CN2884280Y - On-line bus position controller - Google Patents
On-line bus position controller Download PDFInfo
- Publication number
- CN2884280Y CN2884280Y CNU2005200933715U CN200520093371U CN2884280Y CN 2884280 Y CN2884280 Y CN 2884280Y CN U2005200933715 U CNU2005200933715 U CN U2005200933715U CN 200520093371 U CN200520093371 U CN 200520093371U CN 2884280 Y CN2884280 Y CN 2884280Y
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model discloses a field bus position controller. Said controller centers on a single-chip processor, comprising a serial port controller connected with it, a data memory, a program memory, a logic I/O decoder, a data bus drive, as well as a serial bus converter, a first-second serial D/A converter, a first-second code disc signal processor, a first-second differential receiver, an optical-electrical isolation output, a control signal converter and a field bus communication controller. The utility model can perform general position control operations, reducing the complexity of wiring, and is highly resistant to interference, practical, reliable, general and expandable.
Description
Technical field
The utility model relates to the industrial robot position control, specifically on robot system and robot production line, use, be used for each joint motions of control robot and make the entire machine robot system finish the functional unit-control apparatus for position of field bus of required movement for a kind of.
Background technology
In the existing robots system, generally adopt parallel bus structure.This structure makes and be not easy to robot switch board wiring relative complex expand and use on robot production line.Have the occasion of specific (special) requirements need redesign automatically controlled part at some, the complicated and parallel route bus makes system be subjected to external interference easily in addition.
The utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model provides a kind of control apparatus for position of field bus, it adopts the universal serial bus new construction, repertoire with original structure, and has wiring simply, be easy to expansion, characteristics such as antijamming capability is strong are easy to expansion and use on robot production line.
To achieve these goals, the utility model solves the technical scheme that its technical matters adopts and comprises:
Single-chip microcomputer, described single-chip microcomputer links to each other with data-carrier store, program storage, first serial controller, second serial controller, logical I/O code translator, data bus driver, control signal converter by data, address bus, control signal;
Data-carrier store, described data-carrier store links to each other with single-chip microcomputer, and links to each other with data bus driver by data bus by data, address bus, control signal;
Program storage, described program storage links to each other with single-chip microcomputer, and links to each other with data bus driver by data bus by data, address bus, control signal;
The first serial controller, described first serial controller directly links to each other with the serial line interface of single-chip microcomputer;
The second serial controller, described second serial controller directly links to each other with the serial line interface of single-chip microcomputer;
The logical I/O code translator, described logical I/O code translator directly links to each other with single-chip microcomputer by control signal, address wire, logic control signal that is translated and data bus driver, the code-disc signal sampler, serial convertor links to each other;
The universal serial bus converter, described universal serial bus converter one end links to each other with data bus driver, and the other end links to each other with serial D/A converter;
The first～two serial D/A converter, described DA converter links to each other with the universal serial bus converter;
The first～two code-disc signal processor, described code-disc signal processor one end links to each other with the logical I/O code translator with data bus driver, and the other end is isolated follower and is linked to each other with differential receiver, photoelectricity;
Photoelectricity is isolated follower, and described photoelectricity is isolated follower and linked to each other with the first～two code-disc signal processor;
The first～two differential receiver, described differential receiver respectively with the first～two code-disc signal processor with link to each other;
The control signal converter, described control signal converter one end links to each other with single-chip microcomputer by control signal, data, address bus, and the other end links to each other with the Fieldbus Control device;
The Fieldbus Control device, described Fieldbus Control device links to each other with the control signal converter.
The utlity model has following beneficial effect:
1. the utility model is by the wire laying mode of serial, simplified the complexity of original parallel routing, can be used as the position control or the control of other device locations in each joint of robot, the automatically controlled partial design structure of the occasion of specific (special) requirements is particularly arranged applicable to some.
2. the utility model adopts tandem routing, has reduced wiring quantity, has promptly reduced between line and has disturbed, and has strengthened the antijamming capability of system.
3. because the utility model adopts the fieldbus connected mode, can realize convenient configuration at the scene in the scope of number of nodes that bus allows, carry out corresponding software adjustment, not need to carry out again resetting of electrical equipment hardware again, reduce the construction cycle.
Description of drawings
Fig. 1 is the control apparatus for position of field bus overall construction drawing.
Fig. 2 is control apparatus for position of field bus cpu system circuit theory diagrams.
Fig. 3 is control apparatus for position of field bus bus driver and address decoding schematic diagram.
Fig. 4 is control apparatus for position of field bus analog quantity control principle figure.
Fig. 5 accepts circuit theory diagrams for the control apparatus for position of field bus code-disc.
