A robot controller

Abstract

The utility model relates to a kind of robot controller, belong to robot and automation control technical field, the controller includes mainframe box and the control module being set to its inside, control module includes main processing unit, storage unit and external device interface unit.Mainframe box is equipped with heat dissipation air duct and damping foot pad, inside installation heat dissipation fan, front panel setting state indicating lamp module.Main processing unit adopts multi-core architecture, first group core is connected with microkernel module, second group core is connected with real-time operating system module, two groups of core hardware are mutually isolated and independently operated.The utility model improves heat dissipation performance and shock resistance by optimizing physical structure, while using the double-kernel architecture of hardware isolation to improve system reliability, suitable for the application scene of higher stability requirement such as industrial automation.

Description

Technical Field

[0001] This utility model belongs to the field of robotics and automation control technology, specifically relating to a robot controller. Background Technology

[0002] As the core control component of a robot, the performance of the robot controller directly affects its working efficiency and reliability. Currently, fields such as industrial automation and intelligent services are placing higher demands on the real-time performance, stability, and functional scalability of robot controllers. Existing robot controllers mostly adopt a centralized architecture based on general-purpose processors. Their hardware structure typically includes a main processor, memory, and external interfaces, all integrated within a main chassis and interconnected via a bus. These controllers are relatively simple in structural design, focusing primarily on the implementation of basic control functions, while neglecting sufficient consideration for physical structure optimization.

[0003] These controllers exhibit significant structural defects during long-term operation: inadequate heat dissipation design of the main chassis, easily leading to heat buildup that affects component lifespan; rigid fixing or lack of fixing measures, resulting in poor stability; weak system status monitoring capabilities, making on-site maintenance inconvenient; and insufficient isolation in the processing architecture, making it difficult to guarantee the reliable execution of critical tasks. These structural limitations restrict the effectiveness of robots in high-reliability scenarios. Utility Model Content

[0004] To address the aforementioned problems in the existing technology, this utility model provides a robot controller. The technical problem to be solved by this utility model is achieved through the following technical solution: This utility model provides a robot controller, including: a main chassis and a control module. The control module includes: a main processing unit, a storage unit, and an external device interface unit. The main chassis has an internal mounting cavity, and the main processing unit and the storage unit are both fixed within the mounting cavity. The external device interface unit is disposed on the front side panel of the main chassis. The bottom panel of the main chassis has an air inlet, and the top panel has an exhaust outlet, forming a heat dissipation channel between the air inlet and the exhaust outlet. A cooling fan is disposed inside the main chassis and fixed to the bottom of the mounting cavity. The air intake direction of the cooling fan faces the air inlet, and the air outlet direction faces the exhaust outlet. Vibration-damping feet are provided at the bottom of the main chassis, and on the front side panel of the main chassis… The system also includes a status indicator module, which is communicatively connected to the main processing unit. The status indicator module includes multiple LEDs, each corresponding to the operating status of a functional unit. The main processing unit is communicatively connected to both the storage unit and the external device interface unit. The main processing unit is a multi-core processor used to execute a multi-kernel architecture. The main processing unit includes a first group of cores and a second group of cores. The multi-kernel architecture includes a microkernel module and a real-time operating system module. The first group of cores is communicatively connected to the microkernel module via a data bus, and the second group of cores is communicatively connected to the real-time operating system module via another data bus. The first group of cores and the second group of cores operate independently through hardware isolation.

[0005] In one embodiment of this utility model, the external device interface unit is connected to the main processing unit and the external device via a bus. The external device interface unit includes a USB interface module, a CAN bus interface module and an Ethernet interface module. The external device includes a sensor, an actuator and an external communication device.

[0006] In one embodiment of this utility model, the USB interface module, the CAN bus interface, and the Ethernet interface module are all disposed on the front side panel of the host chassis.

[0007] In one embodiment of this utility model, the control module further includes: a system control program unit, which includes a hierarchical collaboration component, a functional extension component, and a distributed communication component. The hierarchical collaboration component is used to construct the multi-kernel architecture, the functional extension component is used to deploy pre-packaged functional containers, and the distributed communication component is used to realize data exchange between the units based on the DDS protocol.

