WO2021027009A1 - 一种驱控一体机以及机器人驱控系统 - Google Patents

一种驱控一体机以及机器人驱控系统 Download PDF

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Publication number
WO2021027009A1
WO2021027009A1 PCT/CN2019/106263 CN2019106263W WO2021027009A1 WO 2021027009 A1 WO2021027009 A1 WO 2021027009A1 CN 2019106263 W CN2019106263 W CN 2019106263W WO 2021027009 A1 WO2021027009 A1 WO 2021027009A1
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Prior art keywords
drive
control
motor
integrated
robot
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PCT/CN2019/106263
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English (en)
French (fr)
Inventor
冯伟
陈清朋
张艳辉
郭师峰
张晨宁
刘笑
张树潇
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深圳先进技术研究院
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Publication of WO2021027009A1 publication Critical patent/WO2021027009A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/10—Plc systems
    • G05B2219/11—Plc I-O input output
    • G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor

Definitions

  • This application relates to the technical field of computer intelligent manufacturing control, and in particular to a drive and control integrated machine and a robot drive and control system.
  • this application provides a drive and control integrated machine and a robot drive and control system, which facilitates the communication between the drive and control integrated machine and the motor and the robot.
  • the position of the industrial robot can be changed in the workshop at will, which improves the drive and control integrated machine.
  • a technical solution adopted in this application is to provide an integrated drive and control machine for connecting a host computer and a motor, and for driving the motor under the control of the host computer to further control the robot connected to the motor.
  • the controller used to obtain the control instructions sent by the host computer, and process the control instructions to obtain the drive instructions; wireless communication module; the driver, which connects the controller and the wireless communication module, is used to transmit the drive instructions through the wireless
  • the communication module is sent to the motor to control the motor.
  • the wireless communication module is an MDS wireless communication module.
  • the integrated drive and control computer is connected to the host computer through an auxiliary device.
  • the auxiliary equipment includes extended IO, data memory, serial port, power supply and work information display.
  • the serial port is used to connect the integrated drive and control computer and the host computer.
  • the expansion IO, data memory and serial port are installed on the integrated drive and control machine.
  • the integrated drive and control machine also includes a monitoring module for connecting the motor and the robot to monitor the working status of the motor and the robot, generate working status information, and send the working status information to the upper computer.
  • the controller is implemented based on FPGA logic resources.
  • the controller includes programmable input and output units, configurable logic blocks, digital clock management modules, embedded block RAMs, wiring resources, embedded dedicated hard cores, and underlying embedded functional units.
  • the controller includes: ADC circuit, used to convert control signals into digital signals; DSP core, a minimal system design based on DSP, used to process digital signals, used to perform kinematics positive and negative calculations on digital information , In order to get driving instructions.
  • the robot drive and control system includes: an upper computer; an all-in-one drive and control computer connected to the upper computer for obtaining control instructions sent by the upper computer, and The control command is processed to obtain the driving command; the motor is connected to the integrated drive and control machine to obtain the driving command sent by the integrated drive and control machine and work based on the drive command; the robot is connected to the motor and controls the work based on the motor; among them,
  • the all-in-one drive and control machine is the aforementioned all-in-one drive and control machine.
  • the drive and control integrated machine is connected to the host computer through an auxiliary device.
  • the auxiliary equipment includes extended IO, data memory, serial port, power supply and work information display.
  • the serial port is used to connect the drive and control integrated machine and the host computer; among them, the extended IO, data memory And the serial port are installed on the integrated drive and control machine.
  • the robot drive control system also includes an IPU intelligent power drive, which is connected to the drive control integrated machine and the motor, and is used to drive the motor according to the drive command.
  • the integrated drive and control machine is used to connect a host computer and a motor, and is used to drive the motor under the control of the host computer to further control the robot connected to the motor.
  • the integrated drive and control machine includes: a controller , Used to obtain the control instruction sent by the host computer, and process the control instruction to obtain the drive instruction; wireless communication module; driver, connect the controller and the wireless communication module, used to send the drive instruction through the wireless communication module Give the motor to control the motor.
