Dispensing equipment based on CANFD architecture

Abstract

The invention relates to the technical field of adhesive dispensing equipment, and particularly discloses adhesive dispensing equipment based on a CANFD architecture, which comprises an upper computer, a main control module, at least one functional slave station module and a plurality of controlled peripherals for adhesive dispensing, the main control module is in communication connection with each functional slave station module through a CANFD bus; the main control module is used for receiving and analyzing a dispensing task instruction from an upper computer, generating a control instruction corresponding to the dispensing task instruction, and distributing the control instruction to each functional slave station module through a CANFD bus; and the function slave station module is used for receiving and analyzing the control instruction from the main control module and then generating a bottom layer signal required by the corresponding controlled peripheral for dispensing so as to drive the corresponding controlled peripheral for dispensing and / or collect data from the corresponding controlled peripheral for dispensing. According to the dispensing equipment based on the CANFD architecture, the control path of existing dispensing equipment can be simplified, and then the reliability, the real-time performance and the expandability of a system are improved.

Description

Technical Field

[0001] This invention relates to the field of dispensing equipment technology, and more particularly to a dispensing equipment based on the CAN_FD architecture. Background Technology

[0002] In modern precision dispensing equipment, the control system needs to coordinate the collaborative work of various controlled peripherals for dispensing, such as motion control, vision positioning, air pressure regulation, temperature monitoring, and light source illumination. Currently, the industry widely adopts a centralized control scheme based on industrial computers (industrial control computers, i.e., host computers). Under this traditional architecture, the host computer is the sole computing and control core of the system, and its technical implementation path can be summarized as: "Host computer — (through its internally integrated various heterogeneous interface cards and corresponding cables) —> Controlled peripherals for dispensing."

[0003] Specifically, to connect to controlled peripherals for dispensing with different functions and communication specifications, the host computer's motherboard must be expanded with various types of dedicated interface cards. For example, an RS-232 serial port card must be used to connect to the light source controller, an RS-485 bus card to connect to analog input / output modules (for acquiring and controlling air pressure and temperature signals), and a high-performance PCIe motion control card must be relied upon to drive the multi-axis motion platform. This architecture leads to a series of insurmountable technical problems:

[0004] 1. Complex and costly hardware systems: Industrial PCs are reduced to "hubs" for various interface cards, resulting in complex hardware designs and high material and assembly costs. The control cabinet is also cramped due to the numerous boards, posing significant challenges to heat dissipation design.

[0005] 2. Bulky and unreliable physical cabling: Multiple interfaces correspond to multiple cable standards (such as serial cables, analog shielded cables, pulse direction cables, etc.), resulting in a wide variety of cables and extremely cumbersome cabling. The messy cable layout not only takes up space and is difficult to maintain, but also easily introduces electromagnetic interference. In particular, analog signals transmitted over long distances are prone to distortion, seriously threatening the stability and reliability of the system.

[0006] 3. Communication Real-Time Performance and Bandwidth Bottlenecks: Traditional serial buses (such as RS-485) have limited bandwidth and low communication efficiency. When multiple functional modules need to frequently exchange data with the host computer, the limited bandwidth and the polling scheduling mechanism of the host computer CPU become performance bottlenecks, making it difficult to meet the stringent requirements of multi-axis synchronization and real-time response in high-speed and high-precision dispensing processes.

[0007] 4. Poor system scalability and flexibility: The system's functions are fixed during the hardware design phase. Any addition, removal, or change of functional modules means adding, deleting, or replacing the corresponding interface cards in the host computer, and rewiring and driver development, resulting in long system upgrade cycles and high costs.

[0008] The root of the aforementioned problems lies in the fundamental limitations of its hardware architecture—namely, its reliance on a "centralized" path where the host computer directly controls the system through various heterogeneous interfaces. Therefore, there is an urgent need in this field for a completely new hardware architecture that can fundamentally simplify the control path and improve the system's reliability, real-time performance, and scalability.

