CN218547295U - Industrial controller capable of being used for various buses and control system thereof - Google Patents

Industrial controller capable of being used for various buses and control system thereof Download PDF

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CN218547295U
CN218547295U CN202222382691.9U CN202222382691U CN218547295U CN 218547295 U CN218547295 U CN 218547295U CN 202222382691 U CN202222382691 U CN 202222382691U CN 218547295 U CN218547295 U CN 218547295U
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bus
module
main control
control module
industrial controller
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魏兴峰
甘中学
陈益飞
乔利锋
胡林强
赵东阳
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Zhichang Technology Group Co ltd
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Zhichang Technology Group Co ltd
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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The utility model belongs to the technical field of industrial automation control, concretely relates to industrial controller and control system who can be used to multiple bus. The utility model discloses a casing, the control system who sets up at inside host system, steering engine control module, compilation and motion control ware GRBL functional module of casing and CAN bus module collects PLC function, robot motion control ware function, vision controller function, edge calculation module as an organic whole, reduces the cost of controller on the whole. The industrial controller CAN control the electrical elements of the CAN bus, the EtherCAT bus, the ProfiNet bus and the Modbus485-RTU bus, has high applicability, does not need an external compatible module, and is simple to use.

Description

Industrial controller capable of being used for various buses and control system thereof
Technical Field
The utility model belongs to the technical field of industrial automation control, concretely relates to industrial controller and control system who can be used to multiple bus.
Background
At present, equipment in charge of equipment control functions in the automation field mainly takes a PLC (programmable logic controller) as a main part, an electrical engineer controls the rotation of a servo or stepping motor by the PLC, and accurate position control is realized by combining mechanical modules such as a screw rod slide rail and the like. With the continuous upgrading of the industry and the popularization of intelligent manufacturing technology in recent years, robot motion controllers, machine vision and edge computing modules are widely used, but the existing PLC industrial equipment controllers have the following problems:
the PLC is only suitable for electrical elements of one bus, has strict matching requirements on the drive of a motor or other electrical elements, and is difficult to realize cross-brand compatibility of the PLC and other electrical elements;
the existing PLC generally can not directly realize data acquisition of an enterprise internal network system, and a data penetration module is required to be installed to realize the data acquisition function of the enterprise internal network;
the product which can not smoothly and efficiently butt joint the machine vision is difficult to accept the deviation correction calculation result from the vision, needs to compile complex codes, is troublesome to operate, has higher price, and can not be directly used for the ordinary low-price non-standard automatic planning station.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the electric element of the industrial controller that exists among the prior art CAN only compatible a bus, do not possess the functional defect of machine vision and edge calculation module, provide one kind and use robot motion control ware as the basis, have PLC, machine vision, edge calculation module's function, compatible CAN bus, etherCAT, profiNet bus, four kinds of bus extensive applicability's of Modbus485-RTU industrial controller and control system simultaneously.
The utility model provides a technical scheme that its technical problem adopted is: an industrial controller applicable to various buses comprises a shell, a main control module, a steering engine control module, a GRBL function module and a CAN bus module, wherein the main control module, the steering engine control module, the GRBL function module and the CAN bus module are arranged in the shell; the shell is provided with a first wiring terminal and a second wiring terminal, and an antenna for receiving or sending signals is arranged through the shell; the shell is provided with a first network port for connecting an EtherCAT bus or a ProfiNet bus, an RSR485 serial port for connecting a Modbus485-RTU bus and a USB interface for connecting machine vision;
the first network interface realizes the switching use of an EtherCAT bus or a ProfiNet bus through different parameter settings.
Furthermore, the main control module comprises an EtherCAT bus module used for controlling an EtherCAT bus motor, a ProfiNet bus module used for controlling a ProfiNet bus motor and a CAN bus module used for controlling an electric element with a CAN bus; the Modbus485-RTU bus module realizes connection control of electrical elements of the Modbus485-RTU bus through an RSR485 serial port obtained by a basic input and output system in the main control module.
Furthermore, the device also comprises an HDMI video interface, a VGA video interface, an Ethernet port, an audio input interface and an audio output interface which are arranged on the shell.
