CN211375366U

CN211375366U - Robot controller

Info

Publication number: CN211375366U
Application number: CN202020008169.2U
Authority: CN
Inventors: 高志华; 王松柏; 王广炎; 何烽光
Original assignee: Hefei Sineva Intelligent Machine Co Ltd
Current assignee: Hefei Sineva Intelligent Machine Co Ltd
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2020-08-28
Anticipated expiration: 2030-01-02

Abstract

The utility model discloses a robot controller for collect control function and demonstration function in an organic whole, later maintenance and function extension can be convenient for, design and manufacturing cost are reduced. The controller includes: a processor, a memory connected to the processor, and a first interface, wherein the memory is used for storing the calculation tasks of the robot and the teaching tasks for teaching the robot; the processor is used for executing the calculation tasks and the teaching tasks stored in the memory; the first interface is used for connecting one or more of an Ethernet control automation technology EtherCAT bus servo driver and an I/O module.

Description

Robot controller

Technical Field

The utility model relates to an industrial control technical field especially relates to a robot controller.

Background

At present, when a robot controller and a demonstrator are installed and operated, the controller occupies more position space in a robot cabinet body, and is difficult to be applied to application scenes with limited requirements on the volume of the robot cabinet body, and inconvenience is also caused to technical staff for field installation or carrying, and if a small number of controllers and the demonstrator occupying space volume are purchased, the controller and the demonstrator are difficult to be applied to application scenes with limited requirements on cost. In addition, when teaching is performed on the robot, the controller and the demonstrator need to communicate and can be connected in a wired communication mode or in a wireless communication mode, so that the types of the demonstrator capable of matching the interface type, the model and the wireless communication protocol of the controller are limited, and the complexity and the cost in design are increased.

Therefore, a solution that is simple to install, convenient to maintain and carry in the later period, convenient to expand in the non-standard automation application, and capable of reducing the design and production costs without losing the performance is urgently needed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot controller for collect control function and demonstration function in an organic whole, later maintenance and function extension can be convenient for, design and manufacturing cost can be reduced simultaneously.

An embodiment of the utility model provides a robot controller, the controller includes: the robot teaching system comprises a processor, a memory and a first interface, wherein the memory is connected with the processor and is used for storing a calculation task of the robot and a teaching task for teaching the robot;

a processor for executing the calculation tasks and the teaching tasks stored in the memory;

the first interface is used for connecting one or more of an Ethernet control automation technology EtherCAT bus servo driver and an I/O module.

In one possible embodiment, the controller further comprises:

and the display screen is connected with the processor through a GPU display chip and is used for displaying an interface when executing and modifying the calculation task and the teaching task.

In one possible embodiment, the display screen is a touch screen, and the controller further includes:

and the touch screen control chip is connected with the processor and used for identifying the position of the touch operation received by the touch screen in the touch screen.

In one possible embodiment, the controller further comprises:

and the button is connected with the processor and used for inputting a control command.

In one possible embodiment, the controller further comprises:

and the voltage conversion unit is connected with the processor and is used for converting the external voltage into the working voltage of the processor.

In one possible embodiment, the controller further comprises:

a second interface, connected with the processor, for connecting one or more of the following devices: diagnostic and maintenance equipment, vision acquisition equipment, system upgrade equipment or editable logic controller PLC equipment.

In one possible embodiment, the controller further comprises:

and the third interface is connected with the processor and is used for connecting upgrading equipment for upgrading the controller.

In one possible implementation, the memory includes a plurality of types: the Flash memory comprises a non-volatile memory Nor Flash, an embedded memory eMMC, a ferroelectric memory FRAM and a double data rate synchronous dynamic memory DDR.

In one possible embodiment, the controller further comprises:

and the radiating fin is attached to the surface of the processor and used for radiating heat of the processor.

In one possible implementation, the processor and the memory chip are integrated on the same side of the single board, and the side adjacent to the other single board is not wired.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention and are not to constitute an undue limitation on the invention.

Fig. 1 is a schematic diagram illustrating a configuration of a robot controller according to an exemplary embodiment.

Fig. 2 is a schematic diagram of a robot controller with a housing according to an exemplary embodiment.

Fig. 3 is a schematic diagram of a circuit board structure of a robot controller according to an exemplary embodiment.

Fig. 4 is a block diagram of a robot controller according to an exemplary embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, 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 efforts belong to the protection scope of the present invention.