[0009] The information disclosed in this background section is included only to enhance the understanding of the context of this disclosure, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0010] One objective of this invention is to provide a dispensing device based on the CAN_FD architecture, which simplifies the control path of existing dispensing devices and thereby improves the system's reliability, real-time performance, and scalability.

[0011] To achieve the above objectives, the present invention provides a dispensing device based on a CAN_FD architecture, comprising:

[0012] It includes a host computer, a main control module, at least one functional slave module, and a number of controlled peripherals for dispensing that correspond one-to-one with each of the functional slave modules;

[0013] The host computer is communicatively connected to the main control module;

[0014] The main control module communicates with each of the functional slave modules via the CAN_FD bus;

[0015] The main control module is used to receive and parse the dispensing task instruction from the host computer, generate control instructions corresponding to the dispensing task instruction, and distribute the control instructions to each of the functional slave modules through the CAN_FD bus.

[0016] The slave module is used to receive and parse control commands from the master control module, generate the underlying signals required by the corresponding controlled peripheral for dispensing, drive the corresponding controlled peripheral for dispensing, and / or collect data from the corresponding controlled peripheral for dispensing.

[0017] Optionally, the main control module includes an ARM architecture microprocessor and a main CAN_FD communication interface electrically connected to the microprocessor;

[0018] The functional slave module includes an ARM architecture microcontroller with an integrated CAN_FD controller, a slave CAN_FD communication interface electrically connected to the ARM architecture microcontroller, and a dedicated functional circuit electrically connected to the ARM architecture microcontroller.

[0019] Optional,

[0020] Each of the aforementioned functional slave modules includes a light source slave module, an analog quantity slave module, an auxiliary axis motion control slave module, and a dispensing valve slave module;

[0021] Each of the aforementioned controlled peripheral devices for dispensing includes an LED light source, a pressure sensor, a temperature sensor, a pressure proportional valve, a stepper motor and / or a servo motor, and a dispensing valve;

[0022] in,

[0023] The light source slave module is connected to the LED light source and is used to adjust the lighting brightness;

[0024] The analog slave module is connected to the air pressure sensor, temperature sensor, and air pressure proportional valve, and is used to collect air pressure data, collect temperature data, and regulate air pressure.

[0025] The auxiliary axis motion control slave station is connected to a stepper motor or servo motor used to achieve glue feeding, lifting or positioning, and is used to control the auxiliary motion of the glue dispensing path.

[0026] The dispensing valve slave module is connected to the dispensing valve and is used to control the opening and closing of the dispensing valve.

[0027] Optionally, the main control module is configured as follows:

[0028] If no response message is received from the functional slave module corresponding to the dispensing task instruction within the preset time, the control instruction will be resent.

[0029] Optional,

[0030] An error code field is defined in the data payload field of the response message;

[0031] The main control module is configured to: parse the error code field and execute a preset security processing procedure or report fault information to the host computer based on the parsing result.

[0032] Optionally, the control instructions are encapsulated into application layer data frames conforming to a predefined format, which include a function code field, a target node address field, and a data payload field.

[0033] in,

[0034] The function code field is used to uniquely identify the type of controlled peripheral device for dispensing that the control command targets;

[0035] The target node address field is used to specify the physical node address of the functional slave module that receives the application layer data frame;

[0036] The data payload field is used to carry the specific parameters of the control command or the response data returned by the function slave module.

[0037] Optionally, the physical node addresses of each of the functional slave modules are scanned and configured using software built into the host computer.

[0038] Optionally, the CAN_FD bus uses shielded twisted-pair cable, and each end of the CAN_FD bus is connected to a terminating resistor;

[0039] Both the main control module and the functional slave module have opto-isolators in their CAN_FD communication interfaces.

[0040] Optionally, the terminating resistor is 120 ohms.