Further, the first connecting terminal is a 24-port terminal, and the second connecting terminal is a 10-port terminal.
The control system of the industrial controller applicable to various buses comprises a main control module for controlling the control system of the industrial controller, a compiling and motion controller GRBL functional module which is in communication connection with the main control module and is used for controlling a pulse servo or a stepping motor, and a steering engine control module which is in communication connection with the main control module through a self-defined serial port and is used for controlling a steering engine;
the main control module comprises an EtherCAT bus module in communication connection with an EtherCAT bus, a ProfiNet bus module in communication connection with a ProfiNet bus, and a Modbus485-RTU bus module in communication connection with a Modbus485-RTU bus by starting a Modbus485-RTU functional port;
the main control module is in communication connection with an EtherCAT bus or a ProfiNet bus through first network ports with different parameter configurations; and the compiling and motion controller GRBL function module is in communication connection with the main control module and then is connected with the electric element through an RS232 serial port.
Furthermore, the main control module also comprises a CAN, and the bus module is in communication connection with the CAN bus electrical element through a CAN-utilis communication test tool.
Further, the master control module further comprises a vision module, and the vision module is used for inputting and outputting videos of machine vision; the vision module is connected with the machine vision equipment through a USB port.
Further, the main control module also comprises an edge calculation module for performing fault diagnosis on the equipment.
Furthermore, the main control module also comprises an OPCUA protocol and an MQTT protocol.
Furthermore, the main control module adopts a Linux-Ubuntu operating system, and an ROS platform is installed on the Linux-Ubuntu operating system.
The utility model discloses an industrial controller that can be used to multiple bus and control system's beneficial effect is:
1. the controller of the utility model comprises a first network port for realizing switching use of an EtherCAT bus or a ProfiNet bus through different parameter settings, and an EtherCAT bus module, a ProfiNet bus module and a CAN bus module which are included by a main control module, so that the industrial controller realizes connection control of electrical elements of the CAN bus, the EtherCAT bus and the ProfiNet bus; meanwhile, the main control module comprises a Modbus485-RTU bus module which is used for connecting a Modbus485-RTU bus through an RSR485 serial port, so that the connection control function of the controller on electrical elements of the Modbus485-RTU bus is realized, the utility model discloses an industrial controller can identify and control the electrical elements homoenergetic of the four buses, has higher applicability, does not need an external compatible module, and is simple to use.
2. The utility model discloses a control system collects PLC function, robot motion controller function, vision controller function, edge calculation module as an organic whole, reduces the cost of controller on the whole.
3. The utility model discloses a be provided with the ethernet mouth that is used for connecting the intranet of enterprise on the controller, can directly let enterprise's internal network system realize the collection of data, need not install data and pierce through the module, adopt self-defined serial ports to realize the control to the bus steering wheel simultaneously, and host system includes infiluxdb time sequence database simultaneously, can carry out the edge calculation to the data that produce when equipment moves, realizes the self-diagnosis of equipment, the utility model discloses a controller, control system function coverage are wide, further improvement this controller self suitability, reduce use cost.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a first perspective view of a controller according to a first embodiment of the present invention;
fig. 2 is a perspective view of a controller according to a first embodiment of the present invention from a second perspective;
fig. 3 is a control system framework diagram of a controller according to a second embodiment of the present invention;
fig. 4 is a software layer architecture diagram according to a second embodiment of the present invention.
In the figure, the device comprises a shell 1, a shell 2, a first wiring terminal 3, a second wiring terminal 4, an antenna 5, a first network port 6, an Ethernet port 7, a USB port 100, a main control module 200, a GRBL function module 300, an EtherCAT bus module 400, a ProfiNet bus module 500, a Modbus485-RTU bus module 600, a CAN bus module 700, a steering engine control module 800, a vision module 900 and an edge computing module.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
Example one
As shown in fig. 1-3, the industrial controller with wide applicability of the present invention includes a housing 1, a main control module 100, a steering engine control module 700, a GRBL function module 200, and a CAN bus module 600, which are disposed inside the housing 1; a first connecting terminal 2 and a second connecting terminal 3 are arranged on the shell 1, and an antenna 4 for receiving or sending signals is arranged through the shell 1; the housing 1 is provided with a first network port 5 for connecting an EtherCAT bus or a ProfiNet bus, an RSR485 serial port for connecting a Modbus485-RTU bus, and a USB interface for connecting machine vision, the first network port 5 realizes the switching use of the EtherCAT bus or the ProfiNet bus through different parameter settings, and the different parameter settings are well known to those skilled in the art and will not be described in detail herein. The first connecting terminal 2 is a 24-port terminal, and the second connecting terminal 3 is a 10-port terminal.