  • the control and drive are integrated, which avoids the internal friction between the two devices to achieve control and drive.
  • the wireless communication module is set to achieve the integration of the drive and control machine and the motor. The communication between the industrial robots can be freely changed in the workshop, which improves the adaptability and scalability of the integrated drive and control machine.
  • Fig. 1 is a schematic structural diagram of a first embodiment of a robot drive control system provided by the present application
  • FIG. 2 is a schematic structural diagram of a second embodiment of a robot drive control system provided by the present application.
  • FIG. 3 is a schematic structural diagram of a third embodiment of a robot drive control system provided by the present application.
  • FIG. 4 is a schematic structural diagram of a first embodiment of the integrated drive and control machine provided by the present application.
  • FIG. 5 is a schematic structural diagram of a second embodiment of the integrated drive and control machine provided by the present application.
  • FIG. 6 is a schematic structural diagram of a third embodiment of the integrated drive and control machine provided by the present application.
  • FIG. 7 is a schematic diagram of the hardware connection of the robot drive control system provided by the present application.
  • Fig. 8 is a schematic diagram of the working process of the robot driving and controlling system provided by the present application.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a robot drive control system provided by the present application.
  • the robot drive control system 10 includes an upper computer 11, an integrated drive and control machine 12, a motor 13 and a robot 14 connected in sequence.
  • the upper computer 11 is used to obtain the user's operation to generate control instructions and send the control instructions to the integrated drive and control machine 12, and the integrated drive and control machine 12 is used to obtain the control instructions sent by the host computer 11 and process the control instructions.
  • the motor 13 is connected to the integrated drive and control machine 12 to obtain the drive instructions sent by the integrated drive and control machine 12 and work based on the drive instructions;
  • the robot 14 is connected to the motor 13 and works based on the control of the motor.
  • the upper computer 11 may be a terminal device such as a computer, and the user can control the robot by operating the upper computer 11.
  • the user can operate through input devices such as a keyboard and a mouse, or through voice, gestures, etc., which is not limited here.
  • FIG. 2 is a schematic structural diagram of a second embodiment of a robot drive control system provided by the present application.
  • the robot drive control system 10 includes an upper computer 11, an integrated drive and control machine 12, and multiple A motor 13 and a plurality of robots 14.
  • the integrated drive and control machine 12 is connected to multiple motors 13, such as motor 1, motor 2...motor N, and each motor 13 is respectively connected to a robot 14, for example, motor 1 is connected to robot 1, motor 2 is connected to robot 2...motor N connects to robot N.
  • the control instruction sent by the host computer 11 to the integrated drive and control machine 12 may include address information, and each motor 13 corresponds to an address, and the integrated drive and control machine 12 sends the drive instruction to the corresponding motor according to different address information. 13, to control the corresponding robot 14.
  • FIG. 3 is a schematic structural diagram of a third embodiment of a robot drive control system provided by the present application.
  • the robot drive control system 10 includes a host computer 11, auxiliary equipment 15, a drive control integrated machine 12, IPU (Intelligent power unit) Smart power driver 16, motor 13, and robot 14.
  • IPU Intelligent power unit
  • the auxiliary device 15 is used for data exchange between the host computer 11 and the integrated drive and control machine 12.
  • the auxiliary device 15 includes an extended IO, a data memory, a serial port, a power supply, and a work information display, and the serial port is used to connect the integrated drive and control machine 12 and the upper computer 11.
  • the auxiliary device 15 includes a power supply and a work information display, and the expansion IO, data storage, and serial port are installed on the integrated drive and control machine 12.
  • the IPU intelligent power driver is used to drive the motor 13 according to the driving instruction.
  • IPU is an advanced power switching device that has the advantages of GTR (high power transistor) high current density, low saturation voltage and high voltage resistance, and MOSFET (field effect transistor) high input impedance, high switching frequency and low drive power.
