CN112936346A

CN112936346A - Terminal IO board of arm

Info

Publication number: CN112936346A
Application number: CN202110172035.3A
Authority: CN
Inventors: 杨跞; 杨涛; 陈宏伟; 许楠
Original assignee: Siasun Co Ltd
Current assignee: Siasun Co Ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-11

Abstract

According to the mechanical arm tail end IO board, the heat dissipation block is arranged between the power supply board and the heating device of the control board, so that the heat of the heating device is conducted to the heat dissipation aluminum block, and further conducted to the metal shell of the mechanical arm through the mounting screw, and the working environment temperature of the device on the tail end IO board can be effectively improved; meanwhile, the abundant interface design makes the integrated terminal tool more convenient, avoids material and labor cost generated by routing along the outside of the mechanical arm, avoids unreliability and unattractive appearance caused by external routing, realizes remote updating of program firmware through a master station, and is simple and convenient to operate.

Description

Terminal IO board of arm

Technical Field

The invention relates to the field of robot design, in particular to an IO plate at the tail end of a mechanical arm.

Background

With the progress of science and technology, the industrial automation field is more and more obviously influenced by market change and technology replacement, and robot products are rapidly developed towards the direction of intellectualization, integration and high safety.

The terminal IO board is as the interactive interface of arm and terminal instrument, just more and more as a standard device of arm, and the function of arm can be expanded greatly to a good terminal IO board design, simplifies the installation and the wiring of terminal instrument, and then can reduce customer's use cost, and a good terminal IO board can also promote the "color value" of arm simultaneously.

At present, the IO board at the tail end of the mechanical arm generally has the following problems:

because the tail end IO plate is arranged in a tail end metal flange of the mechanical arm and then integrated at the tail end of the mechanical arm, the tail end IO plate works almost in a sealed metal space, and because the tail end IO plate is provided with a power consumption device, heat cannot be dissipated during normal work, so that the device on the tail end IO plate works under the over-temperature condition for a long time, and the service life and the reliability of the device are influenced;

due to the fact that the space of the end flange is limited, the size of an end IO plate is limited, meanwhile, due to the restriction of the wiring space inside the mechanical arm, the user interface function provided on the end IO plate is few, a DIO interface is commonly used, only end tools with some digital quantity can be installed, when the end tools with the non-digital quantity need to be integrated, the end tools with the non-digital quantity can be controlled only through a method of wiring outside the mechanical arm, and the material cost and the labor cost of external wiring are increased for a while; secondly, the overall appearance of the mechanical arm is influenced; thirdly, unreliability of the whole system is increased, and the mechanical arm is moved, so that interference with external wiring is possible in the moving process, and meanwhile, the performance of the cable is influenced by the external wiring in the long-time moving process;

the firmware is inconvenient to update, because the terminal IO board is installed in the closed terminal flange, the program firmware is downloaded into the memory of the terminal IO board through the emulator before installation, but when the firmware needs to be updated, the flange is often required to be detached from the terminal of the robot arm, then the terminal IO board is taken out, and the firmware is updated by burning through the emulator, which is time-consuming and labor-consuming.

Disclosure of Invention

The utility model provides a terminal IO board of arm, the above-mentioned problem that current terminal IO board of arm exists of solution that can be fine.

The terminal IO board of arm that this disclosure provided includes:

the LED lamp comprises a power panel, a control panel and an LED panel, wherein heating devices of the power panel and the control panel are arranged face to face;

the heat dissipation block is positioned between the power panel and the control panel, is tightly attached to the heating devices of the power panel and the control panel, and is used for transferring the heat of the heating devices to the heat dissipation block;

the power panel, the control panel, the LED panel and the radiating block are fixedly connected through screws.

Optionally, the interface integrated by the end IO board includes:

the Ethercat communication interface comprises a communication interface between the terminal IO board and the main station and an interface for a user to use;

the key interface is respectively corresponding to the mechanical arm traction and teaching buttons;

the 485 communication interface is used for outdoor connection of 485 communication mechanical arm end tools;

the analog input interface is used for externally connecting a mechanical arm tail end tool with analog input by a user;

the IO-link interface is used for connecting end tool equipment of the IO-link;

the DIO interface is connected with a 24V power supply interface.

Optionally, one of the analog input interfaces and the 485 signal multiplex the same interface.

Optionally, the DIO interface is compatible with NPN and PNP inputs and outputs.

Optionally, an acceleration sensor is integrated on the terminal IO board, and the motion state data of the terminal is transmitted to the master station in real time for analysis.

Optionally, the terminal IO board is remotely controlled by the master station to update the program firmware through the Ethercat communication interface and the FOE protocol.

Optionally, the LED display circuit is integrated on the LED board, an RGB three-color LED lamp strip is provided, the design of annular layout and side light emission is adopted, and the mechanical arm is in different states and can correspond to light with different colors.

According to the terminal IO board of the mechanical arm, the heat dissipation aluminum block is arranged between the power supply board and the heating device of the control board, so that the heat of the heating device is conducted to the heat dissipation aluminum block, and further conducted to the metal shell of the mechanical arm through the mounting screw, and the working environment temperature of the device on the terminal IO board can be effectively improved; meanwhile, the abundant interface design makes the integrated end tool more convenient, and avoids the material and labor cost generated along the external routing of the mechanical arm and the unreliability and unattractive appearance caused by the external routing; in addition, the provided thermocat communication interface can support an FOE protocol, so that the program firmware can be updated remotely through the master station, and the disassembly of the terminal IO board is avoided.

