Discrete cleaning robot controller

Abstract

A discrete cleaning robot controller comprises core boards, a carrier board and a safety interface board, the core boards comprise an x86 core board and an ARM core board, the carrier board is connected with the two core boards through a core board interface, and the carrier board is connected with the safety interface board through a safety interface board interconnection interface and connected with the safety interface board through an SCSI68 male-to-male cable. According to the discrete cleaning robot, efficient production of the robot is achieved through the controller, risks of the robot in the production process can be reduced through collection of external safety information, and therefore the production time and cost are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of controllers, and in particular to a discrete 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 provides a discrete cleaning robot controller.

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

[0005] A discrete cleaning robot controller comprises a core board, a carrier board and a safety interface board, wherein the core board comprises an x86 core board and an ARM core board, the carrier board is connected to the two core boards via a core board interface, the carrier board is connected to the safety interface board via a safety interface board interconnection interface, and is connected to the safety interface board via a SCSI68 male-to-male cable.

[0006] The carrier board is designed with an Internet port, a CAN port, a serial port, an HDMI interface, a USB interface, an atmospheric hand system IOI, an atmospheric hand system IOII, a core board interface, a safety interface board interconnection interface I and a safety interface board interconnection interface II. The Internet port is designed with 2 channels for user interfaces, using an Intel I210 chip, and the Ethernet controller is a single-port gigabit network controller; the CAN interface has 2 channels, one of which is used for controlling the CANOPen at the driver end, and the other is used for communicating with the brake module; the serial port uses a USB-to-serial port chip CH344Q to convert the USB port led out of the core board into 4 serial ports, and the interface is connected to the RS232 level conversion chip after passing through an isolation chip, and the HDMI interface uses DIODES HMDI2.06Gbps limit ReDriver / dual-mode display port level shifter PI3HDX1204B1; the USB interface is used to connect the keyboard, mouse and U disk during maintenance; the function of the atmospheric hand system IOI and the atmospheric hand system IOII is to process the IO signals inside the robot, mainly including power-on, brake release, control of the solenoid valve inside the robot, limit, in-position monitoring and lighting of indicator lights; the core board interface is connected to the core board, and the safety interface board interconnection interface I and the safety interface board interconnection interface II are connected to the safety interface board.

[0007] The safety interface board includes a power interface, a teaching box interface, a user safety IO interface, a user general IO interface, an interface 1 interconnecting with the carrier board, an interface 2 interconnecting with the carrier board, an AWC interface and a power interface. The power interface is connected to a TI LM5146RGYR through a connector to output DC12V to power the core board. After the core board is started, it controls a TPS5450DDAR to output 3.3V@5A to power the carrier board system IO, storage disk, I210, and CPLD. At the same time, it controls another TPS5450DDAR to output DC5V@5A to power the safety interface board main control CPLD, a safety CPLD, and the user IO system. The power interface is connected to another TPS5450DDAR to output DC5V@5A to power HDMI and the air hand system IO. One channel is then output 3V3@3A through a MP2145GD-Z to power the safety CPLD and the user safety Full IO power supply, the power interface is connected to a VCF2424EBO-120W output 24V@5A, which is used to power the user general IO, user safety IO, teaching box, and atmospheric hand system IO. A TPS5450DDAR outputs DC5V@1.5A to power the USB. The teaching box interface is used to connect the teaching box communication and power supply. The AWC interface has a total of 4 high-speed IOs, supporting an IO frequency of no less than 10MHz. The user safety IO interface is connected to the emergency stop, safety door, interlock, enable, mode selection, power and STO control through the split controller; the power interface connects the XOUTS0A and XOUTS0 output of the two safety CPLDs B are respectively led out to the connector and connected to the STO dual-loop control end of the driver through wiring; the user general IO interface is the IO provided to the end user, which is used to connect the sensors, valves, relays, and PLC IO modules on the end user's machine. It is the IO configured by the end user in the wiring box; the carrier board interconnection interface 1 is used to interconnect the signals with the carrier board; the carrier board interconnection interface 2 provides power to the carrier board through the safety interface board.

[0008] The power electrical interface controls two MOS tubes inside the board respectively using the XOUTS1 A and XOUTS1 B signals output by the two safety CPLDs. The system IO XOUTA0 output by the main control CPLD controls another MOS tube. The fourth MOS tube is controlled by the external driver alarm signal. These four MOS tubes are connected in series to control the coil of the external contactor.