  • GTR high power transistor
  • MOSFET field effect transistor
  • the logic, control, detection and protection circuits are integrated inside the IPU, which is convenient to use, which not only reduces the volume and development time of the system, but also greatly enhances the reliability of the system.
  • FIG. 4 is a schematic structural diagram of a first embodiment of an integrated drive and control machine provided by the present application.
  • the integrated drive and control machine 12 includes a controller 121, a driver 122 and a wireless communication module 123.
  • the controller 121 is used to obtain the control instruction sent by the host computer 11 and process the control instruction to obtain the drive instruction;
  • the driver 122 is connected to the controller 121 and the wireless communication module 123, and is used to transmit the drive instruction through the wireless communication module.
  • the group 123 is sent to the motor 13 to control the motor 13.
  • the controller 121 is implemented based on FPGA (Field-Programmable Gate Array) logic resources, and the controller 121 includes a programmable input and output unit, a configurable logic block, and digital clock management Modules, embedded block RAM (Random Access Memory, random access memory), wiring resources, embedded dedicated hard cores and underlying embedded functional units.
  • FPGA Field-Programmable Gate Array
  • the controller 121 includes a programmable input and output unit, a configurable logic block, and digital clock management Modules, embedded block RAM (Random Access Memory, random access memory), wiring resources, embedded dedicated hard cores and underlying embedded functional units.
  • FPGA Field-Programmable Gate Array
  • the controller 121 includes an ADC (Analog-to-Digital Converter) circuit and a DSP (Digital Signal Processing, digital signal processing) core.
  • the ADC circuit is used to convert the control signal into a digital signal
  • the DSP core is a minimal system design based on DSP, which is used to process the digital signal, and is used to perform kinematics positive and negative solution operations on the digital information to obtain driving instructions.
  • the wireless communication module 123 is an MDS (Microwave Data Systems) wireless communication module.
  • the MDS wireless communication module is mainly composed of a data transmission station, an antenna, a feeder, and structural installation parts. It can be installed on the drive and control integrated machine 12 and the motor 13 to complete the data communication function between the two.
  • the wireless communication module 123 may also be a wireless communication module such as Bluetooth, WIFI, NFC (Near Field Communication, near field communication).
  • the integrated drive and control machine is used to connect a host computer and a motor, and is used to drive the motor under the control of the host computer to further control the robot connected to the motor.
  • the integrated drive and control machine includes: control The device is used to obtain the control instruction sent by the host computer and process the control instruction to obtain the drive instruction; wireless communication module; the driver, which connects the controller and the wireless communication module, is used to pass the drive instruction through the wireless communication module Send to the motor to control the motor.
  • the control and drive are integrated, which avoids the internal friction between the two devices to achieve control and drive.
  • the wireless communication module is set to achieve the integration of the drive and control machine and the motor. The communication between the industrial robots can be freely changed in the workshop, which improves the adaptability and scalability of the integrated drive and control machine.
  • FIG. 5 is a schematic structural diagram of a second embodiment of an integrated drive and control machine provided by the present application.
  • the integrated drive and control machine 12 includes a controller 121, a driver 122 and a wireless communication module 123.
  • the controller 121 of the integrated drive and control machine 12 is connected to the host computer 11 through an auxiliary device 15.
  • the auxiliary device 15 includes expansion IO, data memory, serial port, power supply and work information display (not shown), and the serial port is used to connect to the drive control
  • the integrated computer 12 and the host computer 11 realize the data interaction between the two.
  • the power supply can provide power to the integrated drive and control machine 12
  • the expansion IO can be used to connect other input and output devices
  • the data memory is used to store data.
  • expansion IO, data storage, and serial port may be installed on the integrated drive and control machine 12.
  • FIG. 6 is a schematic structural diagram of a third embodiment of an integrated drive and control machine provided by the present application.
  • the integrated drive and control machine 12 includes a controller 121, a driver 122, a wireless communication module 123 and a monitoring module 124.
  • the monitoring module 124 is used to connect the motor 13 and the robot 14 to monitor the working status of the motor 13 and the robot 14, generate working status information, and send the working status information to the upper computer 11.
