Integrated cleaning robot controller

Abstract

An integrated cleaning robot controller comprises a core board, a CPLD (complex programmable logic device), a safety interface board, a carrier board and a wide voltage power supply conversion module, all the boards perform data interaction through high-speed board-to-board connectors, the carrier board is connected with an encoder, a driver interface board, the safety interface board and a fan, the core board is connected with the driver interface board through a connector, and the core board is connected with the carrier board through the connector. The CPLD is connected with the core board, the driver interface board is connected with the driver, the CPLD transmits analyzed encoder data to the core board through CH368L, encoder information is transmitted to the CPLD through an encoder interface and an RS422 chip, the CPLD simultaneously transmits encoder signals to the driver and controls the position of a robot arm, and the wide-voltage power supply conversion module outputs signals through the CPLD to control the two groups of MOS to be switched on and switched off. Under the environment of a vacuum clean part production line, batch production of high-performance core parts is achieved, the production efficiency is improved, the production risk is reduced, and the production time and cost are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot controllers, and in particular to an integrated cleaning robot controller. Background Art

[0002] The environmental requirements of the vacuum clean component production line are relatively strict. Precise positioning is required for mass production of high-performance core components. The existing manual production line is limited by the low efficiency of manual production. Position deviations are prone to occur in manual production, resulting in low production efficiency of core components. In addition, robot operation may fail due to various reasons during production, making production more risky. Summary of the invention

[0003] The present invention aims to solve the deficiencies of the prior art and provide an integrated cleaning robot controller.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An integrated cleaning robot controller comprises a core board, a CPLD, a safety interface board, a carrier board and a wide-voltage power supply conversion module. Data is exchanged between the boards through a high-speed board-to-board connector. An encoder, a driver interface board, a safety interface board and a fan are connected to the carrier board. The core board is connected to the driver interface board through a connector. The driver interface board is connected to the driver. The CPLD transmits parsed encoder data to the core board through CH368L. The encoder information is transmitted to the CPLD through an encoder interface via an RS422 chip. The CPLD simultaneously transmits the encoder signal to the driver to control the position of the robot arm. The wide-voltage power supply conversion module controls two groups of MOS to open and close through the CPLD output signal, thereby realizing power-on control of the driver power.

[0006] The wide voltage power supply conversion module is compatible with three power supply voltages of DC24V / DC48V / DC56V. The power inlet of the wide voltage power supply conversion module adopts two synchronous buck converters TI LM5146RGYR, supports wide voltage 5.5-100V input, and has a 100V synchronous buck DC / DC controller with a wide duty range.

[0007] The power supply output end of the wide voltage power supply conversion module collects voltage through two sets of voltage dividing circuits, and inputs the collected voltage to the comparator LM2903. The collected voltage is compared with the reference voltage to monitor the output state of the power supply output end, and the result is fed back to control the power supply.

[0008] There are 4 groups of encoder interfaces, which adopt the full-duplex RS422 / RS485 chip with isolation function of Xinlite. The CPLD receives the encoder signal output by the encoder and supports BISS-C and SSI encoder protocol analysis.

[0009] The safety interface board uses three CPLDs. CPLD No. 1 is used for main control and communication to report user general IO and safety IO signals to the core board, as well as AWC function; CPLD No. 2 and CPLD No. 3 are used to process safety IO signals as controllers for the safety signal dual loops.

[0010] The input signals of the CPLD No. 2 and CPLD No. 3 include: external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, teaching box enable, teaching box in-place detection, manual reset and automatic reset signals, and the output signals include: motor power hardware enable. CPLD No. 2 and CPLD No. 3 feed back the real-time status of all safety signals to CPLD No. 1, and finally feed back to the core board.

[0011] The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable are all double-circuit, and the emergency stop button and safety door devices are all normally closed contacts; the manual reset and automatic reset signals are single-circuit normally open contacts.

[0012] The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable, one group of circuits is connected to CPLD No. 2, and the other group of circuits is connected to CPLD No. 3. The two CPLDs process separately and work independently; the manual reset and automatic reset signals are simultaneously connected to CPLD No. 2 and CPLD No. 3.