The embodiment of the utility model provides an in host system 100 adopts I7CPU treater, 8GB memory, 250G's solid state hard drives for the industry control mainboard, has 4G-GPRS function. The compiling and motion controller GRBL function module 200 is a GRBL numerical control board based on an open-source hardware module, realizes control of four stepping motors, and the USB-CAN module realizes support of a CAN bus, and is connected with the USB port 7 by adopting a direct bonding wire during installation so as to avoid interference as much as possible. The configuration of the industrial control mainboard is modified, and the Modbus485-RTU function port is started, which is the prior art, and a specific configuration description is not provided here. In this embodiment, the USB camera adopts the wide-angle camera to realize the video input of machine vision, and during installation, the USB port 7 is directly welded to avoid interference.
The industrial controller of the embodiment further comprises an HDMI video interface, a VGA video interface, an ethernet port, an audio input interface and an audio output interface which are arranged on the housing 1. The device is provided with an HDMI video interface and a VGA video interface which are used for connecting a display screen, an Ethernet port which is used for connecting an enterprise intranet, and an audio input and audio output port.
Referring to fig. 4, the main control module 100 in this embodiment adopts a Linux-Ubuntu operating system, and an ROS platform and an RTOS real-time operating system are installed on the Linux-Ubuntu operating system; the ROS platform is provided with an EtherCAT-soem master station for controlling the EtherCAT bus motor by the EtherCAT bus module 300; the ROS platform is provided with a PN-Driver protocol used for controlling a ProfiNet bus motor by the ProfiNet bus module 400; a CAN-loops communication test tool is arranged in the main control module 100 and used for controlling the electrical element with the CAN bus by the CAN bus module 600;
the Modbus485-RTU bus module 500 obtains the control of the electrical elements of the Modbus485-RTU bus through the hardware port by setting the BIOS in the main control module 100.
The EtherCAT bus module 300 depends on an open-source EtherCAT-source master station to realize control over an EtherCAT bus servo motor, the ProfiNet bus module 400 depends on an open-source PN-Driver protocol to realize control over a ProfiNet bus motor, and the CAN bus module 600 depends on a CAN-utilis communication test tool which CAN be directly obtained by a linux-Ubuntu operating system to realize control over CAN bus electrical elements by a controller.
It should be further noted that in the first embodiment, 22 of the terminal interfaces of the first connection terminal 2 are valid, and are four groups of pulse signal interfaces, a 12V power supply positive electrode, a 12V power supply negative electrode, a CAN signal H line, a CAN signal L line, an a line of the Modbus485-RTU, and a B line of the Modbus 485-RTU. 10 of the terminal interfaces of the second wiring terminal 3 are effective and respectively comprise a 5V power supply positive electrode, a 5V power supply negative electrode, a serial port TX, a serial port RX, a serial port ground, a 12V power supply positive electrode and a 12V power supply negative electrode.
Example two
The control system of the industrial controller which can be used for various buses according to the first embodiment is adopted, and as shown in fig. 3, the control system comprises a main control module 100 for controlling the control system of the industrial controller, a compiling and motion controller GRBL functional module which is in communication connection with the main control module 100 and is used for controlling a pulse servo or a stepping motor, and a steering engine control module 700 which is in communication connection with the main control module 100 through a custom serial port and is used for controlling a steering engine;
the main control module 100 comprises an EtherCAT bus module 300 in communication connection with an EtherCAT bus through an EtherCAT-home station, a Profibet bus module 400 in communication connection with a Profibet bus through a PN-Driver protocol, and a Modbus485-RTU bus module 500 in communication connection with the Modbus485-RTU bus through a function port of starting the Modbus 485-RTU;
the main control module 100 is in communication connection with an EtherCAT bus or a ProfiNet bus through the same network port with different parameter configurations; the GRBL functional module 200 is in communication connection with the main control module 100 and then is connected with the electrical element through an RS232 serial port.