  • the monitoring module 124 is also used to connect the controller 121 and the driver 122 to monitor the working status of the controller 121 and the driver 122, generate working status information, and send the working status information to the host computer 11.
  • FIG. 7 is a schematic diagram of the hardware connection of the robot control system provided by the present application
  • FIG. 8 is a schematic diagram of the work flow of the robot control system provided by the present application.
  • the robot drive control system 10 includes a host computer 11, a drive control integrated computer 12, a motor 13 and a robot 14.
  • the integrated drive and control machine 12 includes an FPGA, multiple DSPs connected to the FPGA through an SPI bus, an ADC connected to the DSP, and an MDS connected to the ADC. among them,
  • the robot drive control system also includes an IPU (Intelligent Processing Unit) intelligent power driver, which is connected to the drive and control integrated machine 12 and the motor 13 for driving the motor 13 according to the drive instruction.
  • IPU Intelligent Processing Unit
  • the integrated drive and control machine 12 is connected to multiple motors 13 through an ADC and IPU.
  • the ADC is used for analog-to-digital signal conversion, the converted signal is transmitted to the FPGA, and the FPGA processed signal is transmitted to the DSP core for digital signal processing, and then through the ADC analog-to-digital Signal conversion transmits the signal to MDS for wireless signal transmission, uses the IPU intelligent power drive module to transmit the signal to ADC for analog-to-digital signal conversion, and distributes the converted signal to the motor to be controlled, so as to control the motion of the industrial robot.
  • This application has a bus-type controller for full sharing of industrial data
  • This application uses the wireless communication module as the signal transmission terminal, which is easy to implement in equipment maintenance. Only the data transmission module needs to be maintained. When a failure occurs, the cause of the failure can be quickly found and the normal operation of the industrial robot can be restored;
