A centralized loading servo controller

Abstract

The utility model provides a kind of centralized loading servo controller, it is related to servo controller equipment technical field. Including box, control module panel, power module panel, buzzer reset button, emergency stop button and cooling fan are set to the front panel of box, by setting box and operation platform plate, when using, maintenance is directly to operation platform plate disassembly can each panel is maintained and handled, control chip is used to control the operation of the above power equipment, it is convenient to carry out unified management, ventilation gap is used for self-heat treatment, loading self-checking indicator light is used for controller self-checking success, the positioning bolt with longer length can be selected to position the fixing side plate and the installation wall surface, and the handle touching the wall surface problem can also be avoided, so as to improve the stability when equipment is placed, the centralized loading servo controller provided by the present application highly integrates each module, the volume of the whole equipment is very small, the occupied area is small, more convenient to carry and use.

Description

Technical Field

[0001] This utility model relates to the field of servo controller equipment technology, and in particular to a centralized loading servo controller. Background Technology

[0002] With the development of technology, servo controllers have been widely used in industrial automation and precision control, such as machine tool processing, industrial robots, automated production lines, and load testing. In these applications, servo controllers can precisely control the rotational speed and position of motors, achieving high-precision positioning and transmission control.

[0003] In practical applications, existing servo controllers are typically based on standard rack-mounted industrial PCs and built-in input / output boards. They are combined with external power supply junction boxes and conditioning / amplification junction boxes for different application scenarios and installed on standard racks. The installation process is quite complex, and time-consuming installation is required for different application scenarios. In addition, there are issues with poor installation stability, which affects the normal use of internal equipment. The overall equipment is difficult to learn and operate, which prolongs the learning cycle and causes many inconveniences.

[0004] Therefore, this utility model provides a centralized loading servo controller. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies and provide a centralized loading servo controller.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a centralized loading servo controller, including a housing,

[0007] The front panel of the enclosure is equipped with a control module panel, a power module panel, a buzzer reset button, an emergency stop button, and a cooling fan.

[0008] The rear panel of the enclosure is equipped with the input / output signal interfaces for each channel of the centralized load servo controller, the external control interface, the analog input / output interface, the power supply interface, the system interface, the buzzer, the external power supply interface, and the fan outlet.

[0009] In a preferred embodiment, an operating platform is fixedly connected to one side of the housing to be mounted on the front panel. The cooling fan, control module panel, power module panel, emergency stop button, and buzzer reset button are all located on the outer side of the operating platform. The control module panel is located on one side of the power module panel, the emergency stop button is located on the other side of the power module panel, and the buzzer reset button is located above the emergency stop button. During maintenance, the operating platform can be directly disassembled to perform maintenance on each panel. Fixed side plates are fixedly connected to both sides of the operating platform, and handles are fixedly connected to the outer sides of the two fixed side plates. Threaded holes are provided above and below the handles, and positioning bolts are installed inside the threaded holes. Longer positioning bolts can be selected to position the fixed side plates and the mounting wall, while also preventing the handles from touching the wall, thereby improving the stability of the equipment during placement.

[0010] In a preferred embodiment, an interface panel is fixedly connected to the other side of the enclosure to be mounted with the rear panel. The analog input / output interface, each channel input / output signal interface, external control interface, power supply interface, system interface, buzzer, external power supply interface, and fan outlet are all located on the outer side. The each channel input / output signal interface is located between the analog input / output interface and the external control interface. The external control interface is located between the power supply interface and each channel input / output signal interface. The system interface is located above the power supply interface, the buzzer is located above the system interface, the external power supply interface is located above the buzzer, and the fan outlet is located above the external power supply interface. This facilitates connection to different interfaces during use and improves the efficiency of device connection. For ease of use, the top of the enclosure has equidistant and symmetrically distributed ventilation slits. A wireless transceiver is fixedly connected to the outer side of the interface panel, on the side of each channel's input / output signal interface furthest from the external control interface. The main control board is fixedly connected inside the wireless transceiver, and a control chip is fixedly connected to the outer side of the main control board. The cooling fan, control module panel, power module panel, emergency stop button, buzzer reset button, analog input / output interface, each channel's input / output signal interface, external control interface, power supply interface, system interface, buzzer, external power supply interface, and wireless transceiver are all electrically connected to the control chip. The control chip is used to control the operation of the above-mentioned electrical equipment for convenient unified management, and the ventilation slits are used for self-heating.

[0011] In a preferred embodiment, the control module panel includes a main control power button, a main control restart button, a main control status indicator, a load self-test indicator, and a load run indicator.

[0012] Main power button: Controls the on / off state of the CPU main control module;

[0013] Main control restart button: Controls the restart of the CPU main control module;

[0014] Main control status indicator lights: These indicate the power-on status of the main control module and the hard drive read / write status, respectively.