[0008] In one embodiment of this utility model, the storage unit includes a read-only memory and a random access memory; wherein the read-only memory and the random access memory are respectively connected to the main processing unit via a memory bus; the read-only memory is used to store programs related to the system control program unit; the random access memory is used for program loading and data caching during runtime.

[0009] In one embodiment of this utility model, the microkernel module and the real-time operating system module interact with each other through the distributed communication component.

[0010] In one embodiment of this utility model, the functional expansion component includes a container storage module and a container management module. The container storage module is located in the storage unit and is used to store multiple pre-packaged functional units. The container management module is communicatively connected to the external device interface unit and is used to receive the identification information of the external device and match the corresponding functional unit from the container storage module according to the identification information.

[0011] In one embodiment of this utility model, the distributed communication component includes a communication interface module and a data exchange module. The communication interface module is disposed on the front side panel of the host chassis, and the data exchange module is disposed in the central area of ​​the control module. The communication interface module is communicatively connected to the external device interface unit, and the data exchange module is communicatively connected to the main processing unit.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model's robot controller effectively improves the reliability and environmental adaptability of the equipment by optimizing its physical structure. The main chassis adopts a heat dissipation airflow design, combined with a cooling fan to form forced convection, significantly improving the heat dissipation effect of internal components; vibration-damping feet can largely isolate the transmission of external vibrations, enhancing stability; the status indicator module provides intuitive feedback on the operating status, facilitating maintenance and monitoring. The main processing unit adopts a multi-core hardware isolation architecture, connected to the multi-core architecture through an independent bus to achieve hardware isolation and avoid single-point failures affecting the overall system operation.

[0013] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] Figure 1This is a three-dimensional structural schematic diagram (first view) of a robot controller provided in an embodiment of the present invention; Figure 2 This is a three-dimensional structural schematic diagram (second view) of the robot controller provided in this embodiment of the present invention; Figure 3 This is a front view of the structure of the robot controller provided in this embodiment of the utility model; Figure 4 This is a partial structural schematic diagram of the robot controller provided in an embodiment of the present invention; Figure 5 This is a system block diagram of the control module provided in an embodiment of the present invention.

[0015] Reference numerals: 1-Main chassis; 11-Air intake; 12-Exhaust vent; 13-Cooling fan; 14-Vibration damping feet; 15-Status indicator module; 2-Main processing unit; 21-First core group; 22-Second core group; 3-Storage unit; 31-Read-only memory; 32-Random access memory; 4-External device interface unit; 41-USB interface module; 42-CAN bus interface module; 43-Ethernet interface module; 5-System control program unit; 51-Hierarchical collaboration component; 52-Function expansion component; 521-Container storage module; 522-Container management module; 53-Distributed communication component; 531-Communication interface module; 532-Data exchange module. Detailed Implementation

[0016] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following describes in detail a robot controller proposed according to this utility model, in conjunction with the accompanying drawings and specific embodiments.

[0017] The foregoing and other technical contents, features, and effects of this utility model will be clearly presented in the following detailed description of the specific embodiments with reference to the accompanying drawings. Through the description of the specific embodiments, a more in-depth and specific understanding can be gained of the technical means and effects adopted by this utility model to achieve the intended purpose. However, the accompanying drawings are only provided for reference and illustration and are not intended to limit the technical solution of this utility model.

[0018] Example 1 like Figures 1 to 5 As shown, Figure 1 This is a three-dimensional structural schematic diagram (first view) of a robot controller provided in an embodiment of the present invention; Figure 2 This is a three-dimensional structural schematic diagram (second view) of the robot controller provided in this embodiment of the present invention; Figure 3 This is a front view of the structure of the robot controller provided in this embodiment of the utility model; Figure 4This is a partial structural schematic diagram of the robot controller provided in an embodiment of the present invention; Figure 5 This is a system block diagram of the control module provided in an embodiment of the present invention.