  • the integrated drive and control machine of the present application has a smaller volume and a greatly reduced cost compared to the two types of drive and control devices in the existing market;
  • This application uses FPGA as a programmable processor module, and integrates hardware resources such as logic units, RAM, and multipliers through integrated circuits, so that the resource organization of these hardware is reasonable;
  • This application uses FPGA as a programmable processor module, which can repeat programming indefinitely, and the loading time of the new solution is short, which reduces the cost of hardware;
  • the operating frequency of the FPGA is determined by the FPGA chip and design. Some demanding requirements can be met by modifying the design or replacing a faster chip;
  • This application uses the DSP core for digital signal processing, and implements a minimal system design to improve the accuracy of industrial robots and reduce the problem of insufficient CPU memory due to excessive tasks.
  • the disclosed method and device may be implemented in other ways.
  • the device implementation described above is merely illustrative.
  • the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be Combined or can be integrated into another system, or some features can be ignored or not implemented.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of this embodiment.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated units in the other embodiments described above are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a controller (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

Abstract

一种驱控一体机以及机器人驱控系统，驱控一体机（12）用于连接上位机（11）和电机（13），用于在上位机（11）的控制下驱动电机（13），以进一步控制与电机连接的机器人（14），该驱控一体机（12）包括：控制器（121），用于获取上位机（11）发送的控制指令，并对控制指令进行处理，以得到驱动指令；无线通信模组（123）；驱动器（122），连接控制器（121）和无线通信（123）模组，用于将驱动指令通过无线通信模组（123）发送给电机（13），以控制电机（13）。通过上述方式，便于驱控一体机（12）与电机（13）和机器人（14）之间的通信，可随意在车间内更换工业机器人位置，提高了驱控一体机的适配性和可扩展性。

Description

一种驱控一体机以及机器人驱控系统 【技术领域】
本申请涉及计算机智能制造控制技术领域，特别是涉及一种驱控一体机以及机器人驱控系统。
【背景技术】
现代生产业中工业机器人作为智能制造设备呈现日益增长的趋势，现有市场上使用的工业机器人传统驱动控制系统主要包括控制系统、伺服驱动器、电气设备，继电器、电缆等设备组成，通过驱动器和控制器进行机器人的运动控制。
工业机器人个体通常需要用到一套伺服系统和一台PLC(Programmable Logic Controller，可编程逻辑控制器)进行控制，在两个单元个体之间通讯和交互都会产生一定的资源损耗和外部干扰，使得控制达不到理想状态，数据不能充分共享，不能充分利用驱动信号进行闭环控制，控制算法复杂。另外，控制柜体积大，占用工作空间，信号电缆接线复杂，信号传输过程中稳定性差，抗干扰能力差，成本高。
