A collaborative control method and system for dual-bus protocol

Abstract

This application relates to a collaborative control method and system for a dual-bus protocol, belonging to the field of integrated drive and control technology. The method includes receiving an axis motion signal from a teach pendant and obtaining a target axis motion corresponding to the axis motion signal, wherein the target axis motion includes an internal axis motion and an extended axis motion; if the target axis motion is the internal axis motion, controlling a control module of the integrated drive and control machine to execute the internal axis motion process; if the target axis motion is the extended axis motion, controlling an extended axis module preset in the integrated drive and control machine to execute the extended axis motion process; the extended axis module is electrically connected to the control module. This application has the effect of enabling an integrated drive and control machine to meet the requirements of robotic arms with seven axes or more.

Description

Technical Field

[0001] The present application relates to the field of integrated drive and control technology, and in particular to a collaborative control method and system for a dual-bus protocol. Background Art

[0002] As the main equipment of the robot arm control system, the all-in-one drive and control machine integrates the controller and the driver into one, making operation more convenient and effectively reducing costs. In the existing technology, the driver and controller of the all-in-one drive and control machine use an internal bus for communication. Currently, the robot arm mainly has three to six axes. Since the all-in-one drive and control machine has strict requirements on the size of the robot arm, if the robot arm has more than six axes, it will increase the cost and affect the entire product structure of the all-in-one drive and control machine. At present, the robot arm often has the demand for expanded axes, such as the robot arm with seven axes or more. Therefore, the applicant believes that the existing all-in-one drive and control machine cannot meet the demand for robot arms with seven axes or more. Summary of the Invention

[0003] In order to enable the all-in-one drive and control machine to meet the requirements of robotic arms with seven axes or more product forms, the present application provides a collaborative control method and system of a dual-bus protocol.

[0004] In the first aspect, the present application provides a collaborative control method for a dual-bus protocol using the following technical solutions:

[0005] A collaborative control method for a dual-bus protocol, comprising:

[0006] Receive an axis motion signal from the teach pendant and obtain a target axis motion corresponding to the axis motion signal, wherein the target axis motion includes an internal axis motion and an extended axis motion;

[0007] If the target axis motion is the internal axis motion, the control module of the drive and control integrated machine is controlled to execute the internal axis motion process;

[0008] If the target axis action is the extended axis action, the extended axis module preset in the drive-control integrated machine is controlled to execute the extended axis action process; the extended axis module is electrically connected to the control module.

[0009] By adopting the above technical solution, an expansion axis module is added inside the drive and control integrated machine to execute the expansion axis action process. Therefore, when the product form of the robotic arm is seven axes or more, that is, when there is an expansion axis, the expansion axis can be controlled by the expansion axis module, so that the drive and control integrated machine can meet the needs of robotic arms with product forms of seven axes or more.

[0010] Optionally, the internal axis action process includes an internal bus axis startup process;

[0011] If the target axis action is the internal axis action, controlling the control module of the drive and control integrated machine to execute the internal axis action process includes:

[0012] Organize the robot's operating data according to the internal bus protocol;

[0013] The operation data is sent to the driving module via the internal bus to start the internal bus axis, thereby completing the internal bus axis starting process.

[0014] By adopting the above technical solution, the control module and the drive module form a bus, that is, the drive-control integrated machine includes the expansion axis module without affecting the drive module starting the internal bus axis.

[0015] Optionally, the internal axis action process further includes an internal bus axis stop process;

[0016] If the target axis motion is the internal axis motion, controlling the control module of the drive and control integrated machine to execute the internal axis motion process also includes:

[0017] Acquiring the operating data of the driving module through the control module;

[0018] determining, based on the operating data, whether the internal bus axis is currently located at a preset target position;

[0019] If the axis is at the target position, the control module sends stop data to the driving module to stop the internal bus axis, thereby completing the internal bus axis stop process.

[0020] By adopting the above technical solution, on the bus between the control module and the drive module, not only can the internal bus axis be started by the drive module, but the internal bus axis can also be stopped by the drive module.

