A low-voltage four-axis robot hardware circuit

Abstract

The utility model relates to a kind of low-pressure four-axis robot hardware circuit, comprising: core board, mainboard, drive board, safety relay, switching power supply and AC contactor;The core board is connected with the mainboard, the mainboard is connected with the drive board, and the mainboard is connected with safety relay by relay control line, and the safety relay is connected with the AC contactor by contact control line, and the AC contactor is connected with the drive board by switching power supply;The core board, mainboard and drive board constitute electronic circuit part, optimize the controller multi-core heterogeneous computing architecture, realize software and hardware collaborative processing, provide powerful computing power for controller;With modularization thought design relevant PCB, guarantee the multiplicity of PCB;Using safety relay and AC contactor designs double-loop structure, through hardware redundancy, real-time monitoring and high-level safety certification, complete fault tolerance to single point is realized, while giving consideration to quick response and maintainability.

Description

Technical Field

[0001] This utility model relates to the field of four-axis robot hardware technology, and in particular to a hardware circuit for a low-voltage four-axis robot. Background Technology

[0002] Industrial robot controllers are core components of industrial automation systems. Through precise motion planning and real-time control, they enable the efficient execution of complex tasks, making them crucial equipment for improving the automation level of manufacturing and ensuring product quality. Currently, many industrial robots on the market use multiple servo drives and controllers in conjunction, leading to problems such as poor openness, wasted hardware resources, and wasted computing resources. Therefore, developing high-performance, low-cost industrial robot controllers and drives is essential. Utility Model Content

[0003] The purpose of this invention is to provide a hardware circuit for a low-voltage four-axis robot that optimizes the multi-core heterogeneous computing architecture of the controller, enables software and hardware collaborative processing, and provides the controller with powerful computing capabilities.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A hardware circuit for a low-voltage quadcopter robot, comprising:

[0006] Core board, motherboard, driver board, safety relays, switching power supply and AC contactor;

[0007] The core board is connected to the motherboard, the motherboard is connected to the driver board, the motherboard is connected to the safety relay via a relay control line, the safety relay is connected to the AC contactor via a contact control line, and the AC contactor is connected to the driver board via a switching power supply. The core board, motherboard, and driver board constitute the electronic circuit section, and the safety relay, switching power supply, and AC contactor constitute the electrical circuit section.

[0008] Preferably, the core board includes a multi-core heterogeneous processor, a programmable gate array (PGA), and an ARM processor; the multi-core heterogeneous processor is connected to the PGA via a data bus and an address bus, the PGA is connected to the ARM processor via a data bus, a configuration bus, and an address bus, and the multi-core heterogeneous processor is connected to the ARM processor via a configuration bus.

[0009] Preferably, the motherboard includes a core board interface, an encoder interface, a USB interface, a main power supply circuit, and various step-down circuits.

[0010] Preferably, the driver board includes a three-phase bridge inverter circuit, a pre-drive circuit, an LDO, a power supply circuit, a current sampling circuit, a comparator circuit, an operational amplifier circuit, and a comparator circuit.

[0011] Preferably, the electrical circuit consisting of the safety relay, switching power supply, and AC contactor further includes a switch and a filter.

[0012] Preferably, the multi-core heterogeneous processor is used to run the LINUX system and host computer software, and the multi-core heterogeneous processor interacts with the outside world through RS232 interface, LAN interface and teach pendant interface;

[0013] The programmable gate array (PGA) works in conjunction with an ARM processor to execute complete servo control. The ARM processor is used for calculating the voltage and position loops of the FOC and supports program debugging via USB interface. At the same time, the ARM processor provides high-speed digital I / O pins for the controller and provides system information to the outside world through OLED. The host computer uses a multi-core heterogeneous processor to burn new servo programs to the ARM processor chip and the PGA.

[0014] Preferably, the motherboard further includes a LAN interface, an RS232 interface, an emergency stop terminal, a safety relay interface, a teach pendant interface, a display interface, and input / output expansion interfaces.

[0015] Preferably, the power supply circuit of the driver board is connected to the pre-drive circuit, the three-phase bridge inverter circuit, and the operational amplifier circuit, respectively. The pre-drive circuit is connected to the LDO and the current sampling circuit in sequence, and the three-phase bridge inverter circuit is connected to the current sampling circuit and the comparator circuit, respectively.