The embodiment of the utility model provides an application scene of description is for clearer explanation the utility model discloses the technical scheme of embodiment does not constitute to the utility model discloses the technical scheme's that the embodiment provides is injectd, and ordinary technical staff in the art can know, along with the appearance of new application scene, the utility model provides a technical scheme is applicable to similar technical problem equally. In the description of the present invention, the term "plurality" means two or more unless otherwise specified.

As shown in fig. 1, a robot controller includes: the robot teaching system comprises a processor, a memory and a first interface, wherein the memory is connected with the processor and is used for storing a calculation task of the robot and a teaching task for teaching the robot; a processor for executing the calculation tasks and the teaching tasks stored in the memory; the first interface is used for connecting one or more of an Ethernet control automation technology EtherCAT bus servo driver and an I/O module.

In particular, the processor 101 may be any processor with a 64-bit multi-core structure with a lowest dominant frequency of 1.6 GHz. The processor 101 may perform control robot calculation tasks and teach (function) tasks such that the controller functions as a prior art controller and teach pendant. Moreover, one high-performance processor can reduce the design and production cost, is convenient for field technicians to install, maintain and carry in the later period, and can be more convenient for the function expansion of the non-standard automation application field.

In addition, the surface of the processor can be pasted with a radiating fin for radiating the processor.

In a practical scenario, the memory 102 includes any one or more of the following types: the flash memory comprises a non-volatile memory NorFlash, an embedded memory eMMC, a ferroelectric memory FRAM and a double data rate synchronous dynamic memory DDR.

The memory 102 may be a double data rate synchronous dynamic random access memory DDR, for example, a fourth generation double data rate synchronous dynamic random access memory DDR4, a non-volatile memory Nor Flash, or an embedded memory eMMC. The memory may have stored therein program code for controlling robot computation tasks and program code for teaching robot computation tasks, for example, for controlling robot computation tasks and for teaching robot computation tasks.

The first interface (group) 103 may support a gigabit ethernet interface, and may be implemented as a physical layer to connect an EtherCAT bus servo driver and an I/O module (both the application layer and the data link layer are implemented in a processor). The controller can carry an open industrial Linux OpenIL real-time operating system, and functions of industrial robot multi-axis industrial bus control, remote management configuration and the like are achieved.

In a possible implementation manner, the controller further comprises a display screen, which is connected with the processor through a Graphic Processing Unit (GPU) display chip and is used for displaying an interface when the calculation task and the teaching task are executed and modified.

In an implementation, the controller display 104 may be a liquid crystal display, and the processor 101 may be connected to a display chip 105, such as a Graphics Processing Unit (GPU), through a localbus bus. The display chip 105 is connected to a Synchronous Dynamic Random-Access Memory (SDRAM) to quickly perform screen refresh on the external display Memory. The display chip 105 may be connected to the display screen 104 through a Low-Voltage Differential Signaling (LVDS) interface.

The interfaces for executing the control robot calculation task and the teaching robot task, such as task execution progress, task execution status, parameter setting, etc., can be visually seen through the display screen 104. In a practical application scenario, the display chip 105 may also be connected to an external display screen through a color mode interface (RGB interface).

In specific implementation, the touch screen control chip 106 is connected to the processor 101, and is configured to recognize coordinates of a touch point of a user on the display screen 104, and assist the processor 101 in determining a command input or a selection instruction of the user through the touch screen.

In one possible embodiment, the controller further comprises:

In particular, button 107 is coupled to processor 101, such as a crash stop button, a mode switch button, a key lock button, a control button, and the like. The trigger signal is different when the button is pressed and not pressed, and the processor 101 inputs a signal through the button 107 to determine a user input command or a selection instruction.

In one possible embodiment, the controller further comprises:

In specific implementation, the power conversion unit 108 may convert an external voltage into a processor operating voltage, may include a power management chip, and may further include a DC/DC voltage reduction chip for converting a high-voltage (low-voltage) DC power into a low-voltage (high-voltage) DC power.

In one possible embodiment, the controller further comprises:

In specific implementation, the function of the Controller based on the internet interface is expanded, and the remote diagnosis and maintenance device, the visual acquisition device, the system upgrade device, or the Programmable Logic Controller (PLC) device may be connected through the second interface 109.

In one possible embodiment, the controller further comprises:

and the third interface is connected with the processor and is used for connecting equipment for upgrading the controller.

In an implementation, the third interface 110 may be a Universal Serial Bus (USB) interface, for example, a USB host interface, and a device for upgrading a controller, for example, a USB disk, may be connected through the third interface 110.

In one possible implementation, the processor and the memory chip are integrated on the same surface of the single board, and the adjacent surface of the single board is not wired.

In specific implementation, as shown in fig. 2, when the circuit board (main control board) where the processor 201 and the memory 202 are located and other boards are installed, a parallel structure mode is adopted. In order to reduce the area of the single board to the maximum extent, the interfaces of the controller are intensively placed on two adjacent edges of the circuit board (main control board).

As shown in fig. 2, when the main control board performs the stack design, it needs to be reasonably planned. The number of laminated layers can be controlled within a preset value on the premise of ensuring the integrity of signals, the deformation risk of the single plate is reduced, and the thickness of the main control plate is controlled to be about 2 mm. Because the key core devices of the controller, such as the processor, the DDR4, the eMMC, the FRAM, and the like, are all placed on the TOP layer 203, the BOTTOM layer 204 surface of the board is directly adjacent to other boards, no routing processing is performed on the BOTTOM layer 204 of the board, and the surface of the BOTTOM layer 204 is processed by paving a copper sheet, so as to achieve a better shielding effect. All the traces are distributed on the TOP layer 203 and the inner trace layer. The inner routing layer completes processing of key signal lines, all adjacent layers of the signal layers have complete reference stratums, and the power supply layer is adjacent to the stratums, so that better signal and power supply integrity effects are achieved, and the improvement of integrity and electromagnetic compatibility of single-board signals and power supplies is realized.

In one possible embodiment, the controller further comprises a plurality of indicator lights connected to the processor for prompting the status of the computing task and the teaching task when the computing task and the teaching task are performed.

As shown in fig. 3, the indicator light of the controller may be disposed at one side of the display screen, and the controller may further include a housing 301 and a handle 302. Fig. 3 shows a distribution of elements of a robot controller according to an embodiment of the present invention. The processor and the memory of the robot controller are arranged inside the shell 301, the controller further comprises 3 buttons 303 (respectively, a mode switch button, an emergency stop button and a lower side control switch button), 1 touch display screen 304, a plurality of status indicator lamps 305, 1 handle wrist strap 302, 1 group of first interfaces 306(EtherCAT, ethernet, mode switching, emergency stop switch control and power supply interfaces), 1 USB host interface 307, 2 other gigabit ethernet interfaces 308 and 1 key lock 309. The microprocessor inside the key lock 309 is connected to the processor of the controller.

As shown in fig. 4, fig. 4 is a schematic diagram of a robot controller, which includes a processor, a memory, and a peripheral related interface.

The processor is a 64-bit multi-core processor 401, for example, cores such as core-A53 and core-A72, and the lowest dominant frequency is 1.6 GHz. The processor 401 may support DDR4 SDRAM while supporting double bit error detection and single bit error correction techniques, and the processor may utilize multiple execution cores to perform more tasks at a given time by partitioning task-line programs. The memory 402 may be a non-linear memory Nand Flash and eMMC memory, a parallel ferroelectric memory FRAM, or a non-volatile magnetic random access memory (e.g., MRAM memory) that may store information such as Json configuration data, teaching parameters and P variables, and an error history file. The localbus bus interface of the processor 401 CAN be used to connect the ferroelectric memory, the GPU display chip 403, the CAN controller 404, the Complex Programmable Logic Device (CPLD), and other peripheral chips.

The memory 402 of the controller can be Nor Flash, eMMC, FRAM or a nonvolatile magnetic random access memory MRAM, the Nor Flash stores uboot and an inner core, other file systems and other large files are put in the eMMC, and due to the fact that the eMMC does not need a processor to process bad block management, pins and pins of eMMC chips with different capacities are compatible, upgrading is convenient, and version changing is not needed. When the controller uses the FRAM, the controller also has the advantages of high read-write durability, high-speed write and no data loss after power failure.

The first interface 405 of the controller may be a gigabit media independent interface RGMII. The controller is connected with the EtherCAT bus servo driver, the remote I/O module and other equipment through the first interface, the gigabit Ethernet chip and the Ethernet transformer.

The controller may also include a second Interface 406, which may be a Quad Serial Gigabit Media Independent Interface (QSGMII). The controller is connected with the remote diagnosis and maintenance equipment, the vision acquisition equipment, the PLC equipment and the system upgrading equipment through the gigabit Ethernet chip and the Ethernet transformer.

The processor 401 may have a temperature sensor therein, and may monitor the temperature of the processor chip in real time, and the surface of the processor may be attached with a heat sink, and whether a fan is used or not may be considered according to the heat dissipation effect of the heat sink in the controller.