[0021] Optionally, the expansion axis action process includes an expansion axis startup process;

[0022] If the target axis action is the extended axis action, controlling the extended axis module preset in the drive and control integrated machine to execute the extended axis action process includes:

[0023] Organize the robot's motion data according to the expansion bus protocol;

[0024] The motion data is sent to a preset external servo via an expansion bus and the expansion axis module to start the expansion axis, thereby completing the expansion axis start-up process.

[0025] By adopting the above technical solution, the control module and the expansion axis module form another bus, that is, the integrated drive and control machine has two buses, and the bus formed by the control module and the expansion axis module does not affect the operation of the other bus.

[0026] Optionally, the expansion axis action process also includes an expansion axis stop process;

[0027] If the target axis action is the extended axis action, controlling the extended axis module preset in the drive and control integrated machine to execute the extended axis action process also includes:

[0028] Acquiring the operating status and real-time data of the expansion shaft through the control module;

[0029] Determining whether the expansion axis is currently in a preset standard position according to the operating status and the real-time data;

[0030] If it is at the standard position, stop data is sent to the external servo to stop the expansion axis, completing the expansion axis stop process.

[0031] By adopting the above technical solution, on the bus formed by the control module and the expansion axis module, the expansion axis can be started or stopped by the expansion axis module, that is, the two buses of the drive and control integrated machine do not interfere with each other.

[0032] Optionally, the method further includes:

[0033] sending the operation data and the action data simultaneously to start the internal bus axis start-up process and the expansion axis start-up process simultaneously;

[0034] The startup interval time between the internal bus axis and the extension axis is obtained and output.

[0035] By adopting the above technical solution, the axes controlled by the two buses can not only run separately, but also run simultaneously. When the two buses control the axes at the same time, the control effect equivalent to that of the same bus can be achieved.

[0036] Optionally, obtaining and outputting the start interval time between the internal bus axis and the extension axis includes:

[0037] Acquire a first sending processing logic time and a first data transmission time of the internal bus axis;

[0038] Calculate a first time of the first sending processing logic time and the first data transmission time;

[0039] Acquire a second sending processing logic time and a second data transmission time of the expansion axis;

[0040] Calculate a second time of the second sending processing logic time and the second data transmission time;

[0041] The difference between the first time and the second time is output as the start interval time.

[0042] By adopting the above technical solution, the startup interval time is used to represent the interval time when the two buses send data at the same time, that is, when the expansion axis and the internal bus axis are started synchronously. The startup interval time is calculated and output, which facilitates the management of the drive and control integrated machine.

[0043] In the second aspect, the present application provides a dual-bus protocol collaborative control system that adopts the following technical solutions:

[0044] A dual-bus protocol collaborative control system includes a drive-control integrated machine, a teach pendant, an external servo, and a robotic arm motor. The drive-control integrated machine includes a drive module, a control module, a power module, and an expansion axis module. The control module is connected to the teach pendant, the drive module is connected to the control module, the power module is connected to the drive module, the robotic arm motor is connected to the power module, the expansion axis module is connected to the control module, the external servo is connected to the expansion axis module, and the external servo is connected to the robotic arm motor.

[0045] The teaching pendant is used to send an axis action signal, and the axis action signal corresponds to a target axis action; the target axis action includes an internal axis action and an extended axis action;

[0046] If the target axis action is the internal axis action, the control module executes the internal axis action process;

[0047] If the target axis action is the extended axis action, the extended axis module executes the extended axis action process.

[0048] By adopting the above technical solution, an expansion axis module is added inside the drive and control integrated machine. Therefore, when the product form of the robotic arm is seven axes or more, that is, when there is an expansion axis, the expansion axis can be controlled by the expansion axis module, so that the drive and control integrated machine can meet the needs of robotic arms with product forms of seven axes or more.

[0049] Optionally, the control module communicates with the drive module via an SPI bus protocol, and the control module communicates with the expansion axis module via a CANopen bus protocol.

[0050] By adopting the above technical solution, the bus protocols of the two buses of the drive-control integrated machine are inconsistent, so that the axes controlled by the two buses can operate independently without interfering with each other.