【发明内容】
针对以上问题，本申请提供了一种驱控一体机以及机器人驱控系统，便于驱控一体机与电机和机器人之间的通信，可随意在车间内更换工业机器人位置，提高了驱控一体机的适配性和可扩展性。
本申请采用的一种技术方案是：提供一种驱控一体机用于连接上位机和电机，用于在上位机的控制下驱动电机，以进一步控制与电机连接的机器人，该驱控一体机包括：控制器，用于获取上位机发送的控制指令，并对控制指令进行处理，以得到驱动指令；无线通信模组；驱动器，连接控制器和无线通信模组，用于将驱动指令通过无线通信模组发送给电机，以控制电机。
其中，的无线通信模组为MDS无线通信模组。
其中，驱控一体机通过一辅助设备连接上位机，辅助设备包括扩展 IO、数据存储器、串口、电源和工作信息显示器，串口用于连接驱控一体机和上位机。
其中，扩展IO、数据存储器和串口安装在驱控一体机上。
其中，驱控一体机还包括监控模组，用于连接电机和机器人，以监控电机和机器人的工作状态，生成工作状态信息，并将工作状态信息发送给上位机。
其中，控制器基于FPGA逻辑资源实现，控制器包括可编程输入输出单元、可配置逻辑块、数字时钟管理模块、嵌入式块RAM、布线资源、内嵌专用硬核和底层内嵌功能单元。
其中，该控制器包括：ADC电路，用于对控制信号转化为数字信号；DSP核，基于DSP的最小系统设计，用于对数字信号进行处理，用于对数字信息进行运动学正反解运算，以得到驱动指令。
本申请采用的另一种技术方案是：提供一种机器人驱控系统，该机器人驱控系统包括：上位机；驱控一体机，连接上位机，用于获取上位机发送的控制指令，并对控制指令进行处理，以得到驱动指令；电机，连接驱控一体机，用于获取驱控一体机发送的驱动指令，并基于驱动指令工作；机器人，连接电机，并基于电机的控制工作；其中，驱控一体机是如上述的驱控一体机。
其中，驱控一体机通过一辅助设备连接上位机，辅助设备包括扩展IO、数据存储器、串口、电源和工作信息显示器，串口用于连接驱控一体机和上位机；其中，扩展IO、数据存储器和串口安装在驱控一体机上。
其中，机器人驱控系统还包括IPU智能功率驱动器，连接驱控一体机和电机，用于根据驱动指令对电机进行驱动。
区别于现有技术，本申请提供的驱控一体机用于连接上位机和电机，用于在上位机的控制下驱动电机，以进一步控制与电机连接的机器人，驱控一体机包括：控制器，用于获取上位机发送的控制指令，并对控制指令进行处理，以得到驱动指令；无线通信模组；驱动器，连接控制器和无线通信模组，用于将驱动指令通过无线通信模组发送给电机，以控制电机。通过上述方式，一方面将控制和驱动集成一体，避免了通过两 个设备来实现控制和驱动的设备之间的内耗，另一方面通过设置无线通信模组来实现驱控控一体机与电机之间的通信，可随意在车间内更换工业机器人位置，提高了驱控一体机的适配性和可扩展性。
【附图说明】
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本申请提供的机器人驱控系统第一实施例的结构示意图；
图2是本申请提供的机器人驱控系统第二实施例的结构示意图；
图3是本申请提供的机器人驱控系统第三实施例的结构示意图；
图4是本申请提供的驱控一体机第一实施例的结构示意图；
图5是本申请提供的驱控一体机第二实施例的结构示意图；
图6是本申请提供的驱控一体机第三实施例的结构示意图；
图7是本申请提供的机器人驱控系统的硬件连接示意图；
图8是本申请提供的机器人驱控系统的工作流程示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、 产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
参阅图1，图1是本申请提供的机器人驱控系统第一实施例的结构示意图，该机器人驱控系统10包括依次连接的上位机11、驱控一体机12、电机13以及机器人14。
其中，上位机11用于获取用户的操作产生控制指令，并将控制指令发送给驱控一体机12，驱控一体机12用于获取上位机11发送的控制指令，并对控制指令进行处理，以得到驱动指令；电机13连接驱控一体机12，用于获取驱控一体机12发送的驱动指令，并基于驱动指令工作；机器人14连接电机13，并基于电机的控制工作。
可选地，上位机11可以是计算机等终端设备，用户可以通过上位机11进行操作来控制机器人。其中，用户可以通过键盘、鼠标等输入设备进行操作，也可以通过语音、手势等方式来操作，这里不作限制。
可选地，如图2所示，图2是本申请提供的机器人驱控系统第二实施例的结构示意图，该机器人驱控系统10包括依次连接的上位机11、驱控一体机12、多个电机13以及多个机器人14。
其中，驱控一体机12分别连接多个电机13，如电机1、电机2……电机N，每个电机13分别连接一机器人14，例如电机1连接机器人1、电机2连接机器人2……电机N连接机器人N。可选地，上位机11向驱控一体机12发送的控制指令中可以包括地址信息，每个电机13分别对应一个地址，驱控一体机12根据不同的地址信息将驱动指令发送给对应的电机13，以控制对应的机器人14。