[0041] Optional, also includes:

[0042] Dispensing head;

[0043] A dispensing motion actuator is used to drive the dispensing head to move and adjust its posture in three-dimensional space;

[0044] A high-precision motion controller is electrically connected to the dispensing motion actuator and is used to control the dispensing motion actuator to achieve high-precision trajectory interpolation motion.

[0045] Industrial cameras are used for visual positioning of dispensing heads and / or workpieces to be dispensed;

[0046] The high-precision motion controller and industrial camera are directly connected to the host computer via PCIe interface or Gigabit Ethernet, and are not connected to the CAN_FD bus managed by the main control module.

[0047] The beneficial effects of this invention are as follows: It provides a dispensing device based on a CAN_FD architecture. During dispensing operations, the host computer runs the dispensing control software, generates high-level dispensing task instructions (such as executing a dispensing path), and sends them to the main control module via an Ethernet interface. The main control module, acting as the system's communication hub and control scheduling center, receives and parses these instructions, decomposing or translating them into control instructions corresponding to specific dispensing-related controlled peripherals (such as a valve or motor) that can be transmitted on the CAN_FD bus. Subsequently, the main control module broadcasts or directs these control instructions to the corresponding functional slave modules via the CAN_FD bus. Each functional slave module, upon receiving its own control instruction, parses it and uses its internal hardware circuitry to generate low-level signals (such as PWM waves, analog voltages, digital I / O levels, etc.) that can directly drive or acquire the corresponding dispensing-related controlled peripherals, thereby ultimately completing the dispensing action or status monitoring.

[0048] The dispensing device based on the CAN_FD architecture provided by this invention fundamentally replaces the complex hybrid architecture of traditional dispensing devices, which consists of "host computer – multiple heterogeneous interface cards – multiple cables – dispensing controlled peripherals," by establishing a unified distributed control path of "host computer – main control module – CAN_FD bus – functional slave module – dispensing controlled peripherals." This design greatly simplifies the system hardware structure and physical wiring, reducing costs and complexity. Simultaneously, due to the high bandwidth, high reliability, and strong anti-interference capabilities of the CAN_FD bus, and the local signal processing capabilities of the functional slave module, the communication efficiency, real-time performance, and reliability of the entire system are significantly improved. The modular design also allows for the addition of new dispensing controlled peripherals simply by adding the corresponding functional slave module and connecting it to the CAN_FD bus, resulting in excellent system scalability.

[0049] Therefore, the dispensing device based on the CAN_FD architecture provided by this invention can simplify the control path of existing dispensing devices, thereby improving the system's reliability, real-time performance, and scalability. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of a dispensing device based on the CAN_FD architecture provided for an embodiment.

[0052] In the picture:

[0053] 1. Host computer;

[0054] 2. Main control module;

[0055] 3. Functional slave module;

[0056] 4. Controlled peripherals for dispensing;

[0057] 5. CAN_FD bus;

[0058] 6. High-precision motion controller;

[0059] 7. Industrial cameras;

[0060] 8. Dispensing motion actuator;

[0061] 9. Dispensing head. Detailed Implementation

[0062] In this invention, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the invention. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this invention, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

[0063] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0064] In the description of this invention, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0065] In this invention, terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy, or order between these entities or operations.

[0066] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0067] Similar to the understanding in the Examination Guidelines, in this invention, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this invention, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0068] In the description of the embodiments of the present invention, the spatial related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of the present invention or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0069] Unless otherwise explicitly stated or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this invention, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention according to the specific circumstances.

[0070] This invention provides a dispensing device based on the CAN_FD architecture, which simplifies the control path of existing dispensing devices, thereby improving the system's reliability, real-time performance, and scalability.

[0071] See Figure 1 The dispensing device based on the CAN_FD architecture provided in this embodiment includes a host computer 1, a main control module 2, at least one functional slave module 3, and a number of controlled peripherals 4 for dispensing that are configured one-to-one with each of the functional slave modules 3.

