Robot controller

Abstract

The utility model discloses a robot controller which comprises an uplink communication module, a master control module and a downlink communication module which are connected in sequence. The uplink communication module is connected with an upper computer, and the downlink communication module is connected with a motor control circuit; the upper computer is connected with a command input device, and the uplink communication module is a serial port communication module or a CAN communication module; the downlink communication module adopts CAN (Controller Area Network) communication; and the downlink communication module is connected with a motor control circuit of the robot. The method is suitable for robot development, the technical threshold of robot development is lowered, the development efficiency of the robot is improved, the iteration speed of the robot is higher, and industry growth is faster.

Description

Technical Field

[0001] The utility model relates to the technical field of robot control, in particular to a robot controller. Background Art

[0002] With the progress of society, people's demand for robots is becoming more and more extensive. Robots with various application scenarios and different functions are being intensively developed. Since the development of robots is a collection of multiple trades and disciplines, it has particularly high requirements for technical reserves, especially core algorithms and controllers, which play a decisive role in the performance of robots.

[0003] However, once the existing robot controller is manufactured and leaves the factory, it only has the function of completing a single specific task. In terms of circuit structure, there is a common problem that the controller and the host computer cannot communicate. In the process of sending controller instructions to the robot and collecting robot data, there is a phenomenon that data cannot be synchronized. Utility Model Content

[0004] Therefore, the purpose of the utility model is to provide a robot controller. When the robot only has the structure and joint motors, the controller is connected and the power is turned on, and the robot becomes a real robot with complete functions, superior performance and unique functions. To use it in different robots, only the built-in firmware algorithm needs to be replaced. This will give designers more room for imagination and stage, lower the technical threshold for developing robots, improve the development efficiency of robots, make the iteration speed of robots faster, and also enable the development of robots with different functions to be faster. Accelerate the overall improvement of the industry level.

[0005] In order to achieve the above-mentioned purpose, the utility model provides a robot controller, comprising an uplink communication module, a main control module, and a downlink communication module connected in sequence; the uplink communication module is connected to a host computer, and the downlink communication module is connected to a motor control circuit;

[0006] The host computer is connected to a command input device, and the command input device includes a keyboard, a mouse, etc. for inputting robot control commands.

[0007] The uplink communication module is a serial communication module or a CAN communication module, and the serial communication module is RS232.

[0008] The main control module adopts the main control chip of the STM32 series.

[0009] The main control module is configured with a mathematical model, which includes but is not limited to a kinematics forward solution model, a kinematics inverse solution model, a statics model, a dynamics model, etc.

[0010] The downlink communication module is a CAN communication module; the CAN communication module is connected to the motor control circuit of the robot; the downlink communication module also includes an isolation circuit, the isolation circuit includes CAN communication signal isolation and CAN communication signal processing power isolation; the CAN communication signal isolation uses an isolated CAN transceiver, the output end of the isolation circuit is connected to the motor control circuit, the isolation of the CAN communication signal processing power is that the signal input side signal processing power of the CAN communication chip is powered by +3.3V, and the signal output side signal processing power is powered by the output side of the isolation transformer. In this way, the signal sent by the controller to the motor control circuit and the signal sent by the motor control circuit to the controller in the downlink communication module are completely isolated.

[0011] Further preferably, the main control chip adopts STM32 series.

[0012] Further preferably, the motor control circuit includes a joint motor control unit and a joint motor information acquisition unit. The joint motor control unit is a motor drive circuit, and the joint motor information acquisition unit is a sensor circuit for collecting motor data, which is used to collect information such as the speed and torque of the motor. The motor drive circuit and the sensor circuit can both use common circuits in the prior art, which will not be described in detail here.

[0013] Further preferably, it also includes a safety protection circuit, which includes a voltage stabilizing unit; the input end of the voltage stabilizing unit is connected to the power bus and outputs a 5V working voltage.

[0014] The robot controller disclosed in this application has at least the following advantages compared to the prior art:

[0015] The robot controller provided by the present application uses two independent CAN communications to send and receive data when the host computer issues instructions to the robot and obtains robot joint motor data, namely the uplink communication module and the downlink communication module. It can adapt to both short frame data and long frame data, avoiding the phenomenon of asynchronous data acquisition and instruction data frames.

[0016] The present application also sets up an isolation circuit, in which the power supply is isolated by an isolation transformer to supply power to the output end of the isolated CAN transceiver after the power supply +3.3V is isolated, so that when the downlink communication module and the motor control circuit perform CAN communication, both power isolation and signal isolation can be achieved to avoid mutual crosstalk.

[0017] The host computer communicates with the controller through the uplink communication module, using the two communication lines CAN2_R and CAN2_D shown in the schematic diagram. At the same time, a communication indicator light is set in the circuit to indicate the current communication status. The network label of the uplink communication indicator light is CAN_IN.

[0018] The controller communicates with the motor control circuit through the downstream communication module, using the two communication lines CAN_R and CAN_D in the schematic diagram. At the same time, a communication indicator light is set in the circuit to indicate the current communication status. The network label of the downstream communication indicator light is CAN_OUT.

[0019] The uplink communication module and the downlink communication module are independent of each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the robot controller of the present utility model.

[0021] Figure 2 This is the circuit schematic diagram of the robot controller in this application.

