signal interface, a data bus signal interface, an interrupt signal interface and an RGMII signal interface; the address bus signal interface, the data bus signal interface, the interrupt signal interface and the RGMII signal interface of the main control board slot are respectively connected with the address bus signal interface, the data bus signal interface, the interrupt signal interface and the RGMII signal interface of the bus board slot.
3. An industrial robot controller hardware platform with bus compatibility according to claim 2, characterized in that: the main control board slot is also provided with a digital quantity input/output signal interface and an analog quantity input/output signal interface; the digital board slot is provided with an external digital quantity input/output signal interface; the analog board slot is provided with an external analog quantity input/output signal interface;
the digital quantity input/output signal interface of the main control board slot is connected with the external digital quantity input/output signal interface of the digital board slot, so that the industrial robot controller hardware platform supports external 8-channel digital quantity signal input and 8-channel digital quantity signal output;
and an analog quantity input/output signal interface of the main control board slot is connected with an external analog quantity input/output signal interface of the analog board slot, so that an industrial robot controller hardware platform supports 2 external analog quantity voltage signal inputs, 2 analog quantity current signal inputs and 2 analog quantity voltage signal outputs.
4. An industrial robot controller hardware platform with bus compatibility according to claim 1, characterized in that: the power panel is used as a power supply for the main control panel, the bus panel, the digital panel and the analog panel, and 5V and 3.3V are used as power supply outputs in a cascading power supply mode.
5. An industrial robot controller hardware platform with bus compatibility according to claim 4, characterized in that: the power panel is formed by connecting an input terminal, an ESD electrostatic absorption circuit, an anti-reverse connection circuit, a pre-filter, a DC-DC voltage reduction circuit, an output terminal and a peripheral circuit; the pre-filter is formed by connecting a yoke current inductor and a filter capacitor.
6. An industrial robot controller hardware platform with bus compatibility according to claim 5, characterized in that: the power panel further comprises an LDO circuit; the DC-DC voltage reduction circuit comprises a two-stage voltage conversion circuit: the 24V power supply is converted into a 12V power supply, and then the 12V power supply is converted into a 5V power supply; the 5V power supply is input into the LDO circuit and is converted into a 3.3V power supply, and 5V and 3.3V are used as power supply output; and simultaneously, a stable 24V direct current power supply is provided to the outside through an output terminal.
7. An industrial robot controller hardware platform with bus compatibility according to claim 3, characterized in that: the main control board is formed by connecting a main control CPU minimum system, a main control board slot interface, a reset circuit, a DDR RAM circuit, an NAND FLASH circuit, a NOR FLASH circuit, an FRAM circuit for quickly storing system software power failure data and a peripheral circuit;
the main control board slot interface comprises an address bus signal interface, a data bus signal interface, an interrupt signal interface, an RGMII signal interface, a digital quantity input/output signal interface and an analog quantity input/output signal interface which correspond to the main control board slot; the main control CPU minimum system is provided with a bus port corresponding to a main control board slot interface;
the main control CPU minimum system comprises a circuit for providing an equipment expansion interface to the outside, namely a USB equipment interface circuit, an Ethernet equipment interface circuit and a serial equipment interface circuit; the USB equipment interface circuit provides a 2-way USB equipment port through a USB host interface; the Ethernet equipment interface circuit is connected with a W6100 Ethernet protocol stack chip and an RJ45 interface through an SPI interface to provide a 1-way standard Ethernet communication port; the serial equipment interface circuit is connected with the RS232/485 conversion chip through a UART interface to provide a 1-path serial communication equipment connection port.
8. An industrial robot controller hardware platform with bus compatibility according to claim 2, characterized in that: the bus board is formed by connecting an industrial bus main stack protocol special chip, a universal Ethernet network card chip, a bus board slot interface, a unidirectional output transmission circuit, a unidirectional input transmission circuit, a bidirectional communication transmission circuit and a peripheral circuit;
the bus board slot interface comprises an address bus signal interface, a data bus signal interface, an interrupt signal interface and an RGMII signal interface which correspond to the bus board slot; the special chip for the industrial bus main stack protocol is provided with ports corresponding to the bus board slot interface, namely an address bus signal port, a data bus signal port and an interrupt signal port; the universal Ethernet network card chip is provided with an RGMII signal port corresponding to the bus board slot interface;
the unidirectional output transmission circuit, the unidirectional input transmission circuit and the bidirectional communication transmission circuit are all formed by connecting a PHY chip and an integrated network transformer with an RJ45 interface;
the industrial bus master stack protocol special chip is sequentially connected with a PHY chip of the unidirectional output transmission circuit and the integrated network transformer and is output through an RJ45 interface, so that data output communication is established with bus slave stack equipment; the industrial bus master stack protocol special chip is sequentially connected with a PHY chip of the unidirectional input transmission circuit and the integrated network transformer and is input through an RJ45 interface, so that redundant communication is formed with bus slave stack equipment;
the universal Ethernet network card chip is sequentially connected with the PHY chip of the bidirectional communication transmission circuit and the integrated network transformer and outputs/inputs through the RJ45 interface, so that full-duplex data communication is established with the bus slave stack device.
9. An industrial robot controller hardware platform with bus compatibility according to claim 3, characterized in that: the digital board is formed by connecting an RC filter circuit connected with an input end of external equipment, a first optical coupling isolation device, a digital board slot interface, a pull-up signal circuit, a second optical coupling isolation device connected with an output external equipment end and a peripheral circuit;
the digital board slot interface comprises a system hardware input port and a system hardware output port which correspond to an external digital quantity input/output signal interface of the digital board slot;
the input end of the optical coupling isolation device I is connected with the RC filter circuit, the output end of the optical coupling isolation device I is connected with a pull-up resistor, and forms a pull-up signal circuit with an input power supply provided by a power panel and is connected with a system hardware input port;
and the input end of the second optical coupling isolation device is connected with the output port of the system hardware, and the output end of the second optical coupling isolation device is connected with the pull-down resistor, is used as an external digital quantity signal output and is connected with an output external equipment end.
10. An industrial robot controller hardware platform with bus compatibility according to claim 3, characterized in that: the simulation board is formed by connecting a power supply pre-filter, an input reference power supply circuit, an output reference power supply circuit, a voltage input filter, an input voltage conversion circuit, a current input filter, an input current conversion circuit, an output voltage filter, an output voltage conversion circuit, a simulation board slot interface and a peripheral circuit, wherein the power supply pre-filter is connected with an input power supply provided by the power supply board;
the analog board slot interface comprises a voltage/current type analog quantity input port and a voltage type analog quantity output port which correspond to an external analog quantity input/output signal interface of the analog board slot;
the power supply pre-filter is respectively connected with the input reference power circuit and the output reference power circuit; the input reference power circuit and the voltage input filter are respectively connected with the input end of the input voltage conversion circuit, and the output end of the input voltage conversion circuit is connected with the voltage/current type analog input port;
the current input filter is connected with the input end of the input current conversion circuit through a high-precision sampling resistor; the input reference power circuit is connected with the input end of the input current conversion circuit; the output end of the input current conversion circuit is connected with the voltage/current type analog input port;
the voltage type analog quantity output port is connected with the input end of the output voltage conversion circuit through the output voltage filter; the output reference power circuit is connected with the input end of the output voltage conversion circuit; and the output end of the output voltage conversion circuit is used as the output end of an external analog quantity voltage output signal.
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