CN210476955U

CN210476955U - Multi-axis manipulator controller based on ZYNQ

Info

Publication number: CN210476955U
Application number: CN201920668514.2U
Authority: CN
Inventors: 沈华
Original assignee: Shenzhen Linglve CNC Equipment Co Ltd
Current assignee: Shenzhen Linglve CNC Equipment Co Ltd
Priority date: 2019-05-10
Filing date: 2019-05-10
Publication date: 2020-05-08
Anticipated expiration: 2029-05-10

Abstract

The utility model discloses a multiaxis manipulator controller based on ZYNQ, its characterized in that: including ZYNQ chip platform circuit board, metal covering hood and metal bottom plate, ZYNQ chip platform circuit board includes mainboard, driver interface board. The utility model discloses the integrated level is high, the integrated dual-core ARM Cortex-A9 treater of ZYNQ chip and field programmable logic unit FPGA, wherein ARM treater part operation Linux system, mainly be responsible for the human-computer interaction of host computer, peripheral equipment communication and motion planning, the FPGA part is used for expanding peripheral hardware interface and carries self-defined motion control IP nuclear control servo driver, has the integrated level height, with low costs, small and the nimble advantage of interface extension.

Description

Multi-axis manipulator controller based on ZYNQ

Technical Field

The utility model belongs to the industrial automation control field relates to a multiaxis manipulator controller based on ZYNQ.

Background

At present, with the continuous improvement of the industrial automation level, in the modern production process, the multi-shaft manipulator is widely applied to the automatic production line. The development and control of the multi-axis manipulator become an emerging technology rapidly developed in the high-tech field, which further promotes the development of the manipulator, so that the manipulator can better realize the organic combination with mechanization and automation. The current multi-axis manipulator controller has various schemes, including a scheme of adopting a general PC and a special motion control card, or a control scheme of ARM and DSP. These solutions have the disadvantage of being bulky, not highly integrated or not flexible to scale.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a ZYNQ chip of integrated dual-core ARM Cortex-A9 treater and on-the-spot programmable logic unit FPGA is applied to multi-axis manipulator controller is provided, wherein ARM treater part operation Linux system, mainly be responsible for the human-computer interaction of host computer, peripheral equipment communication and motion planning, the FPGA part is used for extending peripheral hardware interface and carries self-defined motion control IP nuclear control servo driver with the hanging, it is high to have the integrated level, and is with low costs, small and the nimble advantage of interface extension.

The utility model discloses a realize through following technical scheme: a multi-axis manipulator controller based on ZYNQ comprises a ZYNQ chip platform circuit board, a metal cover and a metal bottom plate, wherein the ZYNQ chip platform circuit board comprises a mainboard and a driver interface board; the ZYNQ chip integrates a dual-core ARM Cortex-A9 processor and a field programmable logic unit FPGA, and main interfaces of an ARM processor system part comprise an externally-expanded DD31GB memory, two USB2.0 interfaces, an SD card, two RS232 serial ports, a gigabit Ethernet port and a 2.4G WIFI module; the main interfaces of the FPGA part of the field programmable logic unit are a VGA display interface, two RS232 serial ports, three kilomega Ethernet ports, an RTC clock, a 16-path isolated universal input interface, a 16-path isolated universal output interface and a power supply input interface; the ZYNQ chip realizes high-speed communication and data interaction between the ARM processor and the FPGA through an AXI bus in the chip.

As preferred technical scheme, install eight copper posts on the bottom surface of mainboard, the metal soleplate all passes through screw and eight copper post connections, sets up eight motor driver connectors on the servo driver interface board surface, and every motor driver connector all has corresponding driver pilot lamp.

As the preferred technical scheme, the metal cover is arranged at the upper end of the ZYNQ chip platform circuit board and is fixed on the servo driver interface board through screws

As a preferred technical scheme, the center of the bottom surface of the main board is fixedly provided with a cooling fan through two screws and nuts.

As the preferred technical scheme, the edges of the two sides of the metal bottom plate are arranged in an L-shaped structure, and four mounting holes are formed in the edges of the metal bottom plate.

As a preferred technical scheme, more than one heat dissipation hole is arranged at the center of the metal bottom plate.