Fig. 6 is control apparatus for position of field bus field bus communication circuit theory diagrams.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Shown in Fig. 1～6, the utility model comprises: isolate follower D14, control signal converter D17, Fieldbus Control device D18 by single-chip microcomputer D1, first serial controller D2 (adopt RS232), second serial controller D3 (adopting RS485), data-carrier store D4, program storage D5, logical I/O code translator D6, data bus driver, universal serial bus converter D9, the first～two serial D/A converter D10 and D11, the first～two code-disc signal processor D12 and D13, the first～two differential receiver D15 and D16, photoelectricity, specific as follows:
Single-chip microcomputer D1, described single-chip microcomputer D1 links to each other by first and second bus driver D7, D8, control signal converter D17 in data, address bus, control signal and data-carrier store D4, program storage D5, first serial controller D2, second serial controller D3, logical I/O code translator D6, the data bus driver.
Data-carrier store D4, described data-carrier store D4 links to each other with single-chip microcomputer D1, and links to each other with the first～two bus driver D7～D8 by data bus by data, address bus, control signal.
Program storage D5, described program storage D5 links to each other with single-chip microcomputer D1, and links to each other with the first～two bus driver D7～D8 by data bus by data, address bus, control signal.
First serial controller D2, described first serial controller D2 directly links to each other with the serial line interface of single-chip microcomputer D1;
Second serial controller D3, described second serial controller D3 directly links to each other with the serial line interface of single-chip microcomputer D1;
Logical I/O code translator D6, described logical I/O code translator D6 directly links to each other with single-chip microcomputer D1 by control signal, address wire, the logic control signal that is translated and the first～two bus driver D7～D8, code-disc signal sampler D12～D13, and universal serial bus converter D9 links to each other.
Data bus driver, described data bus driver is made up of the first～two bus driver D7～D8, the first～two bus driver D7～D8 is by data bus and single-chip microcomputer D1, data-carrier store D4, program storage D5, universal serial bus converter D9, code-disc signal sampler D12 and D13, and logical I/O code translator D6 links to each other.
Universal serial bus converter D9, described universal serial bus converter D9 one end links to each other with bus driver D7～D8, and the other end links to each other with serial D/A converter D10～D11;
First serial D/A converter the D1 0 and second serial D/A converter D11, described serial D/A converter D10～D11 links to each other with universal serial bus converter D9;
The first code-disc signal processor D12 and the second code-disc signal processor D13, described code-disc signal processor one end links to each other with logical I/O code translator D6 with data bus driver D7, D8, and the other end is isolated follower D14 and linked to each other with D16, photoelectricity with differential receiver D15;
Photoelectricity is isolated follower D14, and described photoelectricity is isolated follower and linked to each other with the second code-disc signal processor D13 with the first code-disc signal processor D12;
The first～two differential receiver D15 and the D16, described differential receiver link to each other with the second code-disc signal processor D13 with the first code-disc signal processor D12 respectively;
Control signal converter D17, described control signal converter D17 one end links to each other with single-chip microcomputer D1 by control signal, data, address bus, and the other end links to each other with Fieldbus Control device D18;
Fieldbus Control device D18, described Fieldbus Control device D18 links to each other with control signal converter D17.
The concrete course of work of the utility model and principle are:
Single-chip microcomputer D1 and program storage D5, data-carrier store D4 form the embedded computer ultimate system, executive utility, by Fieldbus Control device D18 and control signal converter D17 finish with fieldbus on the exchanges data of other computer systems, also can realize communication by first or two serial ports controller D2 or D3 as required; Logical I/O code translator D6 mainly finishes address assignment and the decoding to peripherals; Universal serial bus converter D9 mainly finishes the format conversion of parallel data to serial data; First and two serial D/A converter D10 and D11 finish conversion from the digital quantity signal to the analog signals, and remove to control motor speed by analog signals; First and two differential receiver D15 and D16 are used to receive motor code-disc differential signal, first and two code-disc signal processor D12 and D13 mainly finish code-disc signal sampling and counting, calculate the position and the speed of motor by program, and by certain control algolithm control motor movement.
The described single-chip microcomputer D1 of present embodiment can adopt AT9140800, data-carrier store D4 can adopt 61LV25616, program storage D5 can adopt 49BV160, first serial controller D2 can adopt MAX232, second serial controller D3 can adopt MAX485, logical I/O code translator D6 can adopt EPM7032, control signal converter D17 can adopt EPM7032, the first～two bus driver D7～D8 can adopt 74HC245, Fieldbus Control device D18 can adopt SJ1000T, the first～two code-disc sampling thief D12～D13 and universal serial bus converter D9 can adopt EPM7064, the first～two differential receiver D15～D16 can adopt MC3486, the first～two serial D/A converter D10～D11 can adopt MAX539, and photoelectricity is isolated follower D14 can adopt TLP280.