Referring to fig. 3 and 4, in the present embodiment, a CAN-utilis communication test tool is disposed in the main control module 100, and the CAN-utilis communication test tool is in communication connection with the CAN bus module 600 and is used for communication control between the CAN bus module 600 and the CAN bus electrical component. Meanwhile, the main control module 100 is further provided with a vision module 800, and the vision module 800 inputs and outputs a video of machine vision through cross-platform computer vision and a machine learning software library OpenCV; the vision module 800 is connected with the machine vision through the USB port 7. The utility model discloses a host system 100 adopts Linux-Ubuntu operating system, installs the ROS platform that the opening is stronger on the Linux-Ubuntu operating system, and host system 100 embeds EtherCAT-soem master station, PN-Driver agreement and CAN-utilis realizes that this industrial controller is suitable for the electric elements of CAN bus, etherCAT bus, profiNet bus three kinds of buses; through setting up the function that obtains the hardware mouth and realize Modbus485-RTU bus module 500 to BIOS among the Linux-Ubuntu operating system, thereby realize the utility model discloses an industrial controller has higher suitability to the electric elements's of above-mentioned four kinds of buses control, does not need external compatible module, simple to use.
The NodeRed Internet of things application layer of the Linux-Ubuntu operating system comprises a Modbus communication protocol, an OPCUA framework and an MQTT communication protocol, and a PostGreSQL relation database is also built in the Linux-Ubuntu operating system.
The main control module 100 is internally provided with an edge computing module 900, and the edge computing module 900 performs fault diagnosis on the device itself through an infiluxdb time sequence database. The utility model discloses a host system 100 adopts Linux-Ubuntu operating system and is provided with the ethernet mouth 6 that is used for connecting the enterprise intranet on the controller, can directly let the collection that the internal network system of enterprise realized the data, does not need the installation data to pierce through the module, adopts self-defined serial ports to realize the control to the bus steering wheel simultaneously, and embeds simultaneously has infilxdb time sequence database, can carry out the edge calculation to the data that produce when equipment moves, realizes the self-diagnosis of equipment, the utility model discloses a controller function wide coverage, furtherly improvement this controller self suitability, reduce use cost. In this embodiment, the main control module 100 further has an OPCUA protocol and an MQTT protocol built therein, so that data acquisition is more conveniently realized, and the construction of an internet-of-machines platform is realized.
The utility model discloses a control system collects PLC function, robot motion controller function, vision controller function, edge calculation module 900 as an organic whole, reduces the cost of controller on the whole.
EXAMPLE III
For the servo butt joint mode of the EtherCAT bus, the industrial controller configures and controls internal parameters of the industrial control main board, and modifies the network port 1 into an EtherCAT functional port, the power supply voltage of the industrial controller in the second embodiment is 12V, the power supply voltage of the servo motor is 220V, and the industrial controller and the servo motor can supply power separately.
Example four
For the servo docking mode of the ProfiNet bus, the industrial controller only needs to configure and control internal parameters of the main control mainboard as in the second embodiment, and modifies the network port 1 into a ProfiNet functional port, so that the operation is simple.
EXAMPLE five
The industrial controller can be connected with four groups of pulse servo motors or stepping motors at most in the connection mode of the pulse servo motors and the stepping motors, and pulse signals are provided by a GRBL numerical control expansion board of a GRBL function module 200.
The operating system platform adopted by the main control module 100 in this embodiment is a Linux-Ubuntu operating system. And the robot motion controller part is mainly based on an ROS platform and combines a MoveIT expansion module to realize a kinematics function. This operating system can be suitable for multiple motor on the market, include: an EtherCAT bus servo motor, a Canopen-based bus motor, a pulse servo motor, a stepping motor, a bus steering engine and the like. For a motor control mode that the frequency converter is combined with a three-phase motor, the control mode can be realized by using a traditional analog quantity output or a Modbus485 bus.
It should be understood that the specific embodiments described above are only for illustrating the present invention and are not used to limit the present invention. Obvious changes or variations from the spirit of the invention are within the scope of the invention.