[0051] In summary, this application has at least one of the following beneficial technical effects:

[0052] 1. An expansion axis module is added to the integrated drive and control unit to execute the expansion axis motion process. Therefore, when the product form of the robot arm has seven axes or more, that is, when there are expansion axes, the expansion axis module can be used to control the expansion axes, so that the integrated drive and control unit can meet the needs of robot arms with seven axes or more.

[0053] 2. The integrated drive and control unit has two buses, and the bus formed by the control module and the expansion axis module does not affect the operation of the other bus.

[0054] 3. The axes controlled by two buses can not only run separately, but also run simultaneously. When two buses control axes simultaneously, they can achieve the same control effect as if they were controlled by the same bus. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0056] Figure 2 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0057] Figure 3 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0058] Figure 4 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0059] Figure 5 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0060] Figure 6 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0061] Figure 7 This is a flow chart of one implementation method of a dual-bus protocol collaborative control method according to an embodiment of the present application.

[0062] Figure 8 This is an overall structural diagram of a collaborative control system with a dual-bus protocol according to an embodiment of the present application.

[0063] Description of reference numerals:

[0064] 1. Drive and control integrated machine; 2. Teach pendant; 3. External servo; 4. Robotic arm motor; 5. Drive module; 6. Control module; 7. Power module; 8. Expansion axis module. DETAILED DESCRIPTION

[0065] The following is combined with Figures 1 to 8 This application is described in further detail.

[0066] An embodiment of the present application discloses a collaborative control method for a dual-bus protocol.

[0067] Reference Figure 1 , a collaborative control method of a dual bus protocol includes the following steps:

[0068] S101. Receive an axis motion signal from a teach pendant and obtain a target axis motion corresponding to the axis motion signal. The target axis motion includes an internal axis motion and an extended axis motion.

[0069] The teach pendant, also known as the teaching programmer, is the core component of the robotic arm control system. It is used to register and store mechanical movements or process memories. The teach pendant is executed by an electronic system or a computer system.

[0070] The axis motion signal is used to control the movement of the robot arm according to the path controlled by the teach pendant, that is, to control the axis of the robot arm to make corresponding movements. The axis motion signal must specify the robot arm, so each axis motion signal only corresponds to one axis of the robot arm. In this embodiment, the axes of the robot arm include internal bus axes and extended axes. The internal bus axes refer to the standard 6 axes or less on the robot arm, and the extended axes refer to the axes extended on the robot arm. After receiving the axis motion signal, since the axes of the robot arm include internal bus axes and extended axes, the target axis motion includes the internal axis motion and the extended axis motion.

[0071] From the above, it can be seen that after receiving the axis action signal, the target axis can be positioned according to the axis action signal and the target axis action can be executed.

[0072] S102: If the target axis motion is an internal axis motion, the control module of the drive-control integrated machine is controlled to execute the internal axis motion process.

[0073] If the target axis action is an internal axis action, the internal axis action process is executed according to the control module of the drive and control all-in-one machine. In this embodiment, the drive and control all-in-one machine includes a control module, a drive module, a power module and a robotic arm. Among them, the control module and the drive module are connected by wires, and the control module and the drive module form a bus, the drive module and the power module are connected by wires, and the power module and the robotic arm are connected by wires. Specifically, the power module is connected to several motors on the robotic arm by wires, and each motor corresponds to an axis of the robotic arm. The control module is used to send signals to the drive module, and the drive module is used to connect to the robotic arm and receive signals to control the internal axis movement of the robotic arm. The internal axis action process includes an internal axis start process and an internal axis stop process.

[0074] S103 : If the target axis motion is an extended axis motion, control the extended axis module preset in the integrated drive and control machine to execute the extended axis motion process; the extended axis module is electrically connected to the control module.

[0075] In this embodiment, the integrated drive and control unit is further provided with an expansion axis module for receiving signals from the control module and controlling the movement of the expansion axis of the manipulator. The expansion axis module makes the integrated drive and control unit suitable for manipulators with seven axes or more.

[0076] The expansion axis module is connected to the control module via wires. Specifically, the expansion axis module is connected to the motor corresponding to the expansion axis of the robotic arm via a servo motor. That is, the servo motor is connected to the expansion axis module via wires, and the motor corresponding to the expansion axis is connected to the servo motor via wires. The hardware of the expansion axis module can be composed of CAN transceiver circuits, and the software of the expansion axis module can use the CANopen bus protocol to communicate with the external single servo motor to achieve the effect of controlling the external servo axis.

[0077] When the target axis action is an expansion axis action, the expansion axis module can execute the expansion axis action process through the signal sent by the control module. The expansion axis action process includes the expansion axis start process and the expansion axis stop process.

[0078] It should be noted that the present application is applicable to a multi-axis truss robot arm control device that adopts integrated drive and control technology.

[0079] The implementation principle of this embodiment is: an expansion axis module is added inside the drive and control integrated machine to execute the expansion axis action process, so that when the product form of the robotic arm is seven axes or more, that is, when there is an expansion axis, the expansion axis can be controlled by the expansion axis module, so that the drive and control integrated machine can meet the needs of robotic arms with seven axes or more product forms.

[0080] exist Figure 1 In step S102 of the embodiment shown, the internal axis action process can be differentiated according to the motion conditions of the internal bus axis. Figure 2 The illustrated embodiment is described in detail.

[0081] Reference Figure 2 ,The internal axis action process includes the internal bus axis startup process;

[0082] If the target axis action is an internal axis action, the control module of the control drive and control integrated machine executes the internal axis action process, including the following steps:

[0083] S201. Organize the operation data of the robot arm according to the internal bus protocol.

[0084] In this embodiment, the internal bus protocol uses the SPI bus protocol. SPI is a synchronous serial interface technology that provides a high-speed, full-duplex, and synchronous communication bus. Operational data, including position, speed, and acceleration / deceleration times, is organized according to the internal bus protocol and then transmitted to the drive module via the internal bus.

[0085] S202: Send the operating data to the drive module via the internal bus to start the internal bus axis, thereby completing the internal bus axis startup process.

[0086] The internal bus is an SPI bus. After obtaining the operating data, the operating data can be sent to the drive module through the internal bus. After receiving the operating data, the drive module can control the position, speed, acceleration and deceleration time of the internal bus axis according to the operating data. At this time, the startup process of the internal bus axis is completed.

[0087] In the collaborative control method of the dual-bus protocol provided in this embodiment, the control module and the drive module are one bus, that is, the drive-control integrated machine includes an expansion axis module, which does not affect the drive module starting the internal bus axis.

[0088] exist Figure 1 In step S102 of the embodiment shown, the movement of the internal bus axis also includes the stopping of the internal bus axis, so the internal axis action process also includes the internal bus axis stopping process. Figure 3 The illustrated embodiment is described in detail.

[0089] Reference Figure 3 ,The internal axis action process also includes the internal bus axis stop process;

[0090] If the target axis motion is an internal axis motion, the control module of the control drive and control integrated machine executes the internal axis motion process, which also includes the following steps:

[0091] S301. Obtain operating data of the driving module through the control module.

[0092] To stop an internal bus axis, the control module first obtains the operating data from the driver module. Specifically, while the internal bus axis is in motion, the driver module obtains the operating data in real time, allowing the control module to obtain the operating data from the driver module. This operating data includes real-time position and operating status.

[0093] In a specific implementation, the control module periodically obtains the real-time position and operating status of the drive module and other operating data from the internal bus every 3ms.

[0094] S302: Determine whether the current internal bus axis is located at a preset target position based on the operating data.

[0095] The target position is manually preset. After acquiring operating data, the current real-time position of the internal bus axis is determined. Based on the real-time position, it can be used to determine whether the internal bus axis is at the target position. Specifically, both the real-time position and the target position are expressed as coordinates. If the coordinates of the real-time position coincide with the coordinates of the target position, the internal bus axis is at the target position.

[0096] S303: If the axis is at the target position, the control module sends stop data to the drive module to stop the internal bus axis, thereby completing the internal bus axis stop process.

[0097] If the internal bus axis is at the target position, the control module sends stop data to the drive module so that the drive module controls the internal bus axis to stop, thus completing the internal bus axis stop process.

[0098] The collaborative control method of the dual-bus protocol provided in this embodiment can not only start the internal bus axis through the driving module, but also stop the internal bus axis through the driving module on the bus of the control module and the driving module.

[0099] exist Figure 1 In step S103 of the embodiment shown, the expansion axis action process can be differentiated according to the movement of the expansion axis. Figure 4 The illustrated embodiment is described in detail.

[0100] Reference Figure 4 ,The expansion axis action process includes the expansion axis starting process;

[0101] If the target axis action is an extended axis action, the extended axis module preset in the drive and control integrated machine is controlled to execute the extended axis action process, including the following steps:

[0102] S401. Organize the motion data of the robot arm according to the expansion bus protocol.

[0103] In this embodiment, the expansion bus protocol is the CANopen bus protocol. If the expansion axis action process is the expansion axis startup process, the action data is first organized according to the CANopen bus protocol. The action data includes data such as position, speed, acceleration and deceleration time. It should be noted that the action data is manually set and is organized into a specific message format according to the expansion bus protocol and sent.

[0104] S402: Send the motion data to the preset external servo through the expansion bus and the expansion axis module to start the expansion axis, completing the expansion axis startup process.

[0105] After the robot arm's motion data is made according to the expansion bus protocol, the motion data is sent to the expansion axis module through the expansion bus between the control module and the expansion axis. The expansion axis module then sends the motion data to the external servo, which starts the motor connected to the external servo and then starts the expansion axis corresponding to the motor, completing the expansion axis startup process. The servo is used to accurately follow or reproduce a certain process. It refers to a feedback control system whose output is mechanical displacement or displacement speed or acceleration. Its function is to make the output mechanical displacement or angle accurately track the input displacement or angle.

[0106] In the collaborative control method of the dual-bus protocol provided in this embodiment, the control module and the expansion axis module constitute another bus, that is, the drive and control integrated machine has two buses, and the bus formed by the control module and the expansion axis module does not affect the operation of the other bus.

[0107] exist Figure 1 In step S103 of the embodiment shown, the movement of the expansion axis also includes the stopping of the expansion axis, so the expansion axis action process also includes the expansion axis stopping process. Figure 5 The illustrated embodiment is described in detail.

[0108] Reference Figure 5 ,The expansion axis action process also includes the expansion axis stop process;

[0109] If the target axis action is an extended axis action, the extended axis module preset in the drive and control integrated machine is controlled to execute the extended axis action process, which also includes the following steps:

[0110] S501. Obtain the operating status and real-time data of the expansion axis through the control module.

[0111] To stop an expansion axis, the control module must first obtain its operating status and real-time data. In this embodiment, real-time data refers to its real-time position, and operating status includes both the start and stop states. Specifically, the control module periodically obtains the operating status and real-time position data from the CAN bus every 1ms and every 5ms. Each bus transmission cycle, τ, is the time it takes for the CPU to complete a memory access.

[0112] S502: Determine whether the current expansion axis is in a preset standard position based on the operating status and real-time data.

[0113] If the running state of the extended axis is the stopped state and the coordinates of the real-time position of the extended axis are obtained, it can be determined whether the extended axis is in the standard position according to whether the coordinates of the real-time position of the extended axis are consistent with the coordinates of the standard position.

[0114] S503: If it is at the standard position, send stop data to the external servo to stop the expansion axis, completing the expansion axis stop process.

[0115] If the expansion axis is in the standard position, the stop data is sent to the external servo. Specifically, the stop data is issued by the control module and sent to the external servo through the expansion axis module via the CAN bus. The external servo can then control the corresponding expansion axis to stop, completing the expansion axis stop process.

[0116] The collaborative control method of the dual-bus protocol provided in this embodiment can not only start the extended axis through the extended axis module, but also stop the extended axis through the extended axis module on the bus formed by the control module and the extended axis module, that is, the two buses of the drive and control integrated machine do not interfere with each other.

[0117] The two buses can also control the corresponding axes at the same time. Figure 6 The illustrated embodiment is described in detail.

[0118] Reference Figure 6 , the collaborative control method of the dual bus protocol also includes the following steps:

[0119] S601 : Sending operation data and action data simultaneously to start the internal bus axis start-up process and the extended axis start-up process simultaneously.

[0120] If the expansion axis and the internal bus axis need to be started at the same time, the sending of the internal bus operation data and the expansion bus action data is started at the same time. That is, the operation data is sent through the internal bus and the action data is sent through the expansion bus at the same time. At this time, the internal bus axis startup process and the expansion axis startup process can be started at the same time.

[0121] S602: Obtain and output the startup interval time between the internal bus axis and the expansion axis.

[0122] Since the time when the expansion axis and the internal bus axis receive data is related to the sending processing logic time and the time when data is transmitted on the bus, the time when the expansion axis and the internal bus axis are started at the same time is different. At this time, the start interval time of the expansion axis and the internal bus axis can be calculated and output based on the sending processing logic time and the time when data is transmitted on the bus. The effect of synchronous starting of the expansion axis and the internal bus axis is equivalent to achieving the control effect of the same bus.

[0123] The collaborative control method of the dual-bus protocol provided in this embodiment allows the axes controlled by the two buses to run not only separately but also simultaneously. When the two buses control the axes simultaneously, the control effect equivalent to that of the same bus can be achieved.

[0124] exist Figure 6In step S602 of the embodiment shown, the start interval time can be calculated by the sending processing logic time and the data transmission time of the axis. Figure 7 The illustrated embodiment is described in detail.

[0125] Reference Figure 7 , obtain the start interval time of the internal bus axis and the expansion axis and output it, including the following steps:

[0126] S701: Acquire a first sending processing logic time and a first data transmission time of an internal bus axis.

[0127] The first sending processing logic time and the first data transmission time of the internal bus axis can both be obtained through the internal bus protocol.

[0128] S702: Calculate a first time of a first sending processing logic time and a first data transmission time.

[0129] The sum of the first time=the first sending processing logic time+the first data transmission time.

[0130] S703: Acquire the second sending processing logic time and the second data transmission time of the extended axis.

[0131] Similar to step S701 , the second sending processing logic time and the second data transmission time of the expansion axis can both be obtained through the expansion bus protocol.

[0132] S704: Calculate the second time of the second sending processing logic time and the second data transmission time.

[0133] The sum of the second time=the second sending processing logic time+the second data transmission time.

[0134] S705: The difference between the first time and the second time is output as the start interval time.

[0135] Startup interval time = |first time - second time|.

[0136] In the collaborative control method of the dual-bus protocol provided in this embodiment, the startup interval time is used to represent the interval time when the two buses send data at the same time, that is, when the expansion axis and the internal bus axis are started synchronously. The startup interval time is calculated and output to facilitate the management of the drive and control integrated machine.

[0137] The embodiment of the present application also discloses a collaborative control system of a dual-bus protocol.

[0138] Reference Figure 8A collaborative control system with a dual-bus protocol includes a drive-control integrated machine, a teach pendant, a servo motor and a robotic arm motor. The drive-control integrated machine includes a drive module, a control module, a power module and an expansion axis module. The control module is connected to the teach pendant through wires, the drive module is connected to the control module through wires, the power module is connected to the drive module through wires, the robotic arm motor is connected to the power module through wires, the expansion axis module is connected to the control module through wires, the servo motor is connected to the expansion axis module through wires, and the servo motor is connected to the robotic arm motor through wires.

[0139] The teach pendant is used to send axis motion signals, which correspond to target axis motions; target axis motions include internal axis motions and extended axis motions.

[0140] If the target axis motion is an internal axis motion, the control module executes the internal axis motion process. Specifically, the power module is connected to several motors on the robotic arm via wires, with each motor corresponding to a specific axis of the robotic arm. The control module sends signals to the drive module, which connects to the robotic arm and receives signals to control the motion of the robotic arm's internal axes. The internal axis motion process includes an internal axis start process and an internal axis stop process.

[0141] The power module has rectification and inversion functions. It integrates the power module and the motor module together. The input end is connected to the power grid, and the output end is connected to the robotic arm motor.

[0142] If the target axis action is an expansion axis action, the expansion axis module executes the expansion axis action process.