[0072] The host computer 1 is communicatively connected to the main control module 2;

[0073] The main control module 2 is connected to each of the functional slave modules 3 via the CAN_FD bus 5.

[0074] The main control module 2 is used to receive and parse the dispensing task instruction from the host computer 1, generate control instructions corresponding to the dispensing task instruction, and distribute the control instructions to each of the functional slave modules 3 through the CAN_FD bus 5.

[0075] The slave module 3 is used to receive and parse the control commands from the master control module 2, generate the underlying signals required by the corresponding dispensing controlled peripheral 4, drive the corresponding dispensing controlled peripheral 4, and / or collect data from the corresponding dispensing controlled peripheral 4.

[0076] During the dispensing operation, the host computer 1 runs the dispensing control software, generates advanced dispensing task instructions (such as executing a dispensing path), and sends them to the main control module 2 via an Ethernet interface or ETHERNET bus. The main control module 2, acting as the system's communication hub and control scheduling center, receives and parses these instructions, decomposing or translating them into control instructions corresponding to specific dispensing controlled peripherals 4 (such as a valve or motor) that can be transmitted on the CAN_FD bus 5. Subsequently, the main control module 2 broadcasts or directs these control instructions to the corresponding functional slave modules 3 via the CAN_FD bus 5. Each functional slave module 3, upon receiving its own control instruction, parses it and uses its internal hardware circuitry to generate underlying signals (such as PWM waves, analog voltages, digital I / O levels, etc.) that can directly drive or acquire the corresponding dispensing controlled peripherals 4, thereby ultimately completing the dispensing action or status monitoring.

[0077] The dispensing device based on the CAN_FD architecture provided by this invention fundamentally replaces the complex hybrid architecture of traditional dispensing devices, which consists of "Host Computer 1 — Main Control Module 2 — CAN_FD Bus 5 — Functional Slave Module 3 — Controlled Peripheral for Dispensing 4," by establishing a unified distributed control path of "Host Computer 1 — Main Control Module 2 — CAN_FD Bus 5 — Functional Slave Module 3 — Controlled Peripheral for Dispensing 4." This design greatly simplifies the system hardware structure and physical wiring, reducing costs and complexity. Simultaneously, due to the high bandwidth, high reliability, and strong anti-interference capabilities of the CAN_FD Bus 5, and the local signal processing capabilities of the functional slave module 3, the communication efficiency, real-time performance, and reliability of the entire system are significantly improved. The modular design also allows for easy addition of the controlled peripheral for dispensing 4 simply by adding the corresponding functional slave module 3 and connecting it to the CAN_FD Bus 5, resulting in excellent system scalability.

[0078] Therefore, the dispensing device based on the CAN_FD architecture provided by this invention can simplify the control path of existing dispensing devices, thereby improving the system's reliability, real-time performance, and scalability.

[0079] In this embodiment, the main control module 2 includes an ARM architecture microprocessor and a main CAN_FD communication interface electrically connected to the microprocessor;

[0080] The functional slave module 3 includes an ARM architecture microcontroller with an integrated CAN_FD controller, a slave CAN_FD communication interface electrically connected to the ARM architecture microcontroller, and a dedicated functional circuit electrically connected to the ARM architecture microcontroller.

[0081] For example, main control module 2 is an STM32H7 series high-performance processor, and the ARM architecture microcontroller is an ARM Cortex-M series chip.

[0082] The main control module 2 uses an ARM architecture microprocessor as its computing core, responsible for running the communication protocol stack and task scheduler. The microprocessor exchanges data with the CAN_FD bus 5 through an internally integrated or external main CAN_FD communication interface. On the other hand, each functional slave module 3 is also an independent intelligent node, its core being an ARM architecture microcontroller integrating a CAN_FD controller. This ARM architecture microcontroller is responsible for parsing instructions from the CAN_FD bus 5 and controlling dedicated function circuits to perform specific operations. The slave CAN_FD communication interface is responsible for establishing the physical connection and data transmission / reception between the node and the CAN_FD bus 5.