[0016] Preferably, the switch is connected to AC contactor 1, AC contactor 2, switching power supply 1, and switching power supply 2 via a filter; AC contactor 1 and AC contactor 2 are connected to the emergency stop terminal and the teach pendant via a safety relay.

[0017] Preferably, the motherboard is provided with a fan, a buzzer, and a button battery mounting position.

[0018] Compared with the prior art, in this embodiment of the utility model, the hardware circuit of the low-voltage four-axis robot includes: a core board, a main board, a drive board, a safety relay, a switching power supply, and an AC contactor; the core board is connected to the main board, the main board is connected to the drive board, the main board is connected to the safety relay through a relay control line, the safety relay is connected to the AC contactor through a contact control line, and the AC contactor is connected to the drive board through a switching power supply; the core board, main board, and drive board constitute the electronic circuit part, and the safety relay, switching power supply, and AC contactor constitute the electrical circuit part; the controller's multi-core heterogeneous computing architecture is optimized to achieve hardware and software collaborative processing, providing powerful computing power for the controller; the relevant PCBs are designed with a modular approach to ensure PCB reusability; interfaces such as IO, network, USB, RS232, encoder, emergency stop, and teach pendant are provided, and interaction can be achieved through OLED; a dual-loop structure is designed using safety relays and AC contactors, achieving complete fault tolerance for single-point failures through hardware redundancy, real-time monitoring, and high-level safety certification, while also considering rapid response and easy maintenance, integrating drive and control, low cost, and high performance. Attached Figure Description

[0019] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0020] Figure 1 This is a schematic diagram of the hardware circuit of a low-voltage four-axis robot proposed in this utility model;

[0021] Figure 2 This is a schematic diagram of the hardware circuit of a core board proposed in this utility model.

[0022] Figure 3 This is a schematic diagram of the hardware circuit of a motherboard according to the present invention.

[0023] Figure 4 This is a schematic diagram of the hardware circuit of a driver board proposed in this utility model.

[0024] Figure 5 This is a schematic diagram of the hardware circuit of the electrical circuit part proposed in this utility model. Detailed Implementation

[0025] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0026] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0027] Reference Figure 1 The diagram shows a schematic of the hardware circuit of a low-voltage quadcopter according to an embodiment of the present invention, including:

[0028] Core board, motherboard, driver board, safety relays, switching power supply and AC contactor;

[0029] The core board is connected to the motherboard, the motherboard is connected to the driver board, the motherboard is connected to the safety relay via a relay control line, the safety relay is connected to the AC contactor via a contact control line, and the AC contactor is connected to the driver board via a switching power supply. The core board, motherboard, and driver board constitute the electronic circuit section, and the safety relay, switching power supply, and AC contactor constitute the electrical circuit section.

[0030] The entire hardware system is divided into two parts: electronic circuits and electrical circuits. The electronic circuits can be further divided into three parts: the core board, the motherboard, and the driver board.

[0031] The core board provides computing power for the controller and integrates three high-performance processor chips, with the following structure:

[0032] Reference Figure 2 The diagram shows a schematic of the hardware circuit of a core board according to an embodiment of the present invention. The core board includes a multi-core heterogeneous processor, a programmable gate array (PGA), and an ARM processor. The multi-core heterogeneous processor is connected to the PGA via a data bus and an address bus. The PGA is connected to the ARM processor via a data bus, a configuration bus, and an address bus. The multi-core heterogeneous processor is connected to the ARM processor via a configuration bus.

[0033] The multi-core heterogeneous processor is used to run the LINUX system and host computer software. The multi-core heterogeneous processor interacts with the outside world through RS232 interface, LAN interface and teach pendant interface.

[0034] The programmable gate array (PGA) works in conjunction with an ARM processor to execute complete servo control. The ARM processor is used for calculating the voltage and position loops of the FOC and supports program debugging via USB interface. At the same time, the ARM processor provides high-speed digital I / O pins for the controller and provides system information to the outside world through OLED. The host computer uses a multi-core heterogeneous processor to burn new servo programs to the ARM processor chip and the PGA.