The processor 401 communicates with the GPU display chip 403 through the localbus bus, and the GPU display chip 403 supports up to 512M-bit (16-bit wide) to the external memory SDRAM 407, so as to quickly perform screen refresh on the external display memory, and also provide a high-efficiency bandwidth 16-bit asynchronous parallel main control terminal interface, which can provide multiple sections of buffer sections of the display memory, transparency control, display rotation mirror image, and other functions. The GPU display chip 403 may be connected to a display 408, for example, a TFT liquid crystal display. The GPU display chip can be connected with the TFT display screen through a lvds interface or an RGB interface.

When the display screen 408 is a touch display screen, the processor 401 is further connected to a touch screen control chip 409 for identifying a position of a touch operation received by the touch screen in the touch screen, and the processor 401 can determine a user input command or instruction through the position.

The controller further comprises a plurality of buttons 410, and the buttons 410 are connected with the processor 401 and used for inputting control instructions, such as a power-on/off button and an emergency stop button. The configuration input control instruction can be realized by configuring a button triggering mode according to an actual application scene. For example, a certain button is pressed for 5 seconds for a long time, and the button is pressed once to input an instruction for locking the screen, which is not limited by the embodiment of the present invention. The surface of the button 410 has waterproof and dustproof functions, and meanwhile, a plurality of status indicator lamps are arranged in a button area, so that the status can be prompted conveniently and visually.

The controller further comprises a Real Time Clock (RTC) chip 411, power supply of the RTC chip 411 can be connected with the RTC chip through a battery 412 (for example, a button battery), the RTC chip 411 is connected with the processor 401 through an I2C bus, power consumption of the RTC chip 411 is low, two power supply forms of a lithium ion button battery and a system 3.3V power supply are adopted, and the RTC chip is automatically switched to the battery for power supply after power failure. The controller may also be coupled to a crystal oscillator 414(oscillator) via a Phase Locked Loop (PLL) clock generator 413 to provide an associated clock signal to the processor 401.

The embodiment of the utility model provides an in the robot controller can use 24V input voltage, through one or more DCDC chip 415, converts input voltage into the operating voltage of treater, and DCDC chip 415 is connected with treater 401 through power management chip 416, and DCDC chip 415 can also be other component operating voltage in the controller with input voltage conversion. In different application scenarios, the controller may also use different input voltages, and the 24V input voltage in the embodiment of the present invention is only used for illustration, and is not limited thereto.

The controller can also comprise an RS232 interface 417 and an RS485 interface 418 and is connected with the processor through an RS232 interface chip 419 and an RS485 interface chip 420.

In addition, when the system is upgraded and maintained, the system can be realized through the USB host interface 420 and the gigabit ethernet interface 406. The USB host interface can be connected with a USB flash disk for upgrading, a user can conveniently check the upgrading process through a display screen 408, the user can select the upgrading process through a button 410 or a screen touch function, and the USB host interface can be connected with a Personal Computer (PC) through a gigabit Ethernet interface 406 for upgrading and maintaining.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A robot controller, characterized in that the controller comprises: a processor, a memory coupled to the processor, and a first interface, wherein,

the memory is used for storing a calculation task of the robot and a teaching task for teaching the robot;

the processor is used for executing the calculation tasks and the teaching tasks stored in the memory;

2. The controller of claim 1, further comprising:

and the display screen is connected with the processor through a GPU display chip and is used for displaying an interface when the calculation task and the teaching task are executed and modified.

3. The controller of claim 2, wherein the display screen is a touch screen, the controller further comprising:

4. The controller of claim 2, further comprising:

5. The controller of claim 1, further comprising:

6. The controller of claim 1, further comprising:

a second interface, connected to the processor, for connecting one or more of the following devices: diagnostic and maintenance equipment, vision acquisition equipment, system upgrade equipment or editable logic controller PLC equipment.

7. The controller of claim 1, further comprising:

8. The controller of claim 1, wherein the memory comprises a plurality of types: the Flash memory comprises a non-volatile memory Nor Flash, an embedded memory eMMC, a ferroelectric memory FRAM and a double data rate synchronous dynamic memory DDR.

9. The controller of claim 1, further comprising:

and the radiating fin is attached to the surface of the processor and used for radiating the heat of the processor.

10. The controller according to any one of claims 1 to 9, wherein the processor and the memory chip are integrated on a same side of a single board, and a side of the single board where the processor and the memory chip are not integrated is not wired.