[0013] The beneficial effects of the present invention are as follows: the present invention realizes the mass production of high-performance core components in a vacuum clean component production line environment, improves production efficiency, reduces production risks, and saves production time and costs; the encoder can detect mechanical motion and convert it into an analog or digitally encoded output signal for measuring position, speed, acceleration and direction data; the encoder can perform position and posture control, monitor the position changes of the robot arm, improve system accuracy and sensitivity, and thus reduce the probability of system failure; in terms of safety, external emergency stop, teaching box emergency stop, electric control cabinet emergency stop, manual reset, automatic reset, brake and release brake are designed to ensure the safety of the robot during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the framework structure of the present invention;

[0015] The following is a detailed description of the embodiments of the invention with reference to the accompanying drawings. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0017] An integrated cleaning robot controller comprises a core board, a CPLD, a safety interface board, a carrier board and a wide-voltage power supply conversion module. Data is exchanged between the boards through a high-speed board-to-board connector. An encoder, a driver interface board, a safety interface board and a fan are connected to the carrier board. The core board is connected to the driver interface board through a connector. The driver interface board is connected to the driver. The CPLD transmits parsed encoder data to the core board through CH368L. The encoder information is transmitted to the CPLD through an encoder interface via an RS422 chip. The CPLD simultaneously transmits the encoder signal to the driver to control the position of the robot arm. The wide-voltage power supply conversion module controls two groups of MOS to open and close through the CPLD output signal, thereby realizing power-on control of the driver power.

[0018] The wide voltage power supply conversion module is compatible with three power supply voltages: DC24V / DC48V / DC56V. The power supply inlet of the wide voltage power supply conversion module uses two synchronous buck converters TI LM5146RGYR, supports wide voltage 5.5-100V input, and has a 100V synchronous buck DC / DC controller with a wide duty range. External Wuxi New Energy Saving N-MOS NCEP0160AG, VDS: 100V, 60A, 7.2mohm. The wide voltage range power supply has thermal shutdown, input undervoltage lockout, cycle-by-cycle current limiting and intermittent short circuit protection.

[0019] The power supply output end of the wide voltage power supply conversion module collects voltage through two sets of voltage dividing circuits, and inputs the collected voltage to the comparator LM2903. The collected voltage is compared with the reference voltage to monitor the output state of the power supply output end, and the result is fed back to control the power supply.

[0020] There are 4 groups of encoder interfaces, using the full-duplex RS422 / RS485 chip with isolation function of Xinlite. The CPLD receives the encoder signal output by the encoder and supports BISS-C and SSI encoder protocol analysis. The bus port ESD protection capability HBM reaches more than 15KV; the driver short-circuit output protection, the receiver open-circuit failure protection; it has a low-power shutdown function; the data transmission rate in an electrically noisy environment can reach more than 16Mbps, and it has strong anti-noise ability. SIT3491ISO has the functions of fail-safe, current limiting protection, overvoltage protection and overheating protection. The encoder information is transmitted to the CPLD through the encoder interface through the RS422 chip.

[0021] The safety interface board uses three CPLDs, and the CPLD chip uses the EF3L90CG400B model. CPLD No. 1 is used for main control and communication to report user general IO and safety IO signals to the core board, as well as AWC function; CPLD No. 2 and CPLD No. 3 are used to process safety IO signals as controllers of the safety signal dual loop.

[0022] The input signals of the CPLD No. 2 and CPLD No. 3 include: external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, teaching box enable, teaching box in-place detection, manual reset and automatic reset signals, and the output signals include: motor power hardware enable. CPLD No. 2 and CPLD No. 3 feed back the real-time status of all safety signals to CPLD No. 1, and finally feed back to the core board.

[0023] The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable are all double-circuit, and the emergency stop button and safety door devices are all normally closed contacts; the manual reset and automatic reset signals are single-circuit normally open contacts.

[0024] The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable, one group of circuits is connected to CPLD No. 2, and the other group of circuits is connected to CPLD No. 3. The two CPLDs process separately and work independently; the manual reset and automatic reset signals are simultaneously connected to CPLD No. 2 and CPLD No. 3.