[0009] The power interface controls a MOS tube or a relay via the system IO XOUTA0 output by the main control CPLD, and the second MOS tube is controlled by an external driver alarm signal, and the two MOS tubes are connected in series to output a 24V DC control signal POWER_OUT.

[0010] The power electrical interface controls two MOS tubes or relays inside the board respectively using the XOUTS1 A and XOUTS1 B signals output by the two safety CPLDs. XOUTS1 A and XOUTS1 B are connected in parallel, and POWER_OUT is connected to one contact of the two MOS tubes or relays respectively. The other contact is used to control an external 24V DC contactor coil. The two MOS tubes or relays control the coils of the two contactors respectively.

[0011] The driving power supply part of the driver adopts a safety CPLD dual-control dual MOS series control opening and closing, and the output end adopts two comparators for stepping back, and the power supply state of the output end is returned to the safety CPLD for state monitoring.

[0012] The dual redundant power supply design of the safety CPLD: two safety CPLDs are powered by two TILM5146RGYR at the entrance for step-down conversion.

[0013] The safety interface board also includes a fan interface, a manual brake release interface and a brake output interface. The fan interface is connected to the fan, the manual brake release interface can release the brake of the lifting axis motor, and the brake output interface is connected to two brakes.

[0014] The beneficial effects of the present invention are as follows: the present invention not only realizes efficient production of the robot through the discrete clean robot controller, but also reduces the risk of the robot in the production process through the collection of external safety information, thereby saving production time and cost. DETAILED DESCRIPTION

[0015] The present invention will be further described below with examples:

[0016] A discrete cleaning robot controller comprises a core board, a carrier board and a safety interface board. The core board comprises an x86 core board and an ARM core board. The carrier board is connected to the two core boards via a core board interface. The carrier board is connected to the safety interface board via a safety interface board interconnection interface and is connected to the safety interface board via a SCSI68 male-to-male cable. The connector at the interface adopts a 90-degree VHDCI68 female slot CN type connector.

[0017] The carrier board is designed with an Internet port, a CAN port, a serial port, an HDMI interface, a USB interface, an atmospheric hand system IOI, an atmospheric hand system IOII, a core board interface, a safety interface board interconnection interface I and a safety interface board interconnection interface II. The Internet port is designed with two user interfaces and uses an Intel I210 chip. The Ethernet controller is a single-port gigabit network controller. The Ethernet controller has low power consumption and a small size. The Ethernet controller provides full-function gigabit Ethernet media access for client desktops, servers and PCs for control (MAC) and physical layer (PHY) embedded applications. The fully integrated GbE MAC / PHY function that can be configured is suitable for 1000Mb / s or 100 / 10Mb / s operating modes.

[0018] There are two CAN interfaces, one for the control of CANOPen on the driver side, and the other for communication with the brake module. The Taiwan Fintek F81604 is used. The USB to dual CAN bus controller of the controller area network CAN generally used in industrial environments is used to convert the core board USB to dual CAN. F81604 supports CAN2.0A and CAN2.0B protocols; the transceiver uses the nano-core microelectronics isolated CAN transceiver NSi1050, which is fully compatible with ISO11898-2. NSi1050 integrates a two-channel digital isolator and a high-performance CAN transceiver. Highly integrated solutions can help simplify system design and improve reliability. NSi1050 products have passed UL1577 safety certification, support 5kVrms insulation withstand voltage, and have high electromagnetic immunity and low radiation. NSi1050 supports data transmission rates up to 1Mbps and can support at least 110 CAN nodes. NSi1050 provides thermal protection and transmission data dominant timeout functions.

[0019] The serial port uses Qinheng USB to serial port chip CH344Q, which converts the USB port led out of the core board into 4 serial ports with a maximum rate of 6Mbps. The interface is connected to the domestic RS232 level conversion chip through a domestic isolation chip. The chip has a power supply voltage of 3V~5.5V, a rate of 250Kbps, and supports 15KV ESD protection.