Compared with the prior art, the beneficial effect of this disclosure is: the working environment temperature of devices on the terminal IO board is effectively reduced; external routing of the mechanical arm is avoided when the end tool is integrated; the program firmware is convenient to update.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.

FIG. 1 shows a block diagram of an exemplary end of arm IO board embodiment;

FIG. 2 shows a schematic view of an exemplary aluminum heat sink block;

FIG. 3 illustrates an exemplary end IO board external interface;

FIG. 4 shows an exemplary end IO board functional block diagram;

FIG. 5 shows an exemplary end IO board program firmware update method.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

FIG. 1 shows a block diagram of an exemplary robotic arm end IO plate embodiment. As shown in fig. 1, the IO board at the end of the exemplary mechanical arm has a total of four layers, the top layer is an LED board, the bottom layer is a control board, the bottom layer is a heat dissipation block, the bottom layer is a power board, the power board and the heat generation device of the control board are arranged face to face, the heat dissipation block arranged between the power board and the control board is tightly attached to the heat generation device of the power board and the control board, and the four layers are fixed through screw penetration.

The structure conducts the heat of the heating device to the radiating block, and then conducts the heat to the metal shell of the mechanical arm through the mounting screw. Compared with the structure without the heat dissipation block, the IO board device with the structure can work below the maximum temperature rise range of the device. The radiating block is preferably made of aluminum, and the structural example is shown in figure 2.

As a preferred solution, the external interface integrated on the control board in the exemplary terminal IO board embodiment is shown in fig. 3, and fig. 4 is a structural block diagram of a corresponding control board functional module. It can be seen that the main interfaces function as follows, with the number as preferred:

the two Ethercat communication interfaces comprise a communication interface ECT IN used between the main station and the Ethercat communication interface ECT IN and an interface ECT OUT used by a user;

the two key interfaces respectively correspond to the mechanical arm traction and teaching buttons;

the 485 communication interface is used for outdoor connection of 485 communication end tools, such as an electric claw, a pneumatic claw, a vision camera, a sensor and the like;

the analog quantity input circuit comprises two analog quantity input circuits, a signal processing circuit and a signal processing circuit, wherein the two analog quantity input circuits are used for connecting a tail end tool and transmitting a 0-10V analog signal;

one IO-link interface is used for connecting end tool equipment of the IO-link;

and, the number of DIO's commonly used, two each, and a 24V power interface.

Further, as a preferred scheme, one of the analog input interfaces and the 485 signal are multiplexed into one interface, and specifically, which is configured by the master station.

Also, as a preferred solution, the DIO interface supports NPN and PNP, and specifically, which manner is adopted by the master station configuration.

Abundant interface design makes the integrated end instrument of customer more convenient, saves and walks the material and the cost of labor that the line produced along the arm outside, avoids the outside to walk unreliable and not pleasing to the eye that the line brought simultaneously.

Preferably, the exemplary terminal IO board is further integrated with one onboard acceleration sensor, the motion state Data of the terminal can be transmitted to the master station in real time for analysis, and the Data is uploaded to the master station through Ethercat communication pdo (process Data object).

Preferably, the exemplary end IO board is remotely controlled by the master station to update the program firmware via the Ethercat communication interface and the FOE protocol. Fig. 5 shows an exemplary method for updating firmware of an end IO board program, which specifically includes the following steps:

storing the program firmware into a USB storage device, such as a USB flash disk, and inserting the program firmware into a USB interface of the master station;

transmitting the program firmware from the main station to an IO board at the tail end of the mechanical arm through an Ethercat communication interface and an FOE protocol;

and remotely controlling by a master station to burn the program firmware into the flash of the IO board at the tail end of the mechanical arm.

The method avoids the complexity of disassembling the end flange and then disassembling the end IO board when the simulator is adopted to update the program firmware, and is simple and convenient to operate.

As preferred scheme, there is RGB three-colour LED lamp area on the LED board, and LED display circuit is integrated on the LED board, and the lamp area adopts annular overall arrangement, the luminous design of side, and the arm is in the light that different states can correspond different colours.

The foregoing is illustrative of the present invention and various modifications and changes in form or detail will readily occur to those skilled in the art based upon the teachings herein and the application of the principles and principles disclosed herein, which are to be regarded as illustrative rather than restrictive on the broad principles of the present invention.

Claims

1. An end of arm IO plate, comprising:

2. The end of arm IO plate of claim 1, wherein the end IO plate integrated interface comprises:

the IO-link interface is used for connecting end tool equipment of the IO-link;

the DIO interface is connected with a 24V power supply interface.

3. The end of arm IO board of claim 2, wherein one of the analog input interfaces and the 485 signal multiplex the same interface.

4. The end of arm IO board of claim 2, wherein the DIO interface is NPN and PNP input and output compatible.

5. The IO board at the tail end of a mechanical arm according to claim 2, wherein an acceleration sensor is integrated on the IO board at the tail end, and the motion state data of the tail end is transmitted to a main station for analysis in real time.

6. The end of arm IO board of claim 2, wherein the end IO board is remotely controlled by a master station via the Ethercat communication interface and FOE protocol to update program firmware.

7. The IO board at the tail end of the mechanical arm according to claim 2, wherein the LED board is integrated with an LED display circuit, and has RGB three-color LED strips, and the mechanical arm is in different states and can correspond to lights with different colors by adopting an annular layout and a side-lighting design.