The first～two code-disc signal processor D12～D13 receives and handles code-disc quadrature square-wave signal; Universal serial bus converter D9 realizes that parallel-to-serial, serial-to-parallel data-switching also or as the control signal converter, realizes the time-sharing operation of CPU and Fieldbus Control device address bus and data bus.
The utility model can be finished general Position Control operation, has reduced the complexity of wiring, tool There is antijamming capability strong, practical, reliable, the general and characteristics being convenient to expand.
Claims (2)
1. control apparatus for position of field bus is characterized in that comprising:
Single-chip microcomputer (D1), described single-chip microcomputer (D1) links to each other with data-carrier store (D4), program storage (D5), first serial controller (D2), second serial controller (D3), logical I/O code translator (D6), data bus driver, control signal converter (D17) by data, address bus, control signal;
Data-carrier store (D4), described data-carrier store (D4) links to each other with single-chip microcomputer (D1), and links to each other with data bus driver by data bus by data, address bus, control signal;
Program storage (D5), described program storage links to each other with single-chip microcomputer (D1), and links to each other with data bus driver by data bus by data, address bus, control signal;
First serial controller (D2), described first serial controller (D2) directly links to each other with the serial line interface of single-chip microcomputer (D1);
Second serial controller (D3), described second serial controller (D3) directly links to each other with the serial line interface of single-chip microcomputer (D1);
Logical I/O code translator (D6), described logical I/O code translator (D6) directly links to each other with single-chip microcomputer (D1) by control signal, address wire, logic control signal that is translated and data bus driver, (D12～D13), serial convertor (D9) links to each other the code-disc signal sampler;
Universal serial bus converter (D9), described universal serial bus converter one end links to each other with data bus driver, the other end and serial D/A converter (D10～D11) link to each other;
(D10～D11), described DA converter links to each other with universal serial bus converter (D9) the first～two serial D/A converter;
(D12～D13), described code-disc signal processor one end links to each other with logical I/O code translator (D6) with data bus driver the first～two code-disc signal processor, and the other end is isolated follower (D14) and linked to each other with differential receiver (D15, D16), photoelectricity;
Photoelectricity is isolated follower (D14), and described photoelectricity is isolated the follower and the first～two code-disc signal processor (D12～D13) link to each other;
The first～two differential receiver (D15～D16), described differential receiver respectively with the first～two code-disc signal processor (D12～D13) link to each other;
Control signal converter (D17), described control signal converter (D17) end links to each other with single-chip microcomputer (D1) by control signal, data, address bus, and the other end links to each other with Fieldbus Control device (D18);
Fieldbus Control device (D18), described Fieldbus Control device (D18) links to each other with control signal converter (D17).
2. by the described control apparatus for position of field bus of claim 1, it is characterized in that: described data bus driver is by the first～two bus driver (D7～D8) form, the first～two bus driver (D7～D8) by data bus respectively with single-chip microcomputer (D1), data-carrier store (D4), program storage (D5), the first～two serial D/A converter (D9), (D12～D13) and logical I/O code translator (D6) link to each other first and second code-disc signal sampler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200933715U CN2884280Y (en) | 2005-11-09 | 2005-11-09 | On-line bus position controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200933715U CN2884280Y (en) | 2005-11-09 | 2005-11-09 | On-line bus position controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2884280Y true CN2884280Y (en) | 2007-03-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005200933715U Expired - Lifetime CN2884280Y (en) | 2005-11-09 | 2005-11-09 | On-line bus position controller |
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| Country | Link |
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| CN (1) | CN2884280Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100419605C (en) * | 2005-11-09 | 2008-09-17 | 沈阳新松机器人自动化股份有限公司 | Control apparatus for position of field bus |
| CN102693204A (en) * | 2011-01-24 | 2012-09-26 | 通用电气公司 | Fieldbus interface circuit board supporting multiple interface types and terminations |
-
2005
- 2005-11-09 CN CNU2005200933715U patent/CN2884280Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100419605C (en) * | 2005-11-09 | 2008-09-17 | 沈阳新松机器人自动化股份有限公司 | Control apparatus for position of field bus |
| CN102693204A (en) * | 2011-01-24 | 2012-09-26 | 通用电气公司 | Fieldbus interface circuit board supporting multiple interface types and terminations |
| CN102693204B (en) * | 2011-01-24 | 2016-06-15 | 通用电气公司 | Support the Of Field Bus Interface Circuit plate of multiplex roles type and termination |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080917 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |