A robot control device

Abstract

This utility model discloses a robot control device, belonging to the field of robot control technology. It includes a robot control board, a safety monitoring board, a servo drive board, an external I / O board, a real-time safety bus, and a real-time control bus. The robot control board is connected to the safety monitoring board and the servo drive board via the real-time safety bus, enabling safe data interaction with them. The robot control board is also connected to the safety monitoring board, the servo drive board, and the external I / O board via the real-time control bus, enabling non-safe data interaction with them. One end of the external I / O board is connected to an external device, and the other end of the servo drive board is connected to the robot. This utility model improves the reliability and real-time performance of data transmission through a multi-bus architecture design, and enhances the device's scalability through a modular structure design.

Description

Technical Field

[0001] This utility model relates to a robot control device and belongs to the field of robot control technology. Background Technology

[0002] With the development of technology, robot control devices are being applied to various industrial production scenarios. Most existing robot control devices are custom-developed, which are low in cost but have long development cycles, poor adaptability to hardware differences, and closed systems with poor openness.

[0003] Meanwhile, existing robot control devices typically use the same bus and controller to transmit and control data such as parameters, instructions, and status. This makes it difficult to guarantee the reliability of data transmission for the various functions of the robot control device and can also affect the real-time performance of data transmission. Utility Model Content

[0004] The purpose of this invention is to provide a robot control device with a multi-bus architecture. By connecting various modules within the device through a multi-bus approach, the reliability and real-time performance of data transmission can be achieved. At the same time, the scalability of the device is improved through a universal structural design.

[0005] To achieve the above objectives / to solve the above technical problems, this utility model adopts the following technical solution:

[0006] This utility model provides a robot control device, including a robot control board, a safety monitoring board, a servo drive board, an external I / O board, a real-time safety bus, and a real-time control bus. The robot control board is connected to the safety monitoring board and the servo drive board via the real-time safety bus, and performs safe data interaction with the safety monitoring board and the servo drive board. The robot control board is also connected to the safety monitoring board, the servo drive board, and the external I / O board via the real-time control bus, and performs non-safe data interaction with the safety monitoring board, the servo drive board, and the external I / O board. The other end of the external I / O board is connected to an external device, and the other end of the servo drive board is connected to the robot.

[0007] Preferably, the real-time security bus uses an EtherCAT communication circuit.

[0008] Preferably, the real-time security bus master station includes an Ethernet security communication chip, an Ethernet connector, and its side circuits; the TD-M interface of the Ethernet security communication chip is connected to the TD- interface of the Ethernet connector, the TD-P interface of the Ethernet security communication chip is connected to the TD+ interface of the Ethernet connector, the RD-M interface of the Ethernet security communication chip is connected to the RD- interface of the Ethernet connector, the RD-P interface of the Ethernet security communication chip is connected to the RD+ interface of the Ethernet connector, and the LED interface of the Ethernet security communication chip is connected to the LED interface of the Ethernet connector through an NMOS transistor; the TX and RX interfaces of the Ethernet security communication chip are connected to the robot control board, the safety monitoring board, and the servo drive board respectively through resistors.

[0009] Preferably, the real-time control bus adopts a CAN bus circuit.

[0010] Preferably, the real-time control bus includes a CAN chip and its side circuits. The data receiving port and data transmitting port on the digital side of the CAN chip are respectively connected to the robot control board, the safety monitoring board, and the servo drive board. The low-level CAN bus and the high-level CAN bus on the transceiver side of the CAN chip are respectively connected to external bus lines. A first resistor and a second resistor are connected in parallel between the low-level CAN bus and the high-level CAN bus on the transceiver side of the CAN chip. The first resistor and the second resistor are connected to the ground port on the transceiver side of the CAN chip through a first capacitor. A transient suppression diode is also connected in parallel between the low-level CAN bus and the high-level CAN bus.

[0011] Preferably, the robot control board includes a robot control chip and a memory circuit module; the robot control chip is a processor chip containing two ARM cores; the memory circuit module uses an SD card and its interface circuit.

[0012] Preferably, the safety monitoring board includes a safety monitoring chip, a memory circuit module, and a safety I / O circuit module; the safety monitoring chip uses dual MCU chips; the memory circuit module uses an SD card and its interface circuit; the safety monitoring chip is connected to an external I / O sensor or controller through the safety I / O module.

[0013] Preferably, the servo drive board includes a servo control chip, a memory circuit module, a servo motor drive circuit module, and a motor status feedback circuit module; the data receiving port of the servo control chip is connected to the robot control chip and the motor status feedback circuit module respectively, and the data transmission port of the servo control chip is connected to the servo motor drive circuit module and the memory circuit module respectively; the servo control chip is an MCU chip; the memory circuit module is an SD card.

[0014] Preferably, the external I / O board includes an I / O control chip, an external I / O circuit module, and an external communication circuit module; the I / O control chip is connected to external devices through the external I / O circuit module and the external communication circuit module, the external I / O circuit module is used to receive or output non-security-related I / O information, and the external communication circuit module is used to receive or output non-security-related communication data.

[0015] Preferably, the device further includes a power board, which includes an input power supply, a voltage regulator circuit, an AC / DC conversion circuit, and a transformer; the power board supplies power to the other modules within the device.

[0016] Compared with the prior art, the beneficial effects achieved by this utility model are as follows:

[0017] This invention proposes a robot control device that modularizes various robot control functions and provides a universal interface for each module, thereby improving the device's scalability. Furthermore, it employs a multi-bus architecture instead of the single-bus architecture found in traditional robot control devices, separating the safety bus and control bus. The real-time safety bus transmits safety-related data, while the real-time control bus transmits non-safety-related data, improving the reliability and real-time performance of data transmission. Without altering safety-related aspects, non-safety control functions and parameters can be easily added or removed via the control bus, further enhancing the device's expandability.

[0018] This utility model device has the advantages of bus separation, low cost, modularity, good real-time performance, and strong expandability, which can meet the needs of robot control and is easy to promote and use. Attached Figure Description

[0019] Figure 1 The diagram shown is a structural schematic of a robot control device provided by this utility model;

[0020] Figure 2 The diagram shown is a circuit diagram of the real-time security bus in an embodiment of this utility model.

[0021] Figure 3 The diagram shown is a circuit diagram of the real-time control bus in an embodiment of this utility model.

[0022] Figure 4 The diagram shown is a structural schematic of the robot control board in an embodiment of this utility model;

[0023] Figure 5 The diagram shown is a structural schematic of the safety monitoring board in an embodiment of this utility model;

[0024] Figure 6 The diagram shown is a structural schematic of the servo drive board in an embodiment of this utility model.

[0025] Figure 7 The diagram shown is a structural schematic of the external I / O board in an embodiment of this utility model. Detailed Implementation

[0026] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features therein are detailed descriptions of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features therein can be combined with each other.

[0027] This utility model embodiment introduces a robot control device, such as... Figure 1 As shown, it mainly includes a robot control board, a safety monitoring board, a servo drive board, an external I / O board, and a power supply board, among which the power supply board provides power to the other modules.

[0028] To improve the real-time reliability of internal safety data and the real-time performance of control data, the robot control device includes at least one real-time safety bus (such as...). Figure 1 (as shown by the red line in the image) and a real-time control bus (such as...) Figure 1 (As shown by the black line in the diagram), the real-time safety bus connects the safety monitoring board and the servo drive board, while the real-time control bus connects the safety monitoring board, the servo drive board, and the external I / O board. The real-time safety bus is used to transmit safety-related parameters, commands, and statuses. The non-safety-related real-time control bus transmits various non-safety control parameters, commands, and statuses.

[0029] In this embodiment, the real-time security bus uses an EtherCAT communication circuit, and the main station circuit schematic is shown below. Figure 2 As shown, the core of the EtherCAT communication circuit uses a DP83822IRHBR Ethernet secure communication chip and a J00-0045NL Ethernet connector. The data receiving interface (RX) and data transmission interface (TX) of the Ethernet secure communication chip are connected to the robot control board, safety monitoring board, and servo drive board through resistors, respectively. The TD-M interface of the Ethernet secure communication chip is connected to the TD- interface of the Ethernet connector, the TD-P interface of the Ethernet secure communication chip is connected to the TD+ interface of the Ethernet connector, the RD-M interface of the Ethernet secure communication chip is connected to the RD- interface of the Ethernet connector, the RD-P interface of the Ethernet secure communication chip is connected to the RD+ interface of the Ethernet connector, and the LED interface of the Ethernet secure communication chip is connected to the LED interface of the Ethernet connector through an NMOS transistor.

