CN216565211U

CN216565211U - KUKA robot data acquisition equipment

Info

Publication number: CN216565211U
Application number: CN202123138674.2U
Authority: CN
Inventors: 斯晓强; 窦建中
Original assignee: Huzhou Yaobei Intelligent System Co ltd
Current assignee: Huzhou Yaobei Intelligent System Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-05-17
Anticipated expiration: 2031-12-14

Abstract

The utility model discloses a KUKA robot data acquisition device, which comprises a microcontroller STM 32; the microcontroller STM32 acquires data of the KUKA robot through an ECAT slave station management chip; the microcontroller STM32 displays the working state of the equipment through the indicator light module, and the microcontroller STM32 performs voltage regulation and power supply through the power management chip; the microcontroller STM32 transmits the acquired data of the KUKA robot to the cloud server through the network module; and the microcontroller STM32 is electrically connected with the USB interface. The communication between the ECAT slave station equipment and the KUKA robot is realized by the cooperation of the microcontroller STM32 and the ECAT slave station management chip; collecting robot data and uploading the robot data to a cloud; the KUKA robot does not need extra hardware or software installation package service, and the universality of the equipment is improved.

Description

KUKA robot data acquisition equipment

Technical Field

The utility model belongs to the technical field of industrial equipment, and particularly relates to KUKA robot data acquisition equipment.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like; the KUKA brand KRC4 type robot is widely used among industrial robots.

EtherCAT (Ethernet for Control Automation Technology) is a real-time industrial field bus communication protocol based on the development framework of Ethernet, which was introduced into the market in 2003, became an international standard in 2007, and became a chinese national standard in 2014. The advent of EtherCAT sets forth new standards for real-time performance and topology flexibility of systems.

Among the many protocols supported by the KUKA robot, the use of the protocols generally requires the provision of additional hardware or software service packages.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide data acquisition equipment for a KUKA robot, which realizes communication between ECAT slave station equipment and the KUKA robot by arranging a microcontroller STM32 and an ECAT slave station management chip in a matching manner; the microcontroller STM32 realizes slave station management of the ECAT and receiving and sending of communication data flow by reading and writing corresponding register data of the ECAT slave station management chip; collecting robot data and uploading the robot data to a cloud; the KUKA robot does not need extra hardware or software installation package service, and the universality of the equipment is improved.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

the utility model relates to a KUKA robot data acquisition device, which comprises a microcontroller STM 32; the microcontroller STM32 is electrically connected with the ECAT slave station management chip, the power supply management chip and the indicator light module respectively; the microcontroller STM32 acquires data of the KUKA robot through an ECAT slave station management chip; the microcontroller STM32 displays the working state of the equipment through an indicator light module, and the microcontroller STM32 performs voltage regulation and power supply through a power management chip; the microcontroller STM32 transmits the acquired data of the KUKA robot to the cloud server through the network module; the microcontroller STM32 is also electrically connected with a USB interface.

Further, the ECAT slave station management chip adopts an AX58100 chip;

the ECAT slave station management chip is also respectively connected with an EEPROM module and two RJ45 network ports;

the ECAT slave station chip stores configuration parameters through an EEPROM module;

the ECAT slave station chip transmits ECAT slave station management and communication data flow through two RJ45 network ports; the two RJ45 interfaces connected with the ECAT slave station management chip are respectively used as an IN port and an OUT port on an ECAT bus;

the microcontroller STM32 performs slave station management and data communication of ECAT by reading and writing corresponding register data of the AX 58100.

Further, the network module comprises an Ethernet module, a WIFI module, a 4G module and a 5G module.

Further, the ethernet module adopts a W5500 network protocol stack chip; microcontroller STM32 passes through SPI interface connection W5500 network protocol stack chip, and the rethread transformer chip converts to the RJ45 interface that is used for the MODBUS TCP communication between equipment.

Further, the microcontroller STM32 is connected with the 4G and WIFI module through a UART interface.

Further, the microcontroller STM32 is connected to the 5G module through a USB interface.

Further, the microcontroller STM32 controls an indicator light module through a GPIO pin, and the indicator light module is used for displaying the working state of the equipment.

Further, serial port data of the microcontroller STM32 is converted into USB data through a CH340 chip.

The utility model has the following beneficial effects:

the communication between the ECAT slave station equipment and the KUKA robot is realized by the cooperation of the microcontroller STM32 and the ECAT slave station management chip; the microcontroller STM32 realizes slave station management of the ECAT and receiving and sending of communication data flow by reading and writing corresponding register data of the ECAT slave station management chip; collecting robot data and uploading the robot data to a cloud; the KUKA robot does not need extra hardware or software installation package service, and the universality of the equipment is improved.

Of course, it is not necessary for any product in which the utility model is practiced to achieve all of the above-described advantages at the same time.

Drawings

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

FIG. 1 is a system block diagram of a KUKA robot data acquisition device;

fig. 2 is a circuit diagram of an ECAT slave station management chip;

fig. 3 is a circuit diagram of a W5500 network protocol stack chip.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1, the present invention is a KUKA robot data acquisition device, including a microcontroller STM 32; the microcontroller STM32 is electrically connected with the ECAT slave station management chip, the power supply management chip and the indicator light module respectively; the microcontroller STM32 communicates with the KUKA robot through an ECAT protocol to acquire robot data; and the microcontroller STM32 sends the acquired data to the cloud end through an MQTT protocol.