The utility model has the advantages that: the utility model discloses the integrated level is high, the integrated double-core ARMCortex-A9 treater of ZYNQ chip and on-the-spot programmable logic unit FPGA, wherein ARM treater part operation Linux system, mainly be responsible for the human-computer interaction of host computer, peripheral equipment communication and motion planning, the FPGA part is used for extending peripheral hardware interface and carries self-defined motion control IP nuclear control servo driver, has the integrated level height, with low costs, small and the nimble advantage of interface extension.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic diagram of the circuit board structure of the present invention;

FIG. 3 is a hardware block diagram of the present invention;

fig. 4 is a functional block diagram of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected" and "disposed" are to be construed broadly, and may for example be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the utility model discloses a multiaxis manipulator controller based on ZYNQ, including ZYNQ chip platform circuit board, metal covering 19 and metal bottom plate 20, ZYNQ chip platform circuit board includes mainboard 7, driver interface board 6, and the main interface of ARM processor system part has outer DD31GB memory that expands, two USB2.0 interfaces 16, SD card 3, two RS232 serial ports 11, one gigabit ethernet port 17 and 2.4G WIFI module 14, and the main interface of field programmable logic unit FPGA part has VGA display interface 18, two RS232 serial ports 11, three gigabit ethernet port 17, RTC clock, 16 way isolated

general input interface

13, 16 way isolated general output interface 12, power input interface 9 and switch 8.

The VGA display interface and the two USB2.0 interfaces are used for connecting a display and a mouse keyboard to realize the human-computer interaction of the multi-axis manipulator controller, in addition, 2.4G WIFI can be used for connecting a tablet personal computer to realize more flexible human-computer interaction, and the SD card is used for storing system files;

the R232 serial port is used for serial port communication between the manipulator controller and the motor driver;

the gigabit Ethernet port of the ARM processing system part in the four gigabit Ethernet ports is used as a universal Ethernet port and can be connected with a network cable to realize equipment networking, and the gigabit Ethernet port partially expanded by the field programmable logic unit FPGA can be used for connecting equipment of the Ethernet port to carry out communication;

the RTC clock is used to provide system real time. The 16-path isolated general input/output interface is used for connecting equipment such as an electromagnetic valve, a relay and the like in industrial control;

the servo driver interface board is used for connecting the servo drivers, 8 interfaces are arranged on the interface board, and at most 8 motor drivers can be connected.

In this embodiment, eight copper pillars 1 are fixedly mounted on the bottom surface of the main board 7, the metal bottom plate 20 is connected with screw holes on the bottom surface of the copper pillars 1 through screws, the servo driver interface board 6 is fixed on the main board 7 through the connector 5, eight motor driver connectors 15 are mounted on the surface of the servo driver interface board 6, and each motor driver connector 15 has a corresponding indicator light 2; the external expansion DD31GB internal memory, the two USB2.0 interfaces 16, the SD card 3, the four RS232 serial ports 11, the four gigabit Ethernet ports 17, the 2.4 GWIFII module 14, the VGA display interface 18, the RTC clock, the 16-path isolation type universal input interface 13, the 16-path isolation type universal output interface 12, the power input interface 9 and the power switch 8 are all welded and fixed on the mainboard 7.

In this embodiment, the metal cap 19 is covered on the upper end of the ZYNQ chip platform circuit board, and the metal cap 19 is fixed on the servo driver interface board 6 by screws.

In this embodiment, a heat dissipation fan is fixedly installed at the center of the bottom surface of the main board 7 through two screws and nuts.

In this embodiment, the edges of the two sides of the metal base plate 20 are all arranged in an "L" shape, and four mounting holes are arranged on the edges of the metal base plate.

In this embodiment, more than one heat dissipation holes are formed in the center of the metal base plate 20.

In the embodiment, the ZYNQ chip integrates a dual-core ARM Cortex-A9 processor and a field programmable logic unit FPGA.

(1) The ARM processor system part runs a Linux system as an upper computer and mainly processes three functions: human-machine interaction, peripheral device communication, and motion planning. The human-computer interaction processed by the ARM processor system has two ways, one is to perform operations such as software interface display and control in a mode of connecting a display and a mouse and a keyboard. One is to connect to the tablet computer by way of WIFI hotspot for software interface display and control. The multi-axis manipulator controller has the characteristics of flexible and various man-machine interaction modes. The peripheral device communication processed by the ARM processor system part mainly comprises serial port communication with the servo driver and network communication with external Ethernet equipment. The ARM processor system part processes the motion plan which is the main task of the ARM processor. The motion planning mainly comprises speed control and position track control of a servo motor, and sends corresponding commands to a motion control IP core of the FPGA part.

(2) The FPGA part of the field programmable logic unit is used for expanding a peripheral interface and mounting a motion control IP core control servo driver, and functional modules with different functions can be added to the FPGA part of the field programmable logic unit. The integrated design environment Vivado of the sailing provides IP cores with a plurality of common functions, meets the general functional requirements, and can also be added with a self-defined IP to realize the functions with specific requirements. The IP cores are communicated and interacted with data through an AXI bus in a chip and an ARM processor of a processor system part, connection does not need to be concerned in specific design, and after the IP cores are added into an integrated design environment Vivado, the system can automatically use the AXI interface to connect the IP cores and the ARM processor. Therefore, the FPGA part of the field programmable logic unit can flexibly expand the required interfaces and functions by using the IP core of the saint and the self-defined IP core, and the transplantation is very convenient; the Ethernet IP core realizes the expansion of a gigabit Ethernet port; the serial port IP checks the expansion of the serial port; a self-defined RTC IP is added to realize the acquisition of real-time and provide time for a Linux system; and a self-defined motion control IP is added and used for receiving and executing a command control servo driver of an ARM processor of the upper computer and receiving and processing the enabling and alarming functions of the servo driver and the feedback signal of the encoder.

(3) The ARM processing of the processor system part is responsible for motion planning, mainly comprises speed control and position track control of a servo motor, and then sends commands to the motion control IP core of the FPGA part, the self-defined motion control IP core receives and executes the commands of the ARM processor, sends pulse signals to a servo driver through a servo driver interface board to control the motion of the motor, an encoder on the motor feeds back signals to the motion control IP core through the servo driver interface board, and then the signals are transmitted to the ARM processor of the processor system part through an AXI bus to achieve closed-loop servo motor control.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the creative work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a multiaxis manipulator controller based on ZYNQ which characterized in that: the ZYNQ chip platform circuit board comprises a mainboard and a driver interface board; the ZYNQ chip integrates a dual-core ARMCortex-A9 processor and a field programmable logic unit FPGA, and main interfaces of an ARM processor system part comprise an externally-expanded DD31GB memory, two USB2.0 interfaces, an SD card, two RS232 serial ports, a gigabit Ethernet port and a 2.4G WIFI module; the main interfaces of the FPGA part of the field programmable logic unit are a VGA display interface, two RS232 serial ports, three kilomega Ethernet ports, an RTC clock, a 16-path isolated universal input interface, a 16-path isolated universal output interface and a power input interface, and the ZYNQ chip realizes high-speed communication and data interaction between the ARM processor and the FPGA through an AXI bus in a chip.

2. The ZYNQ-based multi-axis robot controller of claim 1, wherein: eight copper columns are installed on the bottom surface of the main board, the metal bottom board is connected with the eight copper columns through screws, the servo driver interface board is fixed on the main board through two connectors, eight motor driver connectors are arranged on the surface of the servo driver interface board, and each motor driver connector is provided with a corresponding indicator light; the external expansion DD31GB internal memory, two USB2.0 interfaces, the SD card, four RS232 serial ports, four gigabit Ethernet ports, a 2.4G WIFI module, a VGA display interface, an RTC clock, a 16-path isolated universal input interface, a 16-path isolated universal output interface and a power input interface are all welded and fixed on the mainboard.

3. The ZYNQ-based multi-axis robot controller of claim 1, wherein: the metal cover is arranged at the upper end of the ZYNQ chip platform circuit board and is fixed on the servo driver interface board through screws.

4. The ZYNQ-based multi-axis robot controller of claim 1, wherein: the center of the bottom surface of the main board is fixedly provided with a cooling fan through two screws and nuts.

5. The ZYNQ-based multi-axis robot controller of claim 1, wherein: the edges of the two sides of the metal bottom plate are arranged in an L-shaped structure, and four mounting holes are formed in the edges of the metal bottom plate.

6. The ZYNQ-based multi-axis robot controller of claim 1, wherein: more than one heat dissipation hole is arranged at the center of the metal bottom plate.