CN207301680U - A kind of controller and robot - Google Patents
A kind of controller and robot Download PDFInfo
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- CN207301680U CN207301680U CN201721180031.5U CN201721180031U CN207301680U CN 207301680 U CN207301680 U CN 207301680U CN 201721180031 U CN201721180031 U CN 201721180031U CN 207301680 U CN207301680 U CN 207301680U
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Abstract
The utility model discloses a kind of controller, including power conversion module, the first application of logic circuit module and Ethernet interface, the first application of logic circuit module includes micro-control unit MCU chip and chips of Ethernet exchange, wherein：First signal end of chips of Ethernet exchange is connected with MCU chip, and secondary signal end is connected with Ethernet interface, and Ethernet interface is also connected with peripheral module；The output terminal of power conversion module is connected with the first application of logic circuit module and Ethernet interface respectively.It can be seen that, the application extends chips of Ethernet exchange in the MCU chip of controller, the controller is allowd to connect multiple peripheral modules, so as to fulfill the data communication between controller and multiple peripheral modules, not only save cost, it is not necessary to take the space of robot interior preciousness, and greatly facilitate cabling.The utility model additionally provides a kind of robot, has identical beneficial effect with controller noted above.
Description
Technical field
Automation field is the utility model is related to, more particularly to a kind of controller.The utility model further relates to one kind
Robot.
Background technology
In recent years, with the development of science and technology robot has obtained significant progress.Robot include controller and with control
The substantial amounts of peripheral module of device connection, these peripheral modules include camera, navigation laser, gyroscope, wireless router, infrared
Sensor etc..The numerous of peripheral module quantity to need substantial amounts of wiring to solve the communication of these peripheral modules and controller
Problem.In addition, with the popularization of ethernet technology, these peripheral modules mostly support Ethernet interface at present, by controller and
Peripheral module is connected on