[0083] By employing a high-performance, low-cost ARM architecture processor as the control core for both the main control module 2 and the functional slave module 3, a unified hardware platform and cost optimization were achieved. This configuration endows the main control module 2 with powerful data processing and scheduling capabilities, while the functional slave module 3 implements distributed intelligence, decentralizing control functions, reducing the burden on the main control module 2, and improving system response speed and reliability. The unified processor architecture also facilitates software development and maintenance.

[0084] In this embodiment, the system may include various types of functional slave modules 3. For example, each of the functional slave modules 3 includes a light source slave module, an analog quantity slave module, an auxiliary axis motion control slave module, and a dispensing valve slave module;

[0085] Each of the controlled peripheral devices 4 for dispensing includes an LED light source, a pressure sensor, a temperature sensor, a pressure proportional valve, a stepper motor and / or a servo motor, and a dispensing valve;

[0086] in,

[0087] The light source slave module is dedicated to connecting and controlling LED light sources, changing the lighting brightness by adjusting the output current;

[0088] The analog slave module is responsible for connecting to data acquisition units such as air pressure sensors and temperature sensors, as well as execution units such as air pressure proportional valves, to acquire and output analog signals, thereby achieving accurate monitoring and control of air pressure and temperature.

[0089] The auxiliary axis motion control slave station drives the stepper motor or servo motor to complete auxiliary point movements such as glue feeding and worktable lifting;

[0090] The dispensing valve slave module directly controls the opening and closing of the dispensing valve and is the final unit that performs the dispensing action.

[0091] Each of the aforementioned modules performs its specific function and is uniformly scheduled by the main control module 2 via the CAN_FD bus 5. This modular and specialized division of labor makes the entire system structure clear and easy to maintain. When it is necessary to adjust or expand a certain function, only the corresponding module needs to be operated on without affecting other parts of the system, demonstrating extremely high flexibility and maintainability.

[0092] It should be noted that different functional slave modules 3 have different built-in dedicated function circuits. For example, the dedicated function circuit of the light source slave module is a light source driving circuit, and the dedicated function circuit of the analog quantity slave module is a high-precision ADC / DAC circuit (used for analog quantity acquisition and control), etc.

[0093] In this embodiment, the main control module 2 is configured as follows:

[0094] If no response message is received from the functional slave module 3 corresponding to the dispensing task instruction within the preset time, the control instruction will be resent.

[0095] After the master control module 2 sends a control command to a functional slave module 3 via the CAN_FD bus 5, it starts a timer and waits to receive a response message from the slave. If a response message is successfully received within a preset time, the communication is considered successful. If no response message is received after the timer expires, the master control module 2 determines that the communication may have failed due to bus interference or other reasons, and automatically resends the previous control command.

[0096] This mechanism greatly enhances the reliability of system communication. It can effectively cope with communication failures caused by transient interference that may occur in the industrial field, ensuring that control commands are accurately delivered to the target slave station and executed, avoiding equipment malfunctions or shutdowns due to a single communication failure, thereby improving the overall working stability and production efficiency of the dispensing equipment.

[0097] Optional,

[0098] An error code field is defined in the data payload field of the response message;

[0099] The main control module 2 is configured to: parse the error code field and execute a preset security processing procedure or report fault information to the host computer 1 based on the parsing result.

[0100] When the slave module 3 completes the execution of an instruction or detects an abnormality in its own status, it sets a specific error code field in the data payload field of the returned response message. For example, code 0x00 represents normal operation, 0x01 represents parameter error, and 0x02 represents hardware failure. After receiving the response message, the master control module 2 first parses the error code field. If the code indicates normal operation, the subsequent process continues; if the code indicates an error, the master control module 2 will, according to a preset strategy, such as immediately stopping the relevant actions, attempting recovery, or sending an alarm message to the host computer 1 for operator intervention.