[0022] Figure 3 This is a circuit diagram of the voltage stabilizing unit in this application.

[0023] Figure 4 This is the schematic diagram of the isolation circuit in this application.

[0024] Figure 5 This is the schematic diagram of the CAN signal isolation circuit. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below through the accompanying drawings and specific implementation methods.

[0026] like Figure 1 As shown, a robot controller provided by the implementation case of the utility model includes an uplink communication module, a main control module, and a downlink communication module connected in sequence; the uplink communication module is connected to a host computer, and the downlink communication module is connected to a motor control circuit;

[0027] The host computer is connected to a command input device, and the command input device includes a keyboard, a mouse, etc. for inputting robot control commands.

[0028] The uplink communication module is a serial communication module or a CAN communication module, and the serial communication module is RS232.

[0029] The main control module adopts the STM32 series main control chip.

[0030] The downlink communication module is a CAN communication module, which is connected to the motor control circuit of the robot; the downlink communication module also includes an isolation circuit, the input end of the isolation circuit is connected to the +3.3V working voltage, the CAN communication module adopts an isolated CAN transceiver, the signal output end of the isolation circuit is connected to the motor control circuit, and the power supply of the CAN communication signal output end is powered by the output side of the isolation transformer; specifically, the motor control circuit includes a motor control unit and a motor information acquisition unit; the downlink communication module is used to connect the motor control circuit.

[0031] like Figure 2 As shown, the main control module includes a main control chip and necessary peripheral expansion circuits. The main control chip adopts the STM32 series. The peripheral expansion circuit is a crystal oscillator circuit connected to pins 5 and 6 in the figure.

[0032] like Figure 3 As shown, it also includes a safety protection circuit, which includes a voltage stabilizing unit; the input end of the voltage stabilizing unit is connected to the power bus and outputs a 5V working voltage. The voltage stabilizing unit TPS54160 is a DC-DC converter, which is responsible for converting the power supply voltage into a stable 5V for the subsequent devices to work.

[0033] like Figure 4 and Figure 5 As shown, it should be noted that the present application also includes an isolation circuit. The T1 transformer is an isolation transformer, which is used to power the power supply pin of the CAN signal output end of the U5 chip. The U5 chip is a CAN signal isolation chip, which can create a completely isolated interface between the CAN protocol controller and the physical layer bus. Power isolation is performed through T1, and signal isolation is performed through U5. T1 and U5 achieve the purpose of completely isolating the input and output of the CAN signal from the processing power supply of the input and output signals. In order to avoid signal interference when the robot sends and receives CAN signals, the U5 chip is also connected to a TVS diode to suppress interference signals. The isolation circuit is used in the downlink communication module to isolate the signal sent by the controller to the motor control circuit from the signal sent by the motor control circuit to the controller to avoid crosstalk.

[0034] Further, an isolation circuit may be provided for the uplink communication module to isolate the signal sent by the controller to the host computer from the signal sent by the host computer to the controller.

[0035] It should be further explained that the uplink communication module and the downlink communication module of the controller are independent of each other. The host computer communicates with the controller through the uplink communication module, using the two communication lines CAN2_R and CAN2_D shown in the schematic diagram. At the same time, a communication indicator light is set in the circuit to indicate the current communication status. The network label of the uplink communication indicator light is CAN_IN; the controller communicates with the motor control circuit through the downlink communication module, using the two communication lines CAN_R and CAN_D in the schematic diagram. At the same time, a communication indicator light is set in the circuit to indicate the current communication status. The network label of the downlink communication indicator light is CAN_OUT. These network diagram symbols correspond to different I / O pins of the STM32 chip of the controller main control module, thereby achieving mutual independence at the physical level.

[0036] Obviously, the above implementation cases are only examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the invention of the utility model.

Claims

1. A robot controller, characterized in that: It includes an uplink communication module, a main control module, and a downlink communication module connected in sequence; the uplink communication module is connected to a host computer, and the downlink communication module is connected to a motor control circuit; The host computer is connected to a command input device, and the uplink communication module is a serial communication module or a CAN communication module; The downlink communication module is a CAN communication module, which is connected to the motor control circuit of the robot; the downlink communication module also includes an isolation circuit; the input end of the isolation circuit is connected to the +3.3V working voltage, the CAN communication module adopts an isolated CAN transceiver, the signal output end of the isolation circuit is connected to the motor control circuit, and the output end power supply of the CAN communication module is connected to the output end of the isolation transformer.

2. The robot controller according to claim 1, characterized in that: The command input device includes a keyboard and a mouse, and is used to input robot control commands.

3. The robot controller according to claim 1, characterized in that: The main control module includes a main control chip and a peripheral expansion circuit of the main control chip.

4. The robot controller according to claim 3, characterized in that: The main control chip adopts STM32 series.

5. The robot controller according to claim 1, characterized in that: The motor control circuit includes a joint motor control unit and a joint motor information acquisition unit; the joint motor control unit is a motor drive circuit, and the joint motor information acquisition unit is a sensor circuit for collecting motor data.

6. The robot controller according to claim 1, characterized in that: It also includes a safety protection circuit, which includes a voltage stabilizing unit; the input end of the voltage stabilizing unit is connected to the power bus, and the output end outputs a +5V working voltage.

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