参阅图3，图3是本申请提供的机器人驱控系统第三实施例的结构示意图，该机器人驱控系统10包括依次连接的上位机11、辅助设备15、 驱控一体机12、IPU(Intelligent power unit)智能功率驱动器16、电机13以及机器人14。
其中，辅助设备15用于在上位机11和驱控一体机12之间起到数据交换的作用。可选地，辅助设备15包括扩展IO、数据存储器、串口、电源和工作信息显示器，串口用于连接驱控一体机12和上位机11。
在一可选的实施例中，辅助设备15包括电源和工作信息显示器，而扩展IO、数据存储器和串口安装在驱控一体机12上。
其中，IPU智能功率驱动器用于根据驱动指令对电机13进行驱动。IPU是一种先进的功率开关器件，具有GTR(大功率晶体管)高电流密度、低饱和电压和耐高压的优点，以及MOSFET(场效应晶体管)高输入阻抗、高开关频率和低驱动功率的优点。而且IPU内部集成了逻辑、控制、检测和保护电路，使用起来方便，不仅减小了系统的体积以及开发时间，也大大增强了系统的可靠性。
参阅图4，图4是本申请提供的驱控一体机第一实施例的结构示意图，该驱控一体机12包括控制器121、驱动器122和无线通信模组123。
其中，控制器121用于获取上位机11发送的控制指令，并对控制指令进行处理，以得到驱动指令；驱动器122连接控制器121和无线通信模组123，用于将驱动指令通过无线通信模组123发送给电机13，以控制电机13。
可选地，在一实施例中，控制器121基于FPGA(Field－Programmable Gate Array，现场可编程门阵列)逻辑资源实现，控制器121包括可编程输入输出单元、可配置逻辑块、数字时钟管理模块、嵌入式块RAM(Random Access Memory，随机存取存储器)、布线资源、内嵌专用硬核和底层内嵌功能单元。
可选地，在另一实施例中，控制器121包括ADC(Analog-to-Digital Converter，模数转化器)电路和DSP(Digital Signal Processing，数字信号处理)核。其中，ADC电路用于对控制信号转化为数字信号；DSP核基于DSP的最小系统设计，用于对数字信号进行处理，用于对数字信息进行运动学正反解运算，以得到驱动指令。
可选地，无线通信模组123为MDS(Microwave Data Systems)无线通信模组。MDS无线通信模组主要由数传电台、天线、馈线和结构安装件构成，可以安装在驱控一体机12和电机13上，完成两者间的数据通信功能。
另外，在其他实施例中，该无线通信模组123还可以是蓝牙、WIFI、NFC(Near Field Communication，近场通信)等无线通信模组。
区别于现有技术，本实施例提供的驱控一体机用于连接上位机和电机，用于在上位机的控制下驱动电机，以进一步控制与电机连接的机器人，驱控一体机包括：控制器，用于获取上位机发送的控制指令，并对控制指令进行处理，以得到驱动指令；无线通信模组；驱动器，连接控制器和无线通信模组，用于将驱动指令通过无线通信模组发送给电机，以控制电机。通过上述方式，一方面将控制和驱动集成一体，避免了通过两个设备来实现控制和驱动的设备之间的内耗，另一方面通过设置无线通信模组来实现驱控控一体机与电机之间的通信，可随意在车间内更换工业机器人位置，提高了驱控一体机的适配性和可扩展性。
参阅图5，图5是本申请提供的驱控一体机第二实施例的结构示意图，该驱控一体机12包括控制器121、驱动器122和无线通信模组123。
其中，驱控一体机12的控制器121通过一辅助设备15连接上位机11，辅助设备15包括扩展IO、数据存储器、串口、电源和工作信息显示器(图未示)，串口用于连接驱控一体机12和上位机11，实现两者之间的数据交互。另外，电源可以为驱控一体机12提供电能，扩展IO可以用于连接其他的输入输出设备，数据存储器用于存储数据。
在一可选的实施例中，扩展IO、数据存储器和串口可以安装在驱控一体机12上。
参阅图6，图6是本申请提供的驱控一体机第三实施例的结构示意图，该驱控一体机12包括控制器121、驱动器122、无线通信模组123和监控模组124。
监控模组124用于连接电机13和机器人14，以监控电机13和机器人14的工作状态，生成工作状态信息，并将工作状态信息发送给上位 机11。
另外，监控模组124还用于连接控制器121和驱动器122，以监控控制器121和驱动器122的工作状态，生成工作状态信息，并将工作状态信息发送给上位机11。
参阅图7和图8，图7是本申请提供的机器人驱控系统的硬件连接示意图，图8是本申请提供的机器人驱控系统的工作流程示意图。
其中，该机器人驱控系统10包括上位机11、驱控一体机12、电机13以及机器人14。
其中，驱控一体机12包括FPGA、与FPGA通过SPI总线连接的多个DSP，以及与DSP连接的ADC、与ADC连接MDS。其中，
其中，机器人驱控系统还包括IPU(智能处理单元)智能功率驱动器，连接驱控一体机12和电机13，用于根据驱动指令对电机13进行驱动。
可选地，驱控一体机12通过一ADC和IPU连接多个电机13。
在工作中，通过上位机11发出的开机信号，利用ADC进行模数信号转换，将转换好的信号传输给FPGA，将FPGA处理好的信号传输给DSP核进行数字信号处理，之后通过ADC模数信号转换将信号传送至MDS进行无线信号传输,利用IPU智能功率驱动模块传输信号至ADC进行模数信号转换，将转换好的信号分配给所需控制的电机，从而进行工业机器人的动作控制。