[0101] This enables the system to perform online diagnostics and intelligent fault tolerance. It not only confirms whether instructions have been delivered but also provides feedback on execution results and equipment status, giving the system self-diagnostic and early warning capabilities. This facilitates rapid fault location and troubleshooting, reduces the difficulty and time required for equipment maintenance, and further enhances the intelligence and availability of the dispensing equipment.

[0102] In this embodiment, the control command is encapsulated into an application layer data frame that conforms to a predefined format. The application layer data frame includes a function code field, a target node address field, and a data payload field.

[0103] in,

[0104] The function code field is used to uniquely identify the type of the controlled peripheral 4 for dispensing that the control command targets;

[0105] The target node address field is used to specify the physical node address of the functional slave module 3 that receives the application layer data frame;

[0106] The data payload field is used to carry the specific parameters of the control command or the response data returned by the function slave module 3.

[0107] When the main control module 2 needs to control a dispensing peripheral 4, it writes the identifier representing the peripheral type into the function code field, writes the address of the target function slave module 3 into the target node address field, and fills the specific control parameters (such as brightness value and pressure value) into the data payload field. Then, it sends the entire data frame to the CAN_FD bus 5. The corresponding function slave module 3 confirms that the message is addressed to it by recognizing the target node address field, determines the operation to be performed based on the function code field, and finally reads the parameters from the data payload field to execute the operation.

[0108] By defining a unified application-layer data frame structure, a common "language" standard was established for all different types of functional slave modules 3. This makes the communication protocol standardized and efficient, achieving interoperability between different functional modules. The design of the function code field allows the system to be flexibly configured through software and easily expanded to include new device types without changing the underlying hardware or communication architecture, greatly enhancing the system's flexibility and scalability.

[0109] Optionally, the physical node addresses of each of the functional slave modules 3 are scanned and configured by the software built into the host computer 1.

[0110] When initializing the system or adding a new functional slave module 3, the operator does not need to manually set the hardware DIP switches to assign addresses. Instead, the host computer 1 sends a scan command to the CAN_FD bus 5 through its built-in software tools. All functional slave modules 3 on the bus will respond to this command, and the host computer 1 software can automatically discover all online modules and assign or configure unique physical node addresses for them. This process is usually completed through a user-friendly graphical interface, which is simple and quick.

[0111] This enables the system to function as a "plug and play" device. It completely changes the cumbersome and error-prone method of setting addresses using hardware jumpers or DIP switches in traditional industrial control, greatly simplifying the installation, debugging, and maintenance processes. This not only reduces the technical requirements for operators but also significantly improves the system's usability and maintainability, reducing system failures caused by incorrect address settings.

[0112] In this embodiment, the CAN_FD bus 5 uses shielded twisted pair cable, and a terminating resistor is connected to each end of the CAN_FD bus 5.

[0113] Both the main control module 2 and the functional slave module 3 have opto-isolators in their CAN_FD communication interfaces.

[0114] The CAN_FD bus 5 uses shielded twisted-pair cable as the transmission medium to effectively suppress common-mode electromagnetic interference. To eliminate communication errors caused by signal reflections at both ends of the bus, a terminating resistor (typically 120 ohms) is connected to each physical end of the CAN_FD bus 5 to achieve impedance matching. Simultaneously, opto-isolators are installed at the CAN_FD communication interfaces of both the master control module 2 and each functional slave module 3. These opto-isolators isolate the electrical signals on the bus side from the internal processor circuitry of the module through optocouplers, thereby effectively preventing damage to sensitive control circuits from ground loop noise, surge currents, and other interference.

[0115] These measures together form a highly reliable physical layer communication foundation. Shielded twisted-pair cables and terminating resistors ensure the integrity and quality of signal transmission, reducing the bit error rate. Opto-isolators greatly enhance the system's anti-interference capability and electrical safety, especially in industrial environments with strong interference sources such as large motors and frequency converters, ensuring stable and reliable CAN_FD bus 5 communication, thereby guaranteeing the long-term stable operation of the dispensing equipment.