The microcontroller STM32 acquires data of the KUKA robot through an ECAT slave station management chip; the ECAT slave station management chip adopts an AX58100 chip; the ECAT slave station management chip is also respectively connected with an EEPROM module and two RJ45 network ports; the ECAT slave station chip stores configuration parameters through an EEPROM module; the ECAT slave station chip transmits ECAT slave station management and communication data flow through two RJ45 network ports; the two RJ45 interfaces connected with the ECAT slave station management chip are respectively used as an IN port and an OUT port on an ECAT bus; the microcontroller STM32 carries out slave station management and data communication of ECAT by reading and writing the data of the corresponding register of the AX 58100; the device also provides an xml file as an ECAT slave device for the ECAT master device to scan for connection to the device.

The microcontroller STM32 displays the working state of the equipment through the indicator light module, the microcontroller STM32 controls the indicator light module through the GPIO pin, the indicator light module is 5 LED indicator lights with different colors, and the different colors respectively represent different meanings, including a power supply state, an equipment running state, an ECAT communication connection state, an MODBUS communication state and equipment faults;

the microcontroller STM32 performs voltage regulation and power supply through a power management chip; the power supply chip of the power supply management chip adopts TPS 54331; the power management chip converts the input 7V-28V high voltage into 5V or 3.3V voltage to supply power for the device chip and the element circuit, wherein the 5V voltage is converted into 3.3V through AMS 1117.

The microcontroller STM32 transmits the acquired data of the KUKA robot to the cloud server through the network module; the network module comprises an Ethernet module, a WIFI module, a 4G module and a 5G module; the Ethernet module adopts a W5500 network protocol stack chip; the microcontroller STM32 is connected with a W5500 network protocol stack chip through an SPI interface and then is converted into an RJ45 interface for MODBUS TCP communication between equipment through a transformer chip; the microcontroller STM32 is connected with the 4G module and the WIFI module through a UART interface; the microcontroller STM32 is connected to the 5G module via a USB interface.

The microcontroller STM32 is also electrically connected with a USB interface; serial port data of the microcontroller STM32 is converted into USB data through a CH340 chip; the PC is convenient to debug by connecting the MiniUSB line with the gateway equipment.

Example two:

as shown in fig. 2, the ECAT slave station management chip in this embodiment is an SOC chip AX 58100; the AT24C64 is an EEPROM chip, pins 61-63 of the SOC chip are connected with the EEPROM chip for storing configuration parameters, and the configuration parameters are obtained from the EEPROM for use after power-on initialization;

pins 19-21 of the SOC chip are connected with an indicator light module, and the indicator light module is used for indicating the current running state of the chip.

Pins

23,24,25,26,35,36,37 and 38 of the SOC chip are connected with an ethernet port transformer, i.e., an RJ45 port. And other pins of the SOC chip are connected with the microcontroller STM32, and memory sharing is realized with the microcontroller STM 32. And the microcontroller STM32 controls the SOC chip to realize the communication of the ECAT slave station and the data transmission.

Example three:

as shown in fig. 3, the present embodiment is a W5500 network protocol stack chip; the W5500 network protocol stack chip is communicated with the microcontroller STM32 through an SPI protocol interface; the 1,2,5 and 6 pins of the W5500 network protocol stack chip are connected to an ethernet port transformer, i.e., an RJ45 network port.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the utility model to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. The KUKA robot data acquisition equipment is characterized by comprising a microcontroller STM 32;

the microcontroller STM32 is electrically connected with the ECAT slave station management chip, the power supply management chip and the indicator light module respectively;

the microcontroller STM32 acquires data of the KUKA robot through an ECAT slave station management chip; the microcontroller STM32 displays the working state of the equipment through an indicator light module, and the microcontroller STM32 performs voltage regulation and power supply through a power management chip;

the microcontroller STM32 transmits the acquired data of the KUKA robot to the cloud server through the network module;

the microcontroller STM32 is also electrically connected with a USB interface.

2. The KUKA robot data collecting device of claim 1, wherein the ECAT slave station management chip is ASAX 58100;

3. The KUKA robot data collection device of claim 1, wherein the network module comprises an Ethernet module, a WIFI module, a 4G module and a 5G module.

4. The KUKA robot data collecting device of claim 3, wherein the Ethernet module employs a W5500 network protocol stack chip; microcontroller STM32 passes through SPI interface connection W5500 network protocol stack chip, and the rethread transformer chip converts to the RJ45 interface that is used for the MODBUS TCP communication between equipment.

5. The KUKA robot data collecting device of claim 3, wherein the microcontroller STM32 is connected with the 4G and WIFI modules through UART interfaces.

6. The KUKA robot data collecting device according to claim 3, wherein the microcontroller STM32 is connected to the 5G module through a USB interface.

7. The KUKA robot data collecting device of claim 1, wherein the microcontroller STM32 controls the indicator light module through GPIO pins, and the indicator light module is used for displaying the working state of the device.

8. The KUKA robot data collecting device as claimed in claim 6, wherein the serial port data of the microcontroller STM32 is converted into USB data by a CH340 chip.