[0020] The HDMI interface uses the DIODES HMDI2.06Gbps limited ReDriver / dual-mode display port level shifter PI3HDX1204B1. The device has programmable high equalization, output swing and de-emphasis control modes. It can provide more than twice the additional jitter performance of other traditional ReDrivers and support dual-mode DPHBR3 to HDMI2.0 level conversion; the USB interface is used to connect the keyboard, mouse and USB flash drive during maintenance; the role of the atmospheric hand system IOI and the atmospheric hand system IOII is to process the IO signals inside the robot, mainly including power-on, brake release, control of the solenoid valve inside the robot, limit, in-position monitoring and lighting indicator lights; the atmospheric hand system IOI and the atmospheric hand system IOII include 32 inputs, 16 outputs, 24V level, low effective. The input signal supports an IO rate of not less than 10kBit / s, the device delay does not exceed 0.1ms, and the input current is about 10mA. The output signal supports an IO rate of not less than 1KBit / s, and the device delay does not exceed 1ms. The driving capability of each output of XOUTA0-XOUTA3 is not less than 1A, and the driving capability of each output of the remaining channels is not less than 100mA.

[0021] The input uses Toshiba photocoupler TLP291-4, IF=50mA, VCEO=80V, VECO=7V, IC=50mA, operating temperature -55~110℃, SOP16 package, with four optical coupling channels, each channel includes an LED and a photosensitizer, allowing multiple signals to be transmitted and isolated simultaneously, meeting the needs while reducing space.

[0022] The core board interface is connected to the core board, and the safety interface board interconnection interface I and the safety interface board interconnection interface II are connected to the safety interface board.

[0023] The safety interface board includes a power interface, a teaching box interface, a user safety IO interface, a user general IO interface, an interconnection interface 1 with a carrier board, an interconnection interface 2 with a carrier board, an AWC interface and a power interface. The power interface is connected to a TI LM5146RGYR through a connector to output DC12V to power the core board. After the core board is started, it controls a TPS5450DDAR to output 3.3V@5A to power the carrier board system IO, storage disk, I210, and CPLD. At the same time, it controls another TPS5450DDAR to output DC5V@5A to power the safety interface board main control CPLD, a safety CPLD and the user IO system. The power interface is connected to another TPS5450DDAR to output DC5V@5A to power the HDMI and air hand system IO. One channel then outputs 3V3 through an MP2145GD-Z. @3A is used to power the safety CPLD and user safety IO. The power interface is connected to a VCF2424EBO-120W outputting 24V@5A, which is used to power the user general IO, user safety IO, teaching box, and atmospheric hand system IO. A TPS5450DDAR outputs DC5V@1.5A to power the USB. The connector at the power interface uses a connector with an overcurrent of up to 40A. The driver power supply part of the driver adopts the safety CPLD dual-control dual MOS series control opening and closing, and the output end adopts two comparators for stepping back, and the output end power supply status is returned to the safety CPLD for status monitoring. The safety CPLD dual redundant power supply design: the two safety CPLDs are respectively powered by the TI LM5146RGYR at the two entrances for step-down conversion. The external port power supply and control system power supply are isolated.

[0024] The teaching box interface is used to connect the teaching box communication and power supply. The power supply part of the teaching box interface adopts an isolated power supply design, which has protection functions such as backflow prevention, overcurrent and overvoltage protection. The serial communication part has an ESD anti-static interference design; the AWC interface has a total of 4 high-speed IOs, supporting IO frequencies of not less than 10MHz, and device delays of tens of ns to hundreds of ns. 5V level, low effective, connected to the input pin of the driver, using Avago AVAGO optocoupler HCPL-0600, power supply voltage 4.5 ~ 5.5V, data transmission rate 10Mbit / s, operating temperature up to 85℃; user safety IO interface connects emergency stop, safety door, interlock, enable, mode selection, power and STO control through a split controller, user safety IO supports IO frequency not less than 1khz, device delay does not exceed 1ms, each group of 12 inputs and 8 outputs corresponds to a safety controller (FPGA / CPLD) input signals are passive dry contacts, output is high effective, XSOUT0 is 5V level, the rest of the output is 24V level, the input part uses Toshiba optocoupler TLP291-4, detailed parameters see the carrier part. The output uses Panasonic PhotoMOSAQY212, load voltage 60V, continuous load current 1A.