[0116] In this embodiment, the dispensing device based on the CAN_FD architecture further includes:

[0117] Dispensing head 9;

[0118] The dispensing motion actuator 8 is used to drive the dispensing head 9 to move and adjust its posture in three-dimensional space; for example, it is a dispensing motion platform or a dispensing robotic arm.

[0119] A high-precision motion controller 6 is electrically connected to the dispensing motion actuator 8 and is used to control the dispensing motion actuator 8 to achieve high-precision trajectory interpolation motion; for example, it is a multi-axis linkage controller, etc.

[0120] Industrial camera 7 is used for visual positioning of dispensing head 9 and / or workpiece to be dispensed;

[0121] The high-precision motion controller 6 and the industrial camera 7 are directly connected to the host computer 1 via a PCIe interface or Gigabit Ethernet, and are not connected to the CAN_FD bus 5 managed by the main control module 2.

[0122] This embodiment provides an optimized "hybrid architecture." It adopts a "divide and conquer" approach, separating core motion / vision control tasks with extremely high real-time requirements from general I / O control tasks (such as lighting and air pressure regulation) with relatively lower real-time requirements. By establishing direct communication connections for high-performance tasks, it ensures that the ultimate performance of the dispensing path and vision processing is unaffected by the bandwidth and scheduling latency of the CAN_FD bus. Simultaneously, integrating numerous other control functions into a unified CAN_FD architecture simplifies the system and reduces costs. This architecture maximizes the advantages of the CAN_FD architecture of this invention in terms of simplified wiring and modularity while ensuring top-level performance.

[0123] It should be noted that the auxiliary axis motion control slave module is mainly used for single-axis / simple collaborative control. The corresponding controlled object (i.e., the controlled peripheral 4 for dispensing) is the auxiliary actuator for the dispensing operation, such as the rotary axis of the glue pump, the lifting axis of the worktable, and the on / off control of valves. The motor movements contained in these auxiliary actuators are usually relatively independent or only require simple synchronization. The requirements for synchronization accuracy and delay are relatively relaxed, and millisecond-level response is usually sufficient.

[0124] The high-precision motion controller 6 is mainly used for multi-axis complex trajectory interpolation and high-precision synchronization. The specific control object is the core motion mechanism of the dispensing operation, which is usually a precision motion platform that realizes three linear motions (X, Y, Z) and two rotational motions (A, C). It is used to accurately control the trajectory and attitude of the dispensing head 9 in three-dimensional space.

[0125] This distinction reflects the rationality and professionalism of the invention's architecture design: separating the core motion control with high real-time requirements from the auxiliary control with general real-time requirements.

[0126] The auxiliary axis control slave station, as a distributed intelligent node, is connected to a unified CAN FD bus network, which reflects the core innovation of this invention: simplified wiring and modular design.

[0127] Due to its extremely high performance requirements, the high-precision motion controller 6 is directly connected to the host computer 1 via a dedicated high-speed channel (such as PCIe) to ensure that its performance is not affected by bus network communication delays.

[0128] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A dispensing device based on CAN_FD architecture, characterized in that, It includes a host computer (1), a main control module (2), at least one functional slave module (3), and a number of controlled peripherals (4) for dispensing that correspond one-to-one with each of the functional slave modules (3); The host computer (1) is communicatively connected to the main control module (2); The main control module (2) is connected to each of the functional slave modules (3) via the CAN_FD bus (5); The main control module (2) is used to receive and parse the dispensing task instruction from the host computer (1), generate control instructions corresponding to the dispensing task instruction, and distribute the control instructions to each of the functional slave modules (3) through the CAN_FD bus (5). The slave module (3) is used to receive and parse the control instructions from the master control module (2), generate the underlying signals required by the corresponding dispensing controlled peripheral (4), drive the corresponding dispensing controlled peripheral (4), and / or collect data from the corresponding dispensing controlled peripheral (4).