[0025] The wide voltage range power supply in the present invention uses CPLD to control the switch of MOS tube, so as to control the switch of power supply; then the power supply voltage is collected and compared, so as to realize the monitoring of power supply voltage, and the information is transmitted to CPLD, so as to manage the power supply situation. The encoder and full-duplex RS422 / RS485 chip are used to transmit the position information of the robot arm to CPLD, and then the CPLD transmits it to the core board, so as to realize the precise control of the position of the robot arm by the core board through the driver. In terms of safety, a variety of methods are adopted to protect the robot during the production process. The main measures include external emergency stop, teaching box emergency stop, electric control cabinet emergency stop, manual reset, automatic reset, brake and release brake, so as to ensure the safety of the robot during use.

[0026] In the description of the invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] In the invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be mechanically connected, electrically connected, or able to communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0029] The invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the invention, or they are directly applied to other occasions without improvement, they are all within the scope of protection of the invention.

Claims

1. An integrated cleaning robot controller, characterized in that: It includes a core board, CPLD, a safety interface board, a carrier board and a wide-voltage power supply conversion module. The boards exchange data through a high-speed board-to-board connector. The carrier board is connected with an encoder, a driver interface board, a safety interface board and a fan. The core board is connected to the driver interface board through a connector, and the driver interface board is connected to the driver. The CPLD transmits the parsed encoder data to the core board through CH368L, and the encoder information is transmitted to the CPLD through the encoder interface via the RS422 chip. The CPLD also transmits the encoder signal to the driver to control the position of the robot arm. The wide-voltage power supply conversion module controls the opening and closing of two groups of MOS through the CPLD output signal, thereby realizing power-on control of the driver power.

2. The integrated cleaning robot controller according to claim 1, characterized in that: The wide voltage power supply conversion module is compatible with three power supply voltages of DC24V / DC48V / DC56V. The power inlet of the wide voltage power supply conversion module adopts two synchronous buck converters TI LM5146RGYR, supports wide voltage 5.5-100V input, and has a 100V synchronous buck DC / DC controller with a wide duty range.

3. The integrated cleaning robot controller according to claim 2, characterized in that: The power supply output end of the wide voltage power supply conversion module collects voltage through two sets of voltage dividing circuits, and inputs the collected voltage to the comparator LM2903. The collected voltage is compared with the reference voltage to monitor the output state of the power supply output end, and the result is fed back to control the power supply.

4. The integrated cleaning robot controller according to claim 1, characterized in that: There are 4 groups of encoder interfaces, which adopt the full-duplex RS422 / RS485 chip with isolation function of Xinlite. The CPLD receives the encoder signal output by the encoder and supports BISS-C and SSI encoder protocol analysis.

5. The integrated cleaning robot controller according to claim 1, characterized in that: The safety interface board uses three CPLDs. CPLD No. 1 is used for main control and communication to report user general IO and safety IO signals to the core board, as well as AWC function; CPLD No. 2 and CPLD No. 3 are used to process safety IO signals as controllers for the safety signal dual loops.

6. The integrated cleaning robot controller according to claim 5, characterized in that: The input signals of the CPLD No. 2 and CPLD No. 3 include: external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, teaching box enable, teaching box in-place detection, manual reset and automatic reset signals, and the output signals include: motor power hardware enable. CPLD No. 2 and CPLD No. 3 feed back the real-time status of all safety signals to CPLD No. 1, and finally feed back to the core board.

7. The integrated cleaning robot controller according to claim 6, characterized in that: The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable are all double-circuit, and the emergency stop button and safety door devices are all normally closed contacts; the manual reset and automatic reset signals are single-circuit normally open contacts.

8. The integrated cleaning robot controller according to claim 7, characterized in that: The external emergency stop, interlock, teaching box emergency stop, electric control cabinet emergency stop, and teaching box enable, one group of circuits is connected to CPLD No. 2, and the other group of circuits is connected to CPLD No.

3. The two CPLDs process separately and work independently; the manual reset and automatic reset signals are simultaneously connected to CPLD No. 2 and CPLD No. 3.

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