Claims (10)

1. An industrial controller applicable to a plurality of buses, characterized in that: the intelligent monitoring system comprises a shell (1), a main control module (100) arranged in the shell (1), a steering engine control module (700), a compiling and motion controller GRBL function module (200) and a CAN bus module (600); a first wiring terminal (2) and a second wiring terminal (3) are mounted on the shell (1), and an antenna (4) for receiving or sending signals is arranged to penetrate through the shell (1); the shell (1) is provided with a first network port (5) used for connecting an EtherCAT bus or a ProfiNet bus, an RSR485 serial port used for connecting a Modbus485-RTU bus and a USB interface used for connecting machine vision;
the first network interface (5) realizes the switching use of an EtherCAT bus or a ProfiNet bus through different parameter settings.
2. An industrial controller applicable to multiple buses according to claim 1, wherein: the main control module (100) comprises an EtherCAT bus module (300) for controlling an EtherCAT bus motor, a ProfiNet bus module (400) for controlling a ProfiNet bus motor, and a CAN bus module (600) for controlling electric elements with CAN buses;
the Modbus485-RTU bus module (500) realizes connection control of electrical elements of the Modbus485-RTU bus through an RSR485 serial port obtained by a basic input and output system in the main control module (100).
3. The industrial controller applicable to multiple buses of claim 1, wherein: the device also comprises an HDMI video interface, a VGA video interface, an Ethernet port, an audio input interface and an audio output interface which are arranged on the shell (1).
4. The industrial controller applicable to multiple buses of claim 1, wherein: the first wiring terminal (2) is a 24-port terminal, and the second wiring terminal (3) is a 10-port terminal.
5. A control system using an industrial controller applicable to various buses as claimed in any one of claims 1 to 4, characterized in that: the control system comprises a main control module (100) for controlling a control system of an industrial controller, a compiling and motion controller GRBL function module which is in communication connection with the main control module (100) and is used for controlling a pulse servo or a stepping motor, and a steering engine control module (700) which is in communication connection with the main control module (100) through a self-defined serial port and is used for controlling a steering engine;
the main control module (100) comprises an EtherCAT bus module (300) in communication connection with an EtherCAT bus, a ProfiNet bus module (400) in communication connection with a ProfiNet bus, and a Modbus485-RTU bus module (500) in communication connection with a Modbus485-RTU bus by starting a Modbus485-RTU function port;
the main control module (100) is in communication connection with an EtherCAT bus or a ProfiNet bus through first network ports (5) with different parameter configurations; the compiling and motion controller GRBL function module (200) is in communication connection with the main control module (100) and then is connected with the electrical element through an RS232 serial port.
6. The control system of an industrial controller applicable to various buses according to claim 5, characterized in that: the main control module (100) further comprises a CAN bus module (600) which is used for being in communication connection with the CAN bus electrical elements, and the CAN bus module (600) is in communication connection with the CAN bus electrical elements through a CAN-rails communication test tool.
7. The control system of an industrial controller applicable to various buses according to claim 6, characterized in that: the master control module (100) further comprises a vision module (800), the vision module (800) is used for video input and output of machine vision; the vision module (800) is connected with machine vision equipment through a USB port (7).
8. The control system of an industrial controller applicable to multiple buses according to claim 5, wherein: the main control module (100) further comprises an edge calculation module (900) for performing fault diagnosis on the equipment.
9. The control system of an industrial controller applicable to various buses according to claim 5, characterized in that: the main control module (100) further comprises an OPCUA protocol and an MQTT protocol.
10. The control system of an industrial controller applicable to multiple buses according to claim 5, wherein: the main control module (100) adopts a Linux-Ubuntu operating system, and an ROS platform is installed on the Linux-Ubuntu operating system.
CN202222382691.9U 2022-09-06 2022-09-06 Industrial controller capable of being used for various buses and control system thereof Active CN218547295U (en)

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CN202222382691.9U CN218547295U (en) 2022-09-06 2022-09-06 Industrial controller capable of being used for various buses and control system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202222382691.9U CN218547295U (en) 2022-09-06 2022-09-06 Industrial controller capable of being used for various buses and control system thereof

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