[0025] The user general IO interface is the IO provided to the end user, which is used to connect the sensors, valves, relays, and PLC IO modules on the end user's machine. It is the IO configured by the end user in the terminal box. Whether to connect and what device to connect is determined by the end user, which is related to the user's usage scenario. 16 high-speed inputs: 10MBit / s rate, device delay of tens of ns to hundreds of ns, input current of about 10mA; 16 outputs: device rate not less than 1KBit / s, device delay of ms, and each output drive capacity not less than 100mA; all user general IOs are 24V logic level, and are high effective or low effective, which can be configured as high or low effective through the host computer instructions; the output part uses Panasonic PhotoMOSAQY212, load voltage 60V, continuous load current 1A.

[0026] The carrier board interconnection interface 1 is used to interconnect the carrier board with signals; the carrier board interconnection interface 2 provides power to the carrier board through the safety interface board.

[0027] The power electrical interface leads the XOUTS0A and XOUTS0 B output by the two safety CPLDs to the connector respectively, and supplies them to the STO dual-loop control end of the driver through wiring; the power electrical interface controls two MOS tubes inside the board respectively with the XOUTS1A and XOUTS1 B signals output by the two safety CPLDs, the system IO XOUTA0 output by the main control CPLD controls another MOS tube, and the fourth MOS tube is controlled by the external driver alarm signal. These four MOS tubes are connected in series to control the coil of the external contactor. Only when these four MOS are turned on at the same time, the external contactor coil can obtain 24V, that is, XOUTS1A and XOUTS1B are connected in series, when the driver alarm signal is turned on, the MOS tube is turned on, and when the driver alarm signal is disconnected, the MOS tube is turned off.

[0028] The power electrical interface controls a MOS tube or a relay with the system IO XOUTA0 output by the main control CPLD. The second MOS tube is controlled by the external driver alarm signal. When the driver alarm signal is turned on, the MOS tube is turned on. When the driver alarm signal is turned off, the MOS tube is turned off. The two MOS tubes are connected in series to output a 24V DC control signal POWER_OUT.

[0029] The power electrical interface controls two MOS tubes or relays inside the board respectively using the XOUTS1 A and XOUTS1 B signals output by the two safety CPLDs. XOUTS1 A and XOUTS1 B are connected in parallel, and POWER_OUT is connected to one contact of the two MOS tubes or relays respectively. The other contact is used to control an external 24V DC contactor coil. The two MOS tubes or relays control the coils of the two contactors respectively. The driver alarm circuit requires 24V DC.

[0030] The safety interface board also includes a fan interface, a manual brake release interface and a brake output interface. The fan interface is connected to the fan, the manual brake release interface can release the brake of the lifting axis motor, and the brake output interface is connected to two brakes.

[0031] The present invention adopts the hardware architecture of x86 / ARM core board + carrier board + security board to realize the collection and processing of external signals, thereby meeting the production needs of customers.

[0032] In the description of the invention, it is necessary to understand 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, 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.

[0033] 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.

[0034] 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.

[0035] The above is an exemplary description of the invention. Obviously, 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 protection scope of the invention.

Claims

1. A discrete cleaning robot controller, characterized in that: It includes a core board, a carrier board, a safety interface board and an AC distribution board. The core board includes an x86 core board and an ARM core board. The carrier board connects the two core boards through the core board interface. The carrier board is connected to the safety interface board through the safety interface board interconnection interface and is connected to the safety interface board through a SCSI68 male-to-male cable.

2. A discrete cleaning robot controller according to claim 1, characterized in that: The carrier board is designed with an Internet port, a CAN port, a serial port, an HDMI interface, a USB interface, an atmospheric hand system IOI, an atmospheric hand system IOII, a core board interface, a safety interface board interconnection interface I and a safety interface board interconnection interface II. The Internet port is designed with 2 channels for user interfaces, using an Intel I210 chip, and the Ethernet controller is a single-port gigabit network controller; the CAN interface has 2 channels, one of which is used for controlling the CANOPen at the driver end, and the other is used for communicating with the brake module; the serial port uses a USB to serial port chip CH344Q to convert the USB port led out of the core board into 4 serial ports, and the interface is connected to the RS232 level conversion chip after passing through an isolation chip, and the HDMI interface uses DIODES HMDI2.06Gbps limit ReDriver / dual-mode display port level shifter PI3HDX1204B1; the USB interface is used to connect the keyboard, mouse and U disk during maintenance; the function of the atmospheric hand system IOI and the atmospheric hand system IOII is to process the IO signals inside the robot, mainly including power-on, brake release, control of the solenoid valve inside the robot, limit, in-position monitoring and lighting of indicator lights; the core board interface is connected to the core board, and the safety interface board interconnection interface I and the safety interface board interconnection interface II are connected to the safety interface board.