[0019] In this embodiment, the robot controller includes: a main unit 1 and a control module. The control module includes: a main processing unit 2, a storage unit 3 and an external device interface unit 4. The main unit 1 has an internal mounting cavity, and the main processing unit 2 and the storage unit 3 are both fixed inside the mounting cavity. The external device interface unit 4 is disposed on the front side panel of the main unit 1.

[0020] In this embodiment, the bottom panel of the main unit 1 is provided with an air inlet 11, and the top panel is provided with an exhaust 12. A heat dissipation channel is formed between the air inlet 11 and the exhaust 12. A cooling fan 13 is provided inside the main unit 1. The cooling fan 13 is fixed to the bottom of the mounting cavity. The air intake direction of the cooling fan 13 is towards the air inlet 11, and the air outlet direction of the cooling fan 13 is towards the exhaust 12. Preferably, the cooling fan 13 is connected to a temperature sensor. The main processing unit 2 can detect the temperature change inside the mounting cavity through the temperature sensor and further adjust the speed of the cooling fan 13 according to the temperature change, thereby ensuring that the heat inside the main unit 1 is dissipated in a timely manner, so as to ensure that each functional unit operates within a suitable operating temperature range.

[0021] In an optional implementation, the bottom of the main unit 1 is provided with vibration damping pads 14 to reduce the impact of external vibrations on the robot controller, thereby improving the operational stability of the system. A status indicator module 15 is also provided on the front panel of the main unit 1. The status indicator module 15 is communicatively connected to the main processing unit 2. The status indicator module 15 includes multiple LEDs, each corresponding to the operating status of a functional unit, allowing users to intuitively understand the operating status of the robot controller, facilitating daily maintenance and troubleshooting. If a functional module of the robot controller or a piece of hardware of the robot it controls malfunctions, the corresponding LED can flash to prompt the user to handle the issue promptly.

[0022] In this embodiment, the main processing unit 2 is communicatively connected to the storage unit 3 and the external device interface unit 4, respectively. The main processing unit 2 is a multi-core processor used to execute a multi-core architecture. The multi-core processor includes a first group of cores 21 and a second group of cores 22. The multi-core architecture includes a microkernel module and a real-time operating system module. The first group of cores 21 is communicatively connected to the microkernel module through a data bus, and the second group of cores 22 is communicatively connected to the real-time operating system module through another data bus. The first group of cores 21 and the second group of cores 22 operate independently of each other through hardware isolation to avoid the collapse of the entire system due to the failure of one core.

[0023] For example, the bus includes a data bus, a memory bus, an address bus, and a control bus. The various functional units can communicate with each other through the corresponding buses to achieve data exchange and transmission.

[0024] In an optional implementation, the control module further includes a system control program unit 5, which includes a hierarchical collaboration component 51, a function extension component 52, and a distributed communication component 53.

[0025] Specifically, the layered collaboration component 51 is used to build a multi-kernel architecture, which includes a microkernel module and a real-time operating system module; the function extension component 52 is used to deploy pre-packaged function containers; and the distributed communication component 53 is used to realize data exchange between the units based on the DDS protocol. For example, the microkernel module and the real-time operating system module interact with each other through the distributed communication component 53. This multi-core hardware isolation architecture improves the stability and reliability of the system.

[0026] It is worth noting that the distributed communication component 53, based on the DDS (Data Distribution Service) protocol, replaces the traditional point-to-point communication method, enabling efficient data interaction between functional units. It simplifies the communication architecture, adopts a data bus mode, and significantly improves the system's real-time response capability and scalability when multiple modules are working collaboratively.

[0027] In an optional implementation, the functional expansion component 52 includes a container storage module 521 and a container management module 522. The container storage module 521, located in the storage unit 3, stores multiple pre-packaged functional units. The container management module 522 is communicatively connected to the external device interface unit 4, and receives identification information from external devices to match corresponding functional units from the container storage module 521 based on this identification information. This allows the robot controller to deploy new functions through simple configuration without recompiling the entire system, thereby improving the system's flexibility and scalability.

