Force-controlled joint real-time industrial Ethernet communication circuit

A communication circuit and Ethernet technology, which is applied in the field of robotics and communication, can solve the problems of robots without precise force feedback, and achieve the effect of reducing processing load and hardware volume

Inactive Publication Date: 2021-09-03
CHENGDU AERONAUTIC POLYTECHNIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing collaborative robot joints are mainly divided into ordinary joints and force-controlled joints. The ordinary joints are only composed of servo motor systems and reducer systems. Such joints can only be controlled by position, so that the robot can only perform non-precise force feedback. exercise

Method used

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  • Force-controlled joint real-time industrial Ethernet communication circuit
  • Force-controlled joint real-time industrial Ethernet communication circuit
  • Force-controlled joint real-time industrial Ethernet communication circuit

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Embodiment Construction

[0059] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0060] Such as figure 1 As shown, a real-time industrial Ethernet communication circuit for force control joints, including: a power supply module, a first network port module, a second network port module, an MCI microprocessor interface and an ESC chip module;

[0061] The MCI microprocessor interface is connected with the ESC chip module through the MCI bus; the ESC chip module is connected with the first network port mo...

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Abstract

The invention discloses a force-controlled joint real-time industrial Ethernet communication circuit, which belongs to the technical field of robots and communication. The force-controlled joint real-time industrial Ethernet communication circuit comprises a power supply module, a first network port module, a second network port module, an MCI microprocessor interface and an ESC chip module. The force-controlled joint real-time industrial Ethernet communication circuit has the functions of EtherCAT real-time industrial Ethernet communication and motion control, and is mainly applied to servo slave station control communication of a robot force-controlled joint. By adopting the ESC chip, the hardware volume of the EtherCAT real-time industrial Ethernet communication circuit is reduced, and the processing load of a slave station control microprocessor and the cost of an integrated IP core are reduced at the same time.

Description

technical field [0001] The invention belongs to the field of robot technology and communication technology, and in particular relates to a real-time industrial Ethernet communication circuit for force-controlled joints. Background technique [0002] The robot force control joint is a mechatronic device that combines electronics, machinery, computers, sensors, artificial intelligence and other technologies. [0003] If you need to control the force-controlled joints of the robot, you need a bus communication technology. EtherCAT is a real-time industrial Ethernet technology, which makes full use of the full-duplex characteristics of Ethernet, and is more suitable as a carrier for motion control. Using master-slave mode media access control (MAC), the master station sends Ethernet frames to each slave station, and the slave stations extract data from the data frame or insert data into the data frame. The master station uses a standard Ethernet interface card, and the slave s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 门正兴王子强何正琛郑金辉唐鑫苏艳红陈诚岳太文马亚鑫刘琼
Owner CHENGDU AERONAUTIC POLYTECHNIC
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