[0035] The programmable gate array (PGA) is configured by an ARM chip and is primarily used to acquire state information related to motor rotation, such as encoder position information, current sampling information, and alarm information, and to perform calculations on this information for the other two processors to read. It performs FOC current loop calculations to distribute the computational load on the ARM processors, providing computing power support for the control algorithm, and performs chopping output. The microcontroller provides high-speed digital input / output pins for easy functional expansion by the user.

[0036] Reference Figure 3 The diagram shows a schematic of the hardware circuit of a motherboard according to an embodiment of the present invention. The motherboard includes a core board interface, an encoder interface, a USB interface, a main power supply circuit, and various step-down circuits.

[0037] The motherboard also includes a LAN interface, an RS232 interface, an emergency stop terminal, a safety relay interface, a teach pendant interface, a display interface, and input / output expansion interfaces; the motherboard also has a fan, buzzer, and button battery mounting positions.

[0038] The motherboard's functions include: generating the power required by various circuits from the input 24V power supply through the power chip; providing various physical interfaces, such as encoder interfaces, USB interfaces, and network ports; acting as a bridge for communication between the core board and the driver board, and performing necessary processing such as signal level conversion, isolation, and enhancement; and setting up various circuits, including PHY circuits for network ports and USB ports, NTC circuits, and fan drive circuits.

[0039] Reference Figure 4 The diagram shows a schematic of the hardware circuit of a driver board according to an embodiment of the present invention. The driver board includes a three-phase bridge inverter circuit, a pre-drive circuit, an LDO, a power supply circuit, a current sampling circuit, a comparator circuit, an operational amplifier circuit, and a comparator circuit.

[0040] The power supply circuit of the driver board is connected to the pre-drive circuit, the three-phase bridge inverter circuit, and the operational amplifier circuit respectively. The pre-drive circuit is connected to the LDO and the current sampling circuit in sequence. The three-phase bridge inverter circuit is connected to the current sampling circuit and the comparator circuit respectively.

[0041] The driver board directly drives the motor, and its core component is a three-phase bridge inverter circuit, specifically as follows: Figure 4As shown, apart from the power supply circuit, all other parts are contained in four parts (corresponding to the four axes) in the driver board. Current sampling uses a dedicated isolated sampling chip, and the high-voltage side operating power is provided by an LDO. The input of the LDO is connected in parallel with the bootstrap capacitor of the pre-drive circuit, so the 5V power supply here is floating ground.

[0042] Reference Figure 5 The diagram shows a schematic of the hardware circuit of an electrical circuit part according to an embodiment of the present invention. The electrical circuit part, which consists of a safety relay, a switching power supply and an AC contactor, also includes a switch and a filter.

[0043] The switch is connected to AC contactor 1, AC contactor 2, switching power supply 1, and switching power supply 2 via a filter; AC contactor 1 and AC contactor 2 are connected to the emergency stop terminal and the teaching pendant via a safety relay;

[0044] When the switch is closed, the 220V AC power is directly supplied to the 24V switching power supply through the filter to generate 24V DC power. The emergency stop terminal, teaching pendant, safety relay and AC contactor together form a dual-circuit structure. When the emergency stop terminal and the switch on the teaching pendant are closed, AC contactor 1 is closed. When the emergency stop terminal and the switch below the teaching pendant are closed, AC contactor 2 is closed. When both AC contactors are closed, the switching power supply 2 will generate 48V power.

[0045] In this embodiment of the invention, the hardware circuit of the low-voltage four-axis robot includes: a core board, a main board, a drive board, a safety relay, a switching power supply, and an AC contactor. The core board is connected to the main board, the main board is connected to the drive board, the main board is connected to the safety relay via a relay control line, the safety relay is connected to the AC contactor via a contact control line, and the AC contactor is connected to the drive board via the switching power supply. The core board, main board, and drive board constitute the electronic circuit part, and the safety relay, switching power supply, and AC contactor constitute the electrical circuit part. The controller's multi-core heterogeneous computing architecture is optimized to achieve hardware and software collaborative processing, providing powerful computing power for the controller. The relevant PCBs are designed using a modular approach to ensure PCB reusability. Interfaces such as IO, network, USB, RS232, encoder, emergency stop, and teach pendant are provided, and interaction can be achieved via OLED. A dual-loop structure is designed using safety relays and AC contactors. Through hardware redundancy, real-time monitoring, and high-level safety certification, complete fault tolerance for single-point failures is achieved, while also considering rapid response and easy maintenance. It integrates drive and control, is low-cost, and high-performance.