本申请的有益之处是：
1、本申请拥有总线型控制器进行工业数据的充分共享；
2、本申请由于采用了无线通信模组进行数据传输，使设备之间的通讯信号扩展性相比有线通讯更好，可随在车间内更换工业机器人位置；
3、本申请利用无线通信模组作为信号传输端，设备维护上容易实现，只需维护数传模块，出现故障时能够快熟找到故障原因，恢复工业机器人的正常运行；
4、本申请的驱控一体机作为工业机器人的驱动控制处理端，相比现有市场的将驱控分为两种设备来说，体积更小，成本也大大降低；
5、本申请利用FPGA作为可编程处理器模块，通过集成电路进行逻辑单元、RAM、乘法器等硬件资源的集成，实现这些硬件的资源组织合理；
6、本申请利用FPGA作为可编程处理器模块，可以无限地重复编程，新方案加载时间短，降低硬件的成本；
7、FPGA的工作频率由FPGA芯片以及设计决定，可以通过修改设计或者更换更快的芯片来达到某些苛刻的要求；
8、本申请利用DSP核进行数字信号处理，将其进行了最小系统的设计，以提高工业机器人的精准度，降低由于任务量过大带来的CPU内存不足的问题。
在本申请所提供的几个实施方式中，应该理解到，所揭露的方法以及设备，可以通过其它的方式实现。例如，以上所描述的设备实施方式仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施方式方案的目的。
另外，在本申请各个实施方式中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述其他实施方式中的集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等) 或控制器(processor)执行本申请各个实施方式所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是根据本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (10)

  1. 一种驱控一体机，其特征在于，所述驱控一体机用于连接上位机和电机，用于在所述上位机的控制下驱动所述电机，以进一步控制与所述电机连接的机器人，所述驱控一体机包括：
    控制器，用于获取所述上位机发送的控制指令，并对所述控制指令进行处理，以得到驱动指令；
    无线通信模组；
    驱动器，连接所述控制器和无线通信模组，用于将所述驱动指令通过所述无线通信模组发送给所述电机，以控制所述电机。
  2. 根据权利要求1所述的驱控一体机，其特征在于，
    所述的无线通信模组为MDS无线通信模组。
  3. 根据权利要求1所述的驱控一体机，其特征在于，
    所述驱控一体机通过一辅助设备连接所述上位机，所述辅助设备包括扩展IO、数据存储器、串口、电源和工作信息显示器，所述串口用于连接所述驱控一体机和所述上位机。
  4. 根据权利要求3所述的驱控一体机，其特征在于，
    所述扩展IO、所述数据存储器和所述串口安装在驱控一体机上。
  5. 根据权利要求1所述的驱控一体机，其特征在于，
    所述驱控一体机还包括监控模组，用于连接所述电机和所述机器人，以监控所述电机和所述机器人的工作状态，生成工作状态信息，并将所述工作状态信息发送给所述上位机。
  6. 根据权利要求1所述的驱控一体机，其特征在于，
    所述控制器基于FPGA逻辑资源实现，所述控制器包括可编程输入输出单元、可配置逻辑块、数字时钟管理模块、嵌入式块RAM、布线资源、内嵌专用硬核和底层内嵌功能单元。
  7. 根据权利要求1所述的驱控一体机，其特征在于，
    所述控制器包括：
    ADC电路，用于对所述控制信号转化为数字信号；
    DSP核，基于DSP的最小系统设计，用于对所述数字信号进行处理，用于对所述数字信息进行运动学正反解运算，以得到驱动指令。
  8. 一种机器人驱控系统，其特征在于，所述机器人驱控系统包括：
    上位机；
    驱控一体机，连接所述上位机，用于获取所述上位机发送的控制指令，并对所述控制指令进行处理，以得到驱动指令；
    电机，连接所述驱控一体机，用于获取所述驱控一体机发送的驱动指令，并基于所述驱动指令工作；
    机器人，连接所述电机，并基于所述电机的控制工作；
    其中，所述驱控一体机是如权利要求1-7任一项所述的驱控一体机。
  9. 根据权利要求8所述的机器人驱控系统，其特征在于，
    所述驱控一体机通过一辅助设备连接所述上位机，所述辅助设备包括扩展IO、数据存储器、串口、电源和工作信息显示器，所述串口用于连接所述驱控一体机和所述上位机；
    其中，所述扩展IO、所述数据存储器和所述串口安装在驱控一体机上。
  10. 根据权利要求8所述的机器人驱控系统，其特征在于，
    所述机器人驱控系统还包括IPU智能功率驱动器，连接所述驱控一体机和所述电机，用于根据所述驱动指令对所述电机进行驱动。
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