2. The dispensing device based on the CAN_FD architecture according to claim 1, characterized in that, The main control module (2) includes an ARM architecture microprocessor and a main CAN_FD communication interface electrically connected to the microprocessor; The functional slave module (3) includes an ARM architecture microcontroller with an integrated CAN_FD controller, a slave CAN_FD communication interface electrically connected to the ARM architecture microcontroller, and a dedicated functional circuit electrically connected to the ARM architecture microcontroller.

3. The dispensing equipment based on the CAN_FD architecture according to claim 1, characterized in that, Each of the aforementioned functional slave modules (3) includes a light source slave module, an analog quantity slave module, an auxiliary axis motion control slave module, and a dispensing valve slave module; Each of the controlled peripheral devices (4) for dispensing includes an LED light source, a pressure sensor, a temperature sensor, a pressure proportional valve, a stepper motor and / or a servo motor, and a dispensing valve; in, The light source slave module is connected to the LED light source and is used to adjust the lighting brightness; The analog slave module is connected to the air pressure sensor, temperature sensor, and air pressure proportional valve, and is used to collect air pressure data, collect temperature data, and regulate air pressure. The auxiliary axis motion control slave station is connected to a stepper motor or servo motor used to achieve glue feeding, lifting or positioning, and is used to control the auxiliary motion of the glue dispensing path. The dispensing valve slave module is connected to the dispensing valve and is used to control the opening and closing of the dispensing valve.

4. The dispensing device based on the CAN_FD architecture according to claim 1, characterized in that, The main control module (2) is configured as follows: If no response message is received from the functional slave module (3) corresponding to the dispensing task instruction within the preset time, the control instruction will be resent.

5. The dispensing device based on the CAN_FD architecture according to claim 4, characterized in that, An error code field is defined in the data payload field of the response message; The main control module (2) is configured to: parse the error code field and execute a preset security processing procedure or report fault information to the host computer (1) based on the parsing result.

6. The dispensing device based on the CAN_FD architecture according to claim 1, characterized in that, The control instructions are encapsulated into application layer data frames that conform to a predefined format. The application layer data frames include a function code field, a target node address field, and a data payload field. in, The function code field is used to uniquely identify the type of the controlled peripheral (4) for dispensing that the control command targets; The target node address field is used to specify the physical node address of the functional slave module (3) that receives the application layer data frame; The data payload field is used to carry the specific parameters of the control command or the response data returned by the function slave module (3).

7. The dispensing device based on the CAN_FD architecture according to claim 6, characterized in that, The physical node addresses of each of the functional slave modules (3) are scanned and configured by the software built into the host computer (1).

8. The dispensing device based on the CAN_FD architecture according to claim 1, characterized in that, The CAN_FD bus (5) uses shielded twisted pair cable, and a terminating resistor is connected to each end of the CAN_FD bus (5); The CAN_FD communication interfaces of both the main control module (2) and the functional slave module (3) include opto-isolators.

9. The dispensing device based on the CAN_FD architecture according to claim 8, characterized in that, The terminating resistor is 120 ohms.

10. The dispensing device based on the CAN_FD architecture according to claim 1, characterized in that, Also includes: Dispensing head (9); The dispensing motion actuator (8) is used to drive the dispensing head (9) to move and adjust its posture in three-dimensional space; A high-precision motion controller (6) is electrically connected to the dispensing motion actuator (8) and is used to control the dispensing motion actuator (8) to achieve high-precision trajectory interpolation motion. An industrial camera (7) is used for visual positioning of the dispensing head (9) and / or the workpiece to be dispensed; The high-precision motion controller (6) and industrial camera (7) are directly connected to the host computer (1) via PCIe interface or Gigabit Ethernet, and are not connected to the CAN_FD bus (5) managed by the main control module (2).

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