[0028] In an optional implementation, the distributed communication component 53 includes a communication interface module 531 and a data exchange module 532. The communication interface module 531 is disposed on the front panel of the main unit 1, and the data exchange module 532 is disposed in the central area of ​​the control module. The communication interface module 531 is communicatively connected to the external device interface unit 4, and the data exchange module 532 is communicatively connected to the main processing unit 2. Thus, distributed communication optimizes the data interaction between functional units, significantly reducing communication latency, especially when the number of nodes increases, thereby meeting the real-time control requirements of multi-device collaboration.

[0029] In an optional implementation, the storage unit 3 includes a read-only memory 31 and a random access memory 32; wherein the read-only memory 31 and the random access memory 32 are respectively connected to the main processing unit 2 via a memory bus; the read-only memory 31 is used to store programs related to the system control program unit 5; the random access memory 32 is used for program loading and data caching during runtime.

[0030] For example, storage unit 3 may include volatile memory (such as random access memory 32) and non-volatile memory (such as read-only memory 31); wherein, read-only memory 31 is used to store programs related to system control program unit 5, including but not limited to operating system, one or more application programs, other program modules, and program data. Furthermore, main processing unit 2 can execute various functional applications and data processing by running computer programs stored in read-only memory 31. In this way, storage unit 3 can meet the data storage and loading needs during operation, ensuring that the system startup process is efficient and reliable.

[0031] In an optional embodiment, the external device interface unit 4 is communicatively connected to the main processing unit 2 and external devices via a bus. The external device interface unit 4 includes a USB interface module 41, a CAN bus interface module 42, and an Ethernet interface module 43. Exemplarily, the USB interface module 41, CAN bus interface module 42, and Ethernet interface module 43 are all located on the front panel of the main unit chassis 1.

[0032] For example, external devices include sensors, actuators, and external communication devices. The external device interface unit 4 can communicate with one or more external devices via a bus. Specifically, communication can be achieved through various interfaces, such as USB interfaces, CAN bus interfaces, or Ethernet interfaces, and can also be done through input / output (I / O) interfaces; furthermore, it can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks) via a network adapter. This allows the robot controller to communicate flexibly and directly with a variety of external devices, meeting the needs of different application scenarios.

[0033] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principles of this utility model is provided.

[0034] The robot controller provided by this utility model has an internal mounting cavity in its main chassis 1 to accommodate the various components of the control module. The main processing unit 2 serves as the control core and employs a multi-core processor. The first set of cores 21 is dedicated to running a microkernel module to handle high real-time tasks, while the second set of cores 22 runs a real-time operating system module responsible for general computing and scheduling. The two sets of cores operate independently through a hardware isolation mechanism and interact with each other through a distributed communication component 53, thereby achieving hardware and software decoupling and resource isolation.

[0035] Storage unit 3 consists of read-only memory 31 and random access memory 32, connected to main processing unit 2 via memory bus, used for storing system programs and runtime data cache, respectively. External device interface unit 4 integrates multiple interface modules such as USB, CAN bus, and Ethernet, and is directly mounted on the front panel of main unit 1 for easy connection of external devices such as sensors and actuators. Function expansion component 52 identifies external device identifiers through container management module 522 and automatically loads matching pre-packaged functional units from container storage module 521, enabling flexible deployment of functions. Distributed communication component 53 establishes a communication link based on the DDS protocol. Its data exchange module 532 is located in the center of the control module, used to coordinate data flow between units and to shorten communication paths.

[0036] Air intake vents 11 and exhaust vents 12 are respectively opened at the top and bottom of the main unit chassis 1, forming a vertical heat dissipation airflow channel. Together with the built-in cooling fan 13, it effectively dissipates internal heat. Vibration damping pads 14 are installed at the bottom of the main unit chassis 1 to isolate external environmental vibrations. The status indicator module 15 located on the front panel is connected to the main processing unit 2, and different LEDs indicate the operating status of each functional unit, improving the maintainability of the system.