[0015] Loading self-test indicator light: After the controller self-test is successful, the red light will stay on, indicating that the controller is ready;

[0016] Loading run indicator light: lights up after loading control starts running; Loading alarm indicator light: lights up after the loading system activates protection.

[0017] The power module panel includes a power module switch and status indicator lights;

[0018] Power module switch: A switch that supplies power to the internal modules;

[0019] Status indicator light: Power supply status indicator, illuminates when the power module is turned on;

[0020] The buzzer reset button is used to sound the buzzer after the system protection is activated, and to reset the buzzer and turn off the alarm sound.

[0021] The emergency stop button is used for emergency stop in case of emergency. After the emergency stop button is pressed, the emergency stop button light will light up, the loading system will stop and unload, the load will return to zero, and the enable of the loading actuator will be cut off.

[0022] The cooling fan is used to automatically run after the controller is powered by 220VAC, drawing air into the inside of the controller.

[0023] In a preferred embodiment, the external control interface includes an EtherCAT interface, a fiber optic reflection memory interface, an external emergency stop interface, and an auxiliary interface;

[0024] EtherCAT interface: Standard RJ45, used for communication with external control systems;

[0025] Fiber optic reflective memory interface: Standard LC-LC, used for cross-linking with external systems via fiber optic reflective memory;

[0026] External emergency stop interface: Used for handheld emergency stop mobile terminals. When an emergency occurs, pressing the emergency stop button will disconnect the power supply to the load control enable.

[0027] Auxiliary interface: Hardware interface for controller auxiliary functions;

[0028] The analog input / output interface uses a BNC socket and is used to acquire external load command signals.

[0029] The power supply interface is a 220VAC power supply interface, and the interface uses a standard triangular power cable; when the rocker switch is pressed, the red indicator light is constantly lit; the controller has overcurrent protection, a fuse is installed in the rocker switch, and a spare fuse is provided.

[0030] The system interfaces include a network port, a USB port, and a spare interface;

[0031] Network port: Standard RJ45, used to connect to the host computer for sending and receiving data; USB: Standard USB 3.0, used to connect to other device hardware; Spare interfaces: Includes a spare network interface and a debug display interface;

[0032] The buzzer is used to sound continuously when certain specified faults are triggered. Pressing the buzzer reset button on the front panel will turn off the buzzer's sound.

[0033] The external power supply interface is used to power special servo drive systems, such as high-power servo valves used in hydraulic servo transmission systems.

[0034] The fan outlet is used to control the cooling fan to blow air outwards.

[0035] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0036] By configuring the enclosure and control panel, maintenance and repair can be performed by simply disassembling the control panel. The control chip controls the operation of the aforementioned electrical equipment, facilitating unified management. Ventilation slits provide self-heating. A self-test indicator light illuminates solid red after a successful controller self-test, indicating the controller is ready. A load operation indicator light illuminates after load control operation. A load alarm indicator light illuminates when the load system triggers protection. The power module panel includes a power module switch and status indicator lights. The power module switch supplies power to the internal modules. The status indicator lights up when the power module is turned on. A buzzer reset button is used to reset the buzzer and silence the alarm when the load system triggers protection. An emergency stop button is also included. For emergency stop in case of emergency, pressing the emergency stop button will illuminate the emergency stop button light, the loading system will stop and unload, the load will return to zero, and the enable of the loading actuator will be cut off. The cooling fan will automatically run after the controller is powered by VAC, drawing air into the controller. The fan outlet is used to control the cooling fan to blow air outward, facilitating connection to different interfaces during use and improving the flexibility of equipment connection. Threaded holes are provided above and below the handle, and positioning bolts are installed inside the threaded holes. Longer positioning bolts can be selected to fix the side plate and the mounting wall, while also preventing the handle from touching the wall, thereby improving the stability of the equipment when placed. The centralized loading servo controller provided in this application highly integrates various modules, the whole device is small in size, occupies little space, and is more convenient to carry and use. Attached Figure Description

[0037] Figure 1 A schematic diagram of the overall structure of a centralized loading servo controller provided by this utility model. Figure 1 ;

[0038] Figure 2 A schematic diagram of the overall structure of a centralized loading servo controller provided by this utility model. Figure 2 .

[0039] Legend:

[0040] 1. Box body; 11. Ventilation seam;

[0041] 2. Control panel; 21. Cooling fan; 22. Control module panel; 23. Power module panel; 24. Emergency stop button; 25. Buzzer reset button; 26. Fixed side panel; 27. Handle;

[0042] 3. Interface panel; 31. Analog input / output interface; 32. Input / output signal interface for each channel; 33. External control interface; 34. Power supply interface; 35. System interface; 36. Buzzer; 37. External power supply interface; 38. Fan outlet; 39. Wireless transceiver. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0044] like Figures 1-2 As shown, this embodiment provides a technical solution: a centralized loading servo controller, including a housing 1, and the front panel of the housing 1 is provided with a control module panel 22, a power module panel 23, a buzzer reset button 25, an emergency stop button 24 and a cooling fan 21.

[0045] In this scheme, the rear panel of the enclosure 1 is equipped with the input / output signal interface 32, external control interface 33, analog input / output interface 31, power supply interface 34, system interface 35, buzzer 36, external power supply interface 37, and fan outlet 38 for each channel of the centralized load servo controller.

[0046] Going further, such as Figures 1-2 As shown: In this solution, an operating platform 2 that is fixedly connected to one side of the enclosure 1 to be installed with the front panel is provided. The cooling fan 21, control module panel 22, power module panel 23, emergency stop button 24 and buzzer reset button 25 are all located on the outside of the operating platform 2. The control module panel 22 is located on one side of the power module panel 23, the emergency stop button 24 is located on the other side of the power module panel 23, and the buzzer reset button 25 is located above the emergency stop button 24. During maintenance, the operating platform 2 can be directly disassembled to perform maintenance on each panel.

[0047] In this solution, fixed side plates 26 are fixedly connected to both sides of the operating platform 2. Handles 27 are fixedly connected to the outer sides of the two fixed side plates 26. Threaded holes are opened above and below the handles 27. Positioning bolts are installed inside the threaded holes. Longer positioning bolts can be selected to position the fixed side plates 26 and the mounting wall. At the same time, it can also avoid the problem of the handles 27 touching the wall, thereby improving the stability of the equipment when it is placed.

[0048] Going further, such as Figures 1-2As shown: In this scheme, an interface panel 3 is fixedly connected to the other side of the enclosure 1 to be installed with the rear panel. The analog input / output interface 31, the input / output signal interfaces 32 of each channel, the external control interface 33, the power supply interface 34, the system interface 35, the buzzer 36, the external power supply interface 37, and the fan outlet 38 are all located on the outside. The input / output signal interfaces 32 of each channel are located between the analog input / output interface 31 and the external control interface 33. The external control interface 33 is located between the power supply interface 34 and the input / output signal interfaces 32 of each channel. The system interface 35 is located above the power supply interface 34. The buzzer 36 is located above the system interface 35. The external power supply interface 37 is located above the buzzer 36. The fan outlet 38 is located above the external power supply interface 37. This facilitates the connection and use of different interfaces and improves the flexibility of equipment connection.

[0049] In this design, the top of the enclosure 1 has equidistant and symmetrically distributed ventilation slits 11. A wireless transceiver 39 is fixedly connected to the outer side of the interface panel 3, on the side of each channel input / output signal interface 32 away from the external control interface 33. The main control board is fixedly connected inside the wireless transceiver 39, and a control chip is fixedly connected to the outer side of the main control board. The cooling fan 21, control module panel 22, power module panel 23, emergency stop button 24, buzzer reset button 25, analog input / output interface 31, each channel input / output signal interface 32, external control interface 33, power supply interface 34, system interface 35, buzzer 36, external power supply interface 37, and wireless transceiver 39 are all electrically connected to the control chip. The control chip is used to control the operation of the above-mentioned electrical equipment for convenient unified management. The ventilation slits 11 are used for self-heating.

[0050] Going further, such as Figures 1-2 As shown, in this solution, the control module panel 22 includes a main control power button, a main control restart button, a main control status indicator, a load self-test indicator, and a load run indicator.

[0051] Main power button: Controls the on / off state of the CPU main control module;

[0052] Main control restart button: Controls the restart of the CPU main control module;

[0053] Main control status indicator lights: These indicate the power-on status of the main control module and the hard drive read / write status, respectively.

[0054] Loading self-test indicator light: After the controller self-test is successful, the red light will stay on, indicating that the controller is ready;

[0055] Loading run indicator light: lights up after loading control starts running; Loading alarm indicator light: lights up after the loading system activates protection.

[0056] The power module panel 23 includes a power module switch and status indicator lights;

[0057] Power module switch: A switch that supplies power to the internal modules;

[0058] Status indicator light: Power supply status indicator, illuminates when the power module is turned on;

[0059] The buzzer reset button 25 is used to sound the buzzer 36 after the system protection is activated. The buzzer reset button 35 is used to reset the buzzer 36 and turn off the alarm sound.

[0060] Emergency stop button 24 is used for emergency stop in case of emergency. After pressing emergency stop button 24, the emergency stop button 24 light will illuminate, the loading system will stop and unload, the load will return to zero, and the enable of the loading actuator will be cut off.

[0061] The cooling fan 21 is automatically activated after the controller is powered by 220VAC, and draws air into the inside of the controller.

[0062] External control interface 33 includes an EtherCAT interface, a fiber optic reflection memory interface, an external emergency stop interface, and auxiliary interfaces;

[0063] EtherCAT interface: Standard RJ45, used for communication with external control systems;

[0064] Fiber optic reflective memory interface: Standard LC-LC, used for cross-linking with external systems via fiber optic reflective memory;

[0065] External emergency stop interface: Used for handheld emergency stop mobile terminals. When an emergency occurs, pressing the emergency stop button will disconnect the power supply to the load control enable.

[0066] Auxiliary interface: Hardware interface for controller auxiliary functions;

[0067] The analog input / output interface 31 uses a BNC socket and is used to acquire external load command signals;

[0068] The power supply interface 34 is a 220VAC power supply interface, using a standard triangular power cable; when the rocker switch is pressed, a red indicator light will remain on; the controller has overcurrent protection, with a fuse installed inside the rocker switch and a spare fuse provided.

[0069] System interface 35 includes a network port, a USB port, and a spare interface;

[0070] Network port: Standard RJ45, used to connect to the host computer for sending and receiving data; USB: Standard USB 3.0, used to connect to other device hardware; Spare interfaces: Includes a spare network interface and a debug display interface;

[0071] The buzzer 36 is used to sound continuously when certain specified faults are triggered. Pressing the buzzer reset button 25 on the front panel will turn off the current sound of the buzzer 36.

[0072] External power supply interface 37 is used to power special servo drive systems, such as high-power servo valves used in hydraulic servo transmission systems.

[0073] Fan outlet 38 is used to control the cooling fan to blow air outwards.

[0074] Going a step further, such as Figures 1-2 As shown, in this scheme, the system connected to system interface 35 is a centralized loading servo controller. The centralized loading servo control system includes a main control module, a signal input module, a signal output module, a communication module, and a conditioning and amplification module.

[0075] The signal input module is used to acquire position signals, encoder signals, external control signals, and load signals amplified by the conditioning and amplification module, and sends the position signals, load signals, encoder signals, and external control signals as input signals to the main control module.

[0076] It should be noted that the signal input module is used to collect various signals required by the centralized load servo controller during operation, such as position signals, encoder signals, load signals, and external control signals; different signals have different contents and different signal sources.

[0077] Preferably, the external control signal may include a signal for controlling the emergency stop of the centralized load servo controller, a signal representing the closed state of various switches in the centralized load servo controller, and several digital signals from external devices or external systems.

[0078] The main control module is used to obtain the control configuration information of the host computer and the input signals collected by the signal input module through the communication module, and to process the input signals based on the control configuration information and output control signals for controlling the servo drive device.

[0079] The main control module receives various signals, each with a different function. Based on these signals, the main control module controls the operation of the centralized load servo controller. For example, when the main control module receives an emergency stop signal, it controls the centralized load servo controller to stop immediately. When the main control module receives a signal to control the servo drive device, it processes the various signals required to control the servo drive device and outputs control signals for controlling the servo drive device.

[0080] The signal output module is used to receive control signals output by the main control module and send the control signals to the servo drive device.

[0081] The signal output module is used to send control signals output by the main control module to the servo drive device, thereby controlling the servo drive device.

[0082] The centralized loading servo controller provided in this application highly integrates a main control module, a signal input module, a signal output module, a communication module, and a conditioning and amplification module. The signal input module collects position signals, encoder signals, external control signals, and load signals amplified by the conditioning and amplification module, and sends these signals to the main control module. The main control module obtains control configuration information from the host computer via the communication module and receives the input signals collected by the signal input module. Based on the control configuration information, it processes the input signals and outputs control signals for controlling the servo drive device. The signal output module receives the control signals output by the main control module and sends them to the servo drive device. This centralized loading servo controller highly integrates the main control module, signal input module, signal output module, communication module, and conditioning and amplification module, making it more convenient and versatile to use in different scenarios without requiring complex installation of conditioning and amplification equipment specific to the application scenario. Furthermore, the highly integrated modules result in a small overall size and footprint, making it easier to carry and use.

[0083] The centralized loading servo controller further includes: a heat dissipation module, a switch button module, a display module, a buzzer, and a DC power supply module; preferably, the heat dissipation module, the switch button module, the display module, and the buzzer can form an auxiliary module, and the DC power supply module is one of the power supply modules of the centralized loading servo controller.

[0084] The main control module of this application is a CPU main control module. Preferably, the CPU main control module uses a mature industrial control computer motherboard, an Intel high-performance i7 quad-core CPU, 16G memory, and a 500G SSD to provide sufficient computing power for the centralized loading servo controller. The main control module provides relevant expansion slots for input and output modules. The expansion slot interface forms include, but are not limited to, PCI, PCIe, PXI, PXIe, CPCI, PMC, etc.

[0085] The analog signal acquisition module in this application is used to acquire the position signal of the displacement sensor and the load signal after being amplified by the load amplification module in the conditioning and amplification module; the analog signal acquisition module transmits the acquired position signal and load signal to the CPU main control module.

[0086] The analog signal acquisition module is also used to acquire analog signals. Furthermore, the analog signal acquisition module is also used to acquire BNC analog signals; wherein, BNC can be a bayonet nut connector, the analog signal acquisition module is connected to BNC, thereby acquiring the BNC analog signals of the device connected to BNC.

[0087] Furthermore, the analog signal acquisition module provides 32 channels of analog signal acquisition, ±10VDC acquisition, 16-bit resolution, including: 4 channels for acquiring load signals; 4 channels for acquiring analog displacement sensor signals; 4 channels for acquiring BNC analog command input signals; and the remaining channels are spares. The analog signal acquisition module can be a separate board or module, or it can be an analog signal acquisition module on a multifunction card.

[0088] The encoder acquisition module in this application is used to acquire encoder signals from the encoder; the encoder acquisition module also sends the acquired encoder signals to the CPU main control module.

[0089] Preferably, the encoder acquisition module provides 4 channels of quadrature encoded signal acquisition. The quadrature encoded signal is an ABZ differential signal with a maximum of 48VDC. The encoder acquisition module can be a separate board or module, or it can be an encoder acquisition module on a multifunction card.

[0090] The digital input module of this application is used to receive external control signals from external devices. These external devices include, but are not limited to, external systems and the local emergency stop button. Furthermore, the external control signals include, but are not limited to, signals used to control the emergency stop of the centralized load servo controller and several digital signals from the external system. Moreover, the signals used to control the emergency stop of the centralized load servo controller can be obtained from the external system or from the local emergency stop button.

[0091] Furthermore, the digital input module provides 16 channels of digital signal acquisition; mainly including: 1 channel for external emergency stop acquisition; 1 channel for acquisition of the local emergency stop button; several channels for acquisition of switch button modules; several channels for acquisition of digital signals from external systems; and the remaining channels are spares; the digital input module can be a separate board or module, or it can be a digital input module on a multifunction card.

[0092] The digital output module in this application is used to send a digital signal from the control signal used to control the enable state of the servo drive device to the switching module in the conditioning and amplification module, so that the switching module sends an enable signal to the servo drive device according to the digital signal.

[0093] Preferably, the digital output module of this application is connected to the switch module in the conditioning and amplification module, and also to the buzzer and the display module; the digital output module also sends a digital signal to the buzzer to control the working state of the buzzer, and also sends a digital signal to the display module to control the working state of the display module.

[0094] The digital output module of this application provides 16 digital signal outputs, mainly including 4 enable signal outputs; 1 output controlled by a buzzer; 4 outputs controlled by indicator lights in the indicator module; and the remaining outputs are spares. The digital output module can be a separate board or module, or it can be a digital output module on a multifunction card.

[0095] The analog output module in this application is used to send the voltage control signal from the control signal output by the main control module to the servo drive device, and to send the current control signal from the control signal to the servo amplification module in the conditioning and amplification module, so that the servo amplification module amplifies the current control signal and sends it to the servo drive device.

[0096] Preferably, the analog output module is also used for BNC analog load output, and preferably, the analog output module can also output analog load signals to devices connected to the BNC.

[0097] Furthermore, the analog output module provides 8 channels of analog voltage output signals, ±10VDC, with 16-bit resolution. The analog output module includes: 4 channels of current control signal / voltage control signal output; 4 channels of BNC analog load output; and the remaining channels are spares. The analog output module can be a standalone board or module, or it can be an analog output module on a multifunction card.

[0098] The conditioning and amplification module in this application includes a load amplification module, a servo amplification module, and a switching module. The load amplification module amplifies the load signal from the load sensor and then sends the amplified load signal to the CPU main control module. The switching module receives the digital signal from the control signal output by the digital output module, which is used to control the enable state of the servo drive device, and then sends an enable signal to the servo drive device based on the received digital signal.

[0099] The load amplification module in this embodiment is a voltage amplification circuit that provides filtering and amplification of four mV-level signals to V-level signals. It is used to amplify the input load signal, with an input range of 0~±30mV, an output range of 0~±10VDC, an accuracy of 0.1%FS, and a bandwidth of 1kHz.

[0100] The servo amplifier module provided in this application embodiment is a current amplifier circuit that provides four current signals for controlling servo control devices (such as servo valves). The input range is 0~±10VDC voltage signal, the output range is 0~±60mA current signal, the accuracy is 0.1%FS, and the bandwidth is 1kHz.

[0101] The switching module provided in this application embodiment is a relay module, which provides 4 channels of 24V enable output.

[0102] The Ethernet communication module provided in this application embodiment is used to realize data interaction between the CPU main control module and the loading host computer; furthermore, it also realizes data cross-linking between the centralized loading servo controller and the loading host computer. Through the Ethernet communication module, the CPU control module receives control configuration information sent by the loading host computer. The control configuration information includes, but is not limited to, sensor configuration, channel configuration, control parameter configuration, load configuration and other information, and uploads real-time data such as real-time load feedback and real-time position feedback to the loading host computer.

[0103] The reflective memory module provided in this application embodiment is used to realize real-time data cross-linking between the centralized load servo controller and an external system (such as a simulation system). Through the reflective memory module, the CPU main control module receives load commands sent by the external system in real time and uploads and sends real-time data such as real-time load feedback and real-time position feedback to the external system.

[0104] The clock synchronization module provided in this application embodiment is used to realize clock synchronization between the centralized loading servo controller and the external system (such as a simulation system), ensuring that the real-time data of the loading controller and the external system are under the same clock. Furthermore, the centralized loading servo controller in this application can also be called a controller.

[0105] The centralized loading servo controller provided in this application embodiment also includes a power supply module. The power supply module is used to provide power to related modules inside the centralized loading servo controller and external sensors. The power supply module is used to power the position sensor (24VDC); power the load amplifier (24VDC); power the encoder (5VDC); power the servo amplifier module (24VDC); and power the switching module (24VDC). Preferably, the power supply module includes a DC power supply module, which is connected to an external power source and converts the AC power provided by the external power source into DC power to provide DC power to the centralized loading servo controller. The DC power supply module powers the load amplifier module, servo amplifier module, and switching module in the centralized loading servo controller. The DC power supply module also powers the displacement sensor, load sensor, and encoder connected to the centralized loading servo controller.

[0106] In the centralized loading servo controller provided in this application embodiment, the heat dissipation module is a set of fans that provide air intake and exhaust for the centralized loading servo controller, thereby achieving heat dissipation for the centralized loading servo controller.

[0107] In the centralized loading servo controller provided in this application embodiment, the switch button module provides the necessary control operations for the centralized loading servo controller. The necessary control operations include, but are not limited to: main controller power-on; restart; power module power-on; buzzer reset; emergency stop.

[0108] The display module provided in this application embodiment includes several status indicator lights for displaying the operating status of the centralized loading servo controller. The several status indicator lights include, but are not limited to, an indicator light for indicating that the centralized loading servo controller is powered on, an indicator light for indicating the hard disk read / write status of the centralized loading servo controller, an indicator light for indicating that the centralized loading servo controller is performing a self-test, and an indicator light for indicating that the centralized loading servo controller is in loading operation.

[0109] The centralized loading servo controller provided in this application embodiment has the following functions:

[0110] 1. Based on a real-time system, the minimum control cycle is 0.5ms;

[0111] 2. The main control module uses an Intel i7 quad-core high-performance CPU, 16GB of memory, and a 500GB SSD;

[0112] 3. Real-time scheduling and servo control are integrated;

[0113] 4. Supports multiple control modes such as open-loop control, position control, static load control, dynamic load control, and speed control;

[0114] 5. A single machine supports 4-channel collaborative control and coordinated loading;

[0115] 6. Supports application scenarios such as electro-hydraulic servo control and electric servo control;

[0116] 7. Supports cross-linking between fiber optic reflective memory and external systems, enabling high-speed communication with external systems;

[0117] 8. Supports clock synchronization with external systems;

[0118] 9. Supports BNC analog input / output, supports external commands, and supports external sweep frequency metering.

[0119] Furthermore, the enclosure of the centralized loading servo controller provided in this application embodiment includes a front panel and a rear panel. The enclosure of the centralized loading servo controller provided in this application embodiment has a good human-machine interface design, and the human-machine interface panel has complete functions, including relevant control buttons, indicator lights, and a buzzer, meeting the needs of loading control scenarios.

[0120] The control module panel includes: a main control power button (controls the CPU main control module to power on / off); a main control restart button (controls the CPU main control module to restart); main control status indicator lights (indicate the power-on status and hard disk read / write status of the main control module, respectively); a load self-test indicator light (a solid red light indicates the controller is ready after a successful self-test); a load run indicator light (lit up after the load control starts running); and a load alarm indicator light (lit up after the load system experiences a protection event).

[0121] The centralized loading servo controller provided in this application integrates traditional industrial computer and board-based controllers, highly integrating the main control module, signal input module, signal output module, communication module, and conditioning and amplification module to form an integrated loading controller with a unified input / output interface. Through hardware generalization design, it is compatible with common sensor types, including load (force / torque) sensors, analog displacement sensors, orthogonal coded signal displacement sensors (such as magnetic rulers and optical encoders), angle encoders, etc. Furthermore, it has complete hardware interfaces, including fiber optic reflective memory, clock synchronization, Ethernet, and BNC analog signals, maximizing the fulfillment of external control and synchronization requirements in various scenarios. The centralized loading servo controller of this application has a fully functional human-machine interface panel with relevant control buttons, indicator lights, and a buzzer, meeting the needs of loading control scenarios and demonstrating excellent human-machine interaction design.

[0122] Preferably, the main control module of the centralized loading servo controller provided in this application also includes a self-test module and a thread execution module; the self-test module and the thread execution module are modules obtained by generalizing the relevant software of the centralized loading servo controller.

[0123] The self-test module is used to perform a self-test on the centralized loading servo controller based on a preset self-test strategy when the centralized loading servo controller starts up.

[0124] The thread execution module is used to execute various preset threads; these threads include, but are not limited to, configuration receiving threads, control threads, security protection threads, and real-time data uploading threads.

[0125] The self-test module is used to perform self-tests on various modules in the centralized load servo controller. The controller performs self-tests, and preferably, the self-test strategies include, but are not limited to, anomaly checks for the main control module, communication module, signal input module, signal output module, conditioning and amplification module, and interface. Different components have different check schemes, allowing for a comprehensive check of the centralized load servo controller. Anomaly checks are performed before the centralized load servo controller begins operation, promptly identifying any abnormalities and effectively preventing errors caused by using a faulty centralized load servo controller.

[0126] If the centralized loading servo controller provided in this application embodiment successfully completes the self-test, it illuminates the self-test success indicator light, performs initialization, and then the software continues to run subsequent tasks, i.e., executes the corresponding thread; if the self-test fails, it stops running the software, i.e., terminates.

[0127] In the centralized loading servo controller provided in this application embodiment, the configuration receiving thread mainly performs configuration information parsing and parameter localization, as well as enabling output. Related explanations include: configuration communication initialization, followed by reading communication (which can be understood as communicating with the host computer), then determining if configuration information exists. If so, the configuration information is parsed, and the parameters obtained from the parsed configuration information are written into local variables. Next, the output to the digital output module is enabled. Then, it is determined whether the process has ended. If not, the process returns to the reading communication step; otherwise, it ends. Furthermore, in the step of determining if data exists, if no data is found, the process returns to the reading communication process.

[0128] Furthermore, the configuration information mainly includes:

[0129] (1) Channel control methods: Control methods include open-loop, position control, static load control, dynamic load control, speed control, etc.;

[0130] (2) Sensor parameters: including position sensor and load sensor. The main parameters include: 1) sensitivity coefficient; 2) working stroke, including voltage value and engineering quantity.

[0131] (3) Control strategy parameters: Control strategy parameters include: 1) PID control parameters; 2) Redundancy control strategy parameters;

[0132] (4) Servo drive parameters: The parameters include: 1) maximum and minimum control signals; 2) zero bias; 3) polarity;

[0133] (5) Safety protection limits: 1) Ultimate load parameters; 2) Ultimate displacement parameters; 3) Following error limit parameters, etc.

[0134] (6) Instruction configuration information: including instruction source (local / reflected memory / BNC analog quantity), instruction type (constant value, waveform, load spectrum, etc.), instruction content (amplitude, offset, frequency, phase, square wave duty cycle, load spectrum array, etc.).

[0135] By executing the configuration receiving thread, the configuration information sent by the host computer can be parsed, and then the parameters in the centralized loading servo controller can be configured so that the centralized loading servo controller can provide services in the deployed application environment.

[0136] Working principle:

[0137] like Figures 1-2 As shown:

[0138] By setting up the enclosure 1 and the operating panel 2, each panel can be maintained by simply disassembling the operating panel 2 during use and maintenance. The control chip is used to control the operation of the above-mentioned electrical equipment, which is convenient for unified management. The ventilation vent 11 is used for self-heating.

[0139] The main control power button controls the on / off state of the CPU main control module, the main control restart button controls the restart state of the CPU main control module, the main control status indicator lights indicate the power-on status and hard disk read / write status of the main control module, respectively, the load self-test indicator light (red light) illuminates after the controller self-test is successful, indicating that the controller is ready, the load run indicator light illuminates after the load control starts running, and the load alarm indicator light illuminates after the load system protection is activated. The power module panel 23 includes a power module switch and status indicator lights. The power module switch supplies power to the internal modules, and the status indicator lights indicate the power supply status; they illuminate when the power module is turned on. The buzzer reset button 25 is used to sound the buzzer 36 after the load system protection is activated. The buzzer reset button 25 resets the buzzer 36, silencing the current alarm sound. The emergency stop button 24 is used for emergency stop in case of an emergency. Pressing the emergency stop button 24 illuminates the emergency stop button 24 indicator, indicating an emergency stop and unloading of the load system, returning the load to zero, and cutting off the enable of the load actuator. The cooling fan 21 automatically starts after the controller is powered by 220VAC, drawing air into the controller. The external control interface 33 includes an EtherCAT interface, a fiber optic reflector memory interface, an external emergency stop interface, and an auxiliary interface. The EtherCAT interface is used to set standards. The RJ45 connector is used for communication with external control systems. The fiber optic reflective memory interface is used to set the standard LC-LC signal and for cross-connection with external systems via fiber optic reflective memory. An external emergency stop interface is used for a handheld emergency stop mobile terminal; pressing the emergency stop button disconnects the power supply to the load control enable. The auxiliary interface controls the controller's auxiliary function hardware. Analog input / output interface 31 uses a BNC socket and is used to acquire external load command signals. Power supply interface 34 is a 220VAC power supply interface using a standard triangular power cable. A red indicator light remains illuminated when the rocker switch is pressed. The controller has over-voltage... Current protection is provided by a fuse installed inside the rocker switch, with a spare fuse also included. The system interface 35 includes a network port, a USB port, and a spare interface. The network port is a standard RJ45 for connecting to the host computer for data transmission and reception. The USB port is a standard USB 3.0 for connecting other hardware devices. The spare interface includes a spare network interface and a debug display interface. The buzzer 36 is used to sound continuously when certain faults are triggered. Pressing the buzzer reset button 25 on the front panel will silence the current sound of the buzzer 36. The external power supply interface 37 is used to power special servo drive systems, such as high-power servo valves used in hydraulic servo transmission systems.

[0140] The fan outlet 38 is used to control the cooling fan to blow air outwards, facilitating connection to different interfaces during use and improving the flexibility of device connection. Threaded holes are provided on both the top and bottom of the handle 27, and positioning bolts are installed inside the threaded holes. Longer positioning bolts can be selected to fix the side plate 26 to the mounting wall, while also preventing the handle 27 from touching the wall, thereby improving the stability of the device during placement. The centralized loading servo controller provided in this application highly integrates various modules, and the entire device is small in size, occupies little space, and is more convenient to carry and use.

[0141] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A centralized loading servo controller, comprising a housing (1), characterized in that: The front panel of the enclosure (1) is provided with a control module panel (22), a power module panel (23), a buzzer reset button (25), an emergency stop button (24), and a cooling fan (21). The rear panel of the enclosure (1) is provided with the input / output signal interface (32), external control interface (33), analog input / output interface (31), power supply interface (34), system interface (35), buzzer (36), external power supply interface (37) and fan outlet (38) of each channel of the centralized load servo controller. The control panel (2) is fixedly connected to one side of the housing (1) and is installed in conjunction with the front panel. The cooling fan (21), control module panel (22), power module panel (23), emergency stop button (24) and buzzer reset button (25) are all located on the outside of the control panel (2). The control module panel (22) is located on one side of the power module panel (23).

2. The centralized loading servo controller according to claim 1, characterized in that: The emergency stop button (24) is located on the other side of the power module panel (23), and the buzzer reset button (25) is located above the emergency stop button (24).

3. The centralized loading servo controller according to claim 2, characterized in that: The operating platform (2) is fixedly connected to two fixed side plates (26) on both sides. The two fixed side plates (26) are fixedly connected to handles (27) on their outer sides. The handles (27) are provided with threaded holes above and below, and positioning bolts are installed inside the threaded holes.

4. The centralized loading servo controller according to claim 3, characterized in that: The other side of the enclosure (1) is fixedly connected to an interface panel (3) that is installed in conjunction with the rear panel. The analog input / output interface (31), the input / output signal interface (32) of each channel, the external control interface (33), the power supply interface (34), the system interface (35), the buzzer (36), the external power supply interface (37), and the fan outlet (38) are all located on the outside.

5. The centralized loading servo controller according to claim 4, characterized in that: The input / output signal interfaces (32) of each channel are located between the analog input / output interface (31) and the external control interface (33). The external control interface (33) is located between the power supply interface (34) and the input / output signal interfaces (32) of each channel. The system interface (35) is located above the power supply interface (34). The buzzer (36) is located above the system interface (35). The external power supply interface (37) is located above the buzzer (36). The fan outlet (38) is located above the external power supply interface (37).

6. The centralized loading servo controller according to claim 4, characterized in that: The top of the housing (1) has equidistant and symmetrically distributed ventilation slits (11). A wireless transceiver (39) is fixedly connected to the outside of the interface panel (3) and to the side of the input / output signal interface (32) of each channel away from the external control interface (33). A main control board is fixedly connected inside the wireless transceiver (39), and a control chip is fixedly connected to the outside of the main control board.

7. The centralized loading servo controller according to claim 5, characterized in that: The control module panel (22) includes a main control power button, a main control restart button, a main control status indicator, a load self-test indicator, and a load run indicator; The power module panel (23) includes a power module switch and status indicator lights; The buzzer reset button (25) is used to activate the buzzer (36) after the system protection is activated; The emergency stop button (24) is used for emergency stop in case of emergency; The cooling fan (21) is used to automatically run after the controller is powered by 220VAC, and draws air into the inside of the controller.

8. The centralized loading servo controller according to claim 5, characterized in that: The external control interface (33) includes an EtherCAT interface, a fiber optic reflection memory interface, an external emergency stop interface, and an auxiliary interface; The analog input / output interface (31) uses a BNC socket. The power supply interface (34) is a 220VAC power supply interface, and the interface uses a standard triangular power cable; The system interface (35) includes a network port, a USB port, and a spare interface; The external power supply interface (37) is used to power a special servo drive system; The fan outlet (38) is used to control the cooling fan to blow air outward.

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