[0030] The real-time control bus uses a CAN bus circuit, and the circuit schematic is shown below. Figure 3As shown, the core of the CAN bus circuit uses a CAN chip of model IS010420WVR. The digital side of the CAN chip uses a 3.3V power supply, while the transceiver side uses a 5V power supply. The data receiving port (CAN1-RX) and data transmission port (CAN1-TX) on the digital side of the CAN chip are connected to the robot control board, safety monitoring board, and servo drive board, respectively. The low-level CAN bus (CANL) and high-level CAN bus (CANH) on the transceiver side of the CAN chip are connected to external bus lines, respectively. To improve the safety of the CAN bus circuit, a first resistor R365 and a second resistor R366 are connected in parallel between the low-level CAN bus and the high-level CAN bus. The first resistor R365 and the second resistor R366 are connected to the ground port on the transceiver side of the CAN chip through a first capacitor C296. In addition, a transient suppression diode is also connected in parallel between the low-level CAN bus and the high-level CAN bus. Capacitors are connected between the power port and the ground port on the same side of the CAN chip (C123 is connected between the power port and the ground port on the digital side, and C124 is connected between the power port and the ground port on the transceiver side).

[0031] like Figure 4 As shown, the robot control board includes a robot control chip and a memory circuit module. The robot control chip uses a Zynq processor and its core circuitry. The Zynq processor contains two ARM cores, each capable of running different software. For example, one ARM core can run a non-real-time system software module, while the other can run a real-time embedded system software module. The two ARM cores exchange information through the inter-core interface within the Zynq processor. The memory circuit module includes an SD card and its interface circuitry. This module stores information such as the robot's origin, configuration parameters, and system software. In this embodiment, the real-time control bus also includes a field communication circuit interface. By replacing different field communication modules, different field communication requirements can be met.

[0032] like Figure 5 As shown, the safety monitoring board includes a safety monitoring chip, a memory circuit module, and a safety I / O circuit module. The safety monitoring chip employs dual MCUs and their core circuitry to monitor and process safety data during robot control. The memory circuit module includes an SD card and its interface circuitry, used to store safety-related settings and information. The safety I / O module connects the safety monitoring chip to external I / O sensors or controllers, enabling internal and external data exchange. The safety monitoring chip interacts with the robot control chip for safety data via an EtherCAT communication circuit and for non-safety data via a CAN bus circuit.

[0033] like Figure 6As shown, the servo drive board includes a servo control chip, a memory circuit module, a servo motor drive circuit module, and a motor status feedback circuit module. The servo control chip uses an MCU and its core circuitry to control the servo motor. It communicates securely with the robot control chip via EtherCAT and non-securely via a CAN bus. The memory circuit module includes an SD card and its interface circuitry, used to store servo drive parameters and other information. The servo motor drive circuit module and the motor status feedback circuit module employ existing motor drive circuit structures. The motor status feedback circuit module receives and processes the motor's speed status information, while the servo motor drive circuit module implements the drive control of the motor.

[0034] like Figure 7 As shown, the external I / O board includes an I / O control chip, an external I / O circuit module, and an external communication circuit module. The I / O control chip uses an MCU and its core circuitry to control external I / O signals. The external I / O circuit module and the external communication circuit module are used to connect external devices. The external I / O circuit module receives or outputs non-security-related I / O information, and the external communication circuit module receives or outputs non-security-related communication, including interfaces such as RS422 and CAN.

[0035] The power board includes an input power supply, a voltage regulator circuit, an AC / DC conversion circuit, a transformer, etc. The power board is responsible for providing appropriate power to other modules and managing the power timing.

[0036] The robot control device works as follows: It receives robot motion commands and parameter information via a real-time control bus. The robot control chip processes the input data to obtain robot motion execution parameters, which are then sent to the servo drive board via the real-time control bus. The servo drive board controls the servo drive motors based on this information to execute the movements of each robot axis. Simultaneously, the safety monitoring board detects the robot's safety I / O status via a real-time safety bus and sends safety operation or status parameters. The external I / O board is controlled by the real-time embedded system software module in the robot control chip and can provide timely action responses relying on the real-time control bus.

[0037] In this embodiment, the system software modules inside the robot control chip can be divided into real-time embedded system software modules and non-real-time system software modules. The non-real-time system software modules can be general-purpose operating systems like Linux, implementing system process control, non-real-time communication, and interaction. The real-time embedded system software modules can use uCOS, responsible for robot motion instructions, real-time communication, and interaction. The non-real-time system software modules can utilize open, general-purpose databases or communication interfaces, such as OPCUA, to achieve information transmission and interaction with external components. Users can develop their own dedicated APIs or APP software and run them on the non-real-time system software modules to perform tasks such as sensor control or robot motion planning. The real-time embedded system software modules can perform real-time calculations of robot motions, implement real-time EtherCAT communication, and send robot motion execution parameters to the servo drive board.

[0038] This invention presents a multi-bus, universal robot control device. It modularizes various robot control functions and provides a universal interface for each module. Furthermore, it separates the safety bus and control bus, transmitting various robot control-related data through two separate buses, improving data transmission reliability and real-time performance. Without altering safety features, non-safety control functions and parameters can be easily added or removed via the control bus, enhancing the device's scalability. This invention features high real-time performance, low cost, and good scalability. Simultaneously, through a heterogeneous software system, it satisfies both the real-time requirements of robot control and achieves functional scalability.

[0039] The embodiments of the present utility model have been described above with reference to the accompanying drawings. However, the present utility model is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present utility model without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present utility model.

Claims

1. A robot control device characterized by comprising: It includes a robot control board, a safety monitoring board, a servo drive board, an external I / O board, a real-time safety bus, and a real-time control bus. The robot control board is connected to the safety monitoring board and the servo drive board via the real-time safety bus, and interacts with them for safe data. The robot control board is also connected to the safety monitoring board, the servo drive board, and the external I / O board via the real-time control bus, and interacts with them for non-safe data. The other end of the external I / O board is connected to an external device, and the other end of the servo drive board is connected to the robot.

2. The robot control device according to claim 1, characterized in that, The real-time security bus uses an EtherCAT communication circuit.

3. The robot control device according to claim 2, characterized in that, The real-time safety bus includes an Ethernet security communication chip, an Ethernet connector, and its side circuits; the TD-M interface of the Ethernet security communication chip is connected to the TD- interface of the Ethernet connector, the TD-P interface of the Ethernet security communication chip is connected to the TD+ interface of the Ethernet connector, the RD-M interface of the Ethernet security communication chip is connected to the RD- interface of the Ethernet connector, the RD-P interface of the Ethernet security communication chip is connected to the RD+ interface of the Ethernet connector, and the LED interface of the Ethernet security communication chip is connected to the LED interface of the Ethernet connector through an NMOS transistor; the TX and RX interfaces of the Ethernet security communication chip are connected to the robot control board, the safety monitoring board, and the servo drive board respectively through resistors.

4. The robot control device according to claim 1, characterized in that, The real-time control bus adopts a CAN bus circuit.

5. The robot control device according to claim 4, characterized in that, The real-time control bus includes a CAN chip and its side circuits. The data receiving port and data transmission port on the digital side of the CAN chip are connected to the robot control board, the safety monitoring board, and the servo drive board, respectively. The low-level CAN bus and the high-level CAN bus on the transceiver side of the CAN chip are connected to the external bus lines, respectively. A first resistor and a second resistor are connected in parallel between the low-level CAN bus and the high-level CAN bus on the transceiver side of the CAN chip. The first resistor and the second resistor are connected to the ground port on the transceiver side of the CAN chip through a first capacitor. A transient suppression diode is also connected in parallel between the low-level CAN bus and the high-level CAN bus.

6. The robot control device according to claim 1, characterized in that, The robot control board includes a robot control chip and a memory circuit module; the robot control chip is a processor chip with two ARM cores; the memory circuit module uses an SD card and its interface circuit.

7. The robot control device according to claim 1, characterized in that, The safety monitoring board includes a safety monitoring chip, a memory circuit module, and a safety I / O circuit module; the safety monitoring chip uses dual MCU chips; the memory circuit module uses an SD card and its interface circuit; the safety monitoring chip is connected to an external I / O sensor or controller through the safety I / O module.

8. The robot control device according to claim 1, characterized in that, The servo drive board includes a servo control chip, a memory circuit module, a servo motor drive circuit module, and a motor status feedback circuit module. The data receiving port of the servo control chip is connected to the robot control chip and the motor status feedback circuit module, respectively, and the data transmission port of the servo control chip is connected to the servo motor drive circuit module and the memory circuit module, respectively. The servo control chip is an MCU chip, and the memory circuit module is an SD card.

9. The robot control device according to claim 1, characterized in that, The external I / O board includes an I / O control chip, an external I / O circuit module, and an external communication circuit module. The I / O control chip connects to external devices through the external I / O circuit module and the external communication circuit module. The external I / O circuit module is used to receive or output non-security-related I / O information, and the external communication circuit module is used to receive or output non-security-related communication data.

10. The robot control device according to claim 1, characterized in that, The device also includes a power board, which includes an input power supply, a voltage regulator circuit, an AC / DC conversion circuit, and a transformer; the power board supplies power to the other modules in the device.

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