[0037] This utility model's robot controller effectively improves the reliability and environmental adaptability of the equipment by optimizing its physical structure. The main chassis adopts a heat dissipation airflow design, combined with a cooling fan to form forced convection, significantly improving the heat dissipation effect of internal components; vibration-damping feet can largely isolate the transmission of external vibrations, enhancing stability; the status indicator module provides intuitive feedback on the operating status, facilitating maintenance and monitoring. The main processing unit adopts a multi-core hardware isolation architecture, connected to the multi-core architecture through an independent bus to achieve hardware isolation and avoid single-point failures affecting the overall system operation.

[0038] This invention further enhances system integration through modular layout and standardized interface design. External device interface units are centrally located on the front panel of the main unit chassis for easy connection and operation; the storage unit adopts a layered design to meet different storage needs. This structural design enables the robot controller to achieve efficient heat dissipation, shock resistance, and status monitoring in a limited space, providing hardware assurance for the long-term stable operation of the robot.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that an article or device comprising a list of elements includes not only those elements but also other elements not expressly listed. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device comprising said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. The orientations or positional relationships indicated by terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0040] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A robot controller, characterized in that, include: The main unit and control module, wherein the control module includes: a main processing unit, a storage unit and an external device interface unit; The main chassis has an internal mounting cavity, in which the main processing unit and the storage unit are fixed. The external device interface unit is located on the front panel of the main chassis. The bottom panel of the main chassis has an air intake, and the top panel has an exhaust. A heat dissipation channel is formed between the air intake and the exhaust. A cooling fan is installed inside the main chassis and is fixed to the bottom of the mounting cavity. The air intake direction of the cooling fan is towards the air intake, and the air exhaust direction of the cooling fan is towards the exhaust. The bottom of the main chassis has vibration damping pads. The front panel of the main chassis also has a status indicator module. The status indicator module is communicatively connected to the main processing unit. The status indicator module includes multiple LEDs, each LED corresponding to the operating status of a functional unit. The main processing unit is communicatively connected to the storage unit and the external device interface unit, respectively; the main processing unit is a multi-core processor used to execute a multi-kernel architecture; the main processing unit includes: a first group of cores and a second group of cores; wherein, the multi-kernel architecture includes a microkernel module and a real-time operating system module; the first group of cores is communicatively connected to the microkernel module through a data bus, and the second group of cores is communicatively connected to the real-time operating system module through another data bus; the first group of cores and the second group of cores operate independently of each other through hardware isolation.

2. The robot controller according to claim 1, characterized in that, The external device interface unit communicates with the main processing unit and external devices via a bus. The external device interface unit includes a USB interface module, a CAN bus interface module, and an Ethernet interface module. The external devices include sensors, actuators, and external communication devices.

3. The robot controller according to claim 2, characterized in that, The USB interface module, the CAN bus interface, and the Ethernet interface module are all located on the front side panel of the main unit chassis.

4. The robot controller according to claim 1, characterized in that, The control module further includes a system control program unit, which includes a hierarchical collaboration component, a functional extension component, and a distributed communication component. The hierarchical collaboration component is used to construct the multi-kernel architecture, the functional extension component is used to deploy pre-packaged functional containers, and the distributed communication component is used to realize data exchange between the units based on the DDS protocol.

5. The robot controller according to claim 4, characterized in that, The storage unit includes a read-only memory and a random access memory; wherein the read-only memory and the random access memory are respectively connected to the main processing unit via a memory bus; the read-only memory is used to store programs related to the system control program unit; the random access memory is used for program loading and data caching during runtime.

6. The robot controller according to claim 4, characterized in that, The microkernel module and the real-time operating system module interact with each other via the distributed communication component.

7. The robot controller according to claim 4, characterized in that, The functional extension component includes a container storage module and a container management module. The container storage module is located in the storage unit and is used to store multiple pre-packaged functional units. The container management module is communicatively connected to the external device interface unit and is used to receive the identification information of the external device and match the corresponding functional unit from the container storage module according to the identification information.

8. The robot controller according to claim 4, characterized in that, The distributed communication component includes a communication interface module and a data exchange module. The communication interface module is located on the front panel of the host chassis, and the data exchange module is located in the central area of ​​the control module. The communication interface module is communicatively connected to the external device interface unit, and the data exchange module is communicatively connected to the main processing unit.

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