3. A discrete cleaning robot controller according to claim 1, characterized in that: The safety interface board includes a power interface, a teaching box interface, a user safety IO interface, a user general IO interface, an interface 1 interconnecting with the carrier board, an interface 2 interconnecting with the carrier board, an AWC interface and a power interface. The power interface is connected to a TI LM5146RGYR through a connector to output DC12V to power the core board. After the core board is started, it controls a TPS5450DDAR to output 3.3V@5A to power the carrier board system IO, storage disk, I210, and CPLD. At the same time, it controls another TPS5450DDAR to output DC5V@5A to power the safety interface board main control CPLD, a safety CPLD, and the user IO system. The power interface is connected to another TPS5450DDAR to output DC5V@5A to power HDMI and the air hand system IO. One channel is then output 3V3@3A through a MP2145GD-Z to power the safety CPLD and the user safety All IO power supply, the power interface is connected to a VCF2424EBO-120W output 24V@5A, which is used to power the user general IO, user safety IO, teaching box, and atmospheric hand system IO, and a TPS5450DDAR outputs DC5V@1.5A to power the USB; the teaching box interface is used to connect the teaching box communication and power supply, and the AWC interface has a total of 4 high-speed IOs, supporting IO frequency of not less than 10MHz; the user safety IO interface is connected to the emergency stop, safety door, interlock, enable, mode selection, power and STO control through the split controller; the power interface leads the XOUTS0A and XOUTS0 B output by the two safety CPLDs to the connector respectively, and is connected to the STO dual-loop control end of the driver through wiring; the user general IO interface is the IO provided to the end user, which is used to connect the sensors, valves, relays, and PLC IO modules on the end user's machine, and is the IO configured by the end user to the wiring box; The carrier board interconnection interface 1 is used to interconnect the carrier board with signals; the carrier board interconnection interface 2 provides power to the carrier board through the safety interface board.

4. A discrete cleaning robot controller according to claim 3, characterized in that: The power electrical interface controls two MOS tubes inside the board respectively using the XOUTS1 A and XOUTS1 B signals output by the two safety CPLDs. The system IO XOUTA0 output by the main control CPLD controls another MOS tube. The fourth MOS tube is controlled by the external driver alarm signal. These four MOS tubes are connected in series to control the coil of the external contactor.

5. A discrete cleaning robot controller according to claim 4, characterized in that: The power interface controls a MOS tube or a relay via the system IO XOUTA0 output by the main control CPLD, and the second MOS tube is controlled by an external driver alarm signal, and the two MOS tubes are connected in series to output a 24V DC control signal POWER_OUT.

6. A discrete cleaning robot controller according to claim 5, characterized in that: The power electrical interface controls two MOS tubes or relays inside the board respectively using the XOUTS1 A and XOUTS1 B signals output by the two safety CPLDs. XOUTS1 A and XOUTS1 B are connected in parallel, and POWER_OUT is connected to one contact of the two MOS tubes or relays respectively. The other contact is used to control an external 24VDC contactor coil. The two MOS tubes or relays control the coils of the two contactors respectively.

7. A discrete cleaning robot controller according to claim 2, characterized in that: The driving power supply part of the driver adopts a safety CPLD dual-control dual MOS series control opening and closing, and the output end adopts two comparators for stepping back, and the power supply state of the output end is returned to the safety CPLD for state monitoring.

8. A discrete cleaning robot controller according to claim 7, characterized in that: The dual redundant power supply design of the safety CPLD: two safety CPLDs are powered by two TI LM5146RGYR at the entrance for step-down conversion.

9. A discrete cleaning robot controller according to claim 8, characterized in that: The safety interface board also includes a fan interface, a manual brake release interface and a brake output interface. The fan interface is connected to the fan, the manual brake release interface can release the brake of the lifting axis motor, and the brake output interface is connected to two brakes.