[0046] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "joined" should be interpreted broadly. For example, the term "joined" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0047] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0048] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0049] While this specification has shown and described various embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the present invention. It should be understood that various alternatives to the embodiments of the present invention described herein may be employed in the practice of the present invention. The appended claims are intended to define the scope of protection of the present invention and therefore cover the modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A hardware circuit for a low-voltage four-axis robot, characterized in that, include: Core board, motherboard, driver board, safety relays, switching power supply and AC contactor; The core board is connected to the motherboard, the motherboard is connected to the driver board, the motherboard is connected to the safety relay via a relay control line, the safety relay is connected to the AC contactor via a contact control line, and the AC contactor is connected to the driver board via a switching power supply. The core board, motherboard, and driver board constitute the electronic circuit section, and the safety relay, switching power supply, and AC contactor constitute the electrical circuit section.

2. The hardware circuit of the low-voltage quadcopter according to claim 1, characterized in that, The core board includes a multi-core heterogeneous processor, a programmable gate array (PGA), and an ARM processor. The multi-core heterogeneous processor is connected to the PGA via a data bus and an address bus. The PGA is connected to the ARM processor via a data bus, a configuration bus, and an address bus. The multi-core heterogeneous processor is connected to the ARM processor via a configuration bus.

3. The hardware circuit of the low-voltage quadcopter according to claim 1, characterized in that, The motherboard includes a core board interface, an encoder interface, a USB interface, a main power supply circuit, and various step-down circuits.

4. The hardware circuit of the low-voltage quadcopter according to claim 1, characterized in that, The driver board includes a three-phase bridge inverter circuit, a pre-drive circuit, an LDO, a power supply circuit, a current sampling circuit, a comparator circuit, an operational amplifier circuit, and a comparator circuit.

5. The hardware circuit of the low-voltage quadcopter according to claim 1, characterized in that, The electrical circuit consisting of the safety relay, switching power supply, and AC contactor also includes switches and filters.

6. The hardware circuit of the low-voltage quadcopter according to claim 2, characterized in that, The multi-core heterogeneous processor is used to run the LINUX system and host computer software. The multi-core heterogeneous processor interacts with the outside world through RS232 interface, LAN interface and teach pendant interface. The programmable gate array (PGA) works in conjunction with an ARM processor to execute complete servo control. The ARM processor is used for calculating the voltage and position loops of the FOC and supports program debugging via USB interface. At the same time, the ARM processor provides high-speed digital I / O pins for the controller and provides system information to the outside world through OLED. The host computer uses a multi-core heterogeneous processor to burn new servo programs to the ARM processor chip and the PGA.

7. The hardware circuit of the low-voltage four-axis robot according to claim 3, characterized in that, The motherboard also includes a LAN interface, an RS232 interface, an emergency stop terminal, a safety relay interface, a teach pendant interface, a display interface, and input / output expansion interfaces.

8. The hardware circuit of the low-voltage quadcopter according to claim 4, characterized in that, The power supply circuit of the driver board is connected to the pre-drive circuit, the three-phase bridge inverter circuit, and the operational amplifier circuit, respectively. The pre-drive circuit is connected to the LDO and the current sampling circuit in sequence. The three-phase bridge inverter circuit is connected to the current sampling circuit and the comparator circuit, respectively.

9. The hardware circuit of the low-voltage quadcopter according to claim 5, characterized in that, The switch is connected to AC contactor 1, AC contactor 2, switching power supply 1, and switching power supply 2 via a filter; AC contactor 1 and AC contactor 2 are connected to the emergency stop terminal and the teaching pendant via a safety relay.

10. The hardware circuit of the low-voltage quadcopter according to claim 7, characterized in that, The motherboard is equipped with a fan, a buzzer, and a button battery mounting location.

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