[0143] Specifically, the expansion axis module is connected to the motor corresponding to the expansion axis of the robotic arm via a servo motor. Specifically, the servo motor is connected to the expansion axis module via wires, and the motor corresponding to the expansion axis is connected to the servo motor via wires. The hardware of the expansion axis module can be composed of CAN transceiver circuits, and the software of the expansion axis module can use the CANopen bus protocol to communicate with the external single servo motor to achieve the effect of controlling the external servo axis.

[0144] When the target axis action is an expansion axis action, the expansion axis module can execute the expansion axis action process through the signal sent by the control module. The expansion axis action process includes the expansion axis start process and the expansion axis stop process.

[0145] The control module and the drive module communicate via the SPI bus protocol, and the control module and the expansion axis module communicate via the CANopen bus protocol.

[0146] The implementation principle of a collaborative control system with a dual-bus protocol in an embodiment of the present application is as follows: an expansion axis module is added inside the drive and control integrated machine, so that when the product form of the robotic arm is seven axes or more, that is, when an expansion axis exists, the expansion axis can be controlled by the expansion axis module, so that the drive and control integrated machine can meet the requirements of robotic arms with product forms of seven axes or more.

[0147] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A collaborative control method for a dual bus protocol, characterized in that: include: Receive an axis motion signal from the teach pendant and obtain a target axis motion corresponding to the axis motion signal, wherein the target axis motion includes an internal axis motion and an extended axis motion; If the target axis motion is the internal axis motion, the control module of the drive and control integrated machine is controlled to execute the internal axis motion process; If the target axis motion is the extended axis motion, controlling the extended axis module preset in the drive and control integrated machine to execute the extended axis motion process; the extended axis module is electrically connected to the control module; The internal axis action process includes an internal bus axis startup process; If the target axis action is the internal axis action, controlling the control module of the drive and control integrated machine to execute the internal axis action process includes: Organize the robot's operating data according to the internal bus protocol; The operation data is sent to the driving module of the drive-control integrated machine through the internal bus to start the internal bus axis and complete the internal bus axis starting process; The expansion axis action process includes an expansion axis starting process; If the target axis action is the extended axis action, controlling the extended axis module preset in the drive and control integrated machine to execute the extended axis action process includes: Organize the robot's motion data according to the expansion bus protocol; The motion data is sent to a preset external servo via an expansion bus and the expansion axis module to start the expansion axis, thereby completing the expansion axis start-up process; The method further comprises: sending the operation data and the action data simultaneously to start the internal bus axis start-up process and the expansion axis start-up process simultaneously; Obtaining and outputting the start interval time between the internal bus axis and the extension axis; The obtaining and outputting the start interval time between the internal bus axis and the extension axis includes: Acquire a first sending processing logic time and a first data transmission time of the internal bus axis; Calculate a first time of the first sending processing logic time and the first data transmission time; Acquire a second sending processing logic time and a second data transmission time of the expansion axis; Calculate a second time of the second sending processing logic time and the second data transmission time; The difference between the first time and the second time is output as the start interval time.

2. The collaborative control method of a dual bus protocol according to claim 1, characterized in that: The internal axis action process also includes an internal bus axis stop process; If the target axis motion is the internal axis motion, controlling the control module of the drive and control integrated machine to execute the internal axis motion process also includes: Acquiring the operating data of the driving module through the control module; determining, based on the operating data, whether the internal bus axis is currently located at a preset target position; If the axis is at the target position, the control module sends stop data to the driving module to stop the internal bus axis, thereby completing the internal bus axis stop process.

3. The collaborative control method of a dual bus protocol according to claim 1, characterized in that: The expansion axis action process also includes an expansion axis stop process; If the target axis action is the extended axis action, controlling the extended axis module preset in the drive and control integrated machine to execute the extended axis action process also includes: Acquiring the operating status and real-time data of the expansion shaft through the control module; Determining whether the expansion axis is currently in a preset standard position according to the operating status and the real-time data; If it is at the standard position, stop data is sent to the external servo to stop the expansion axis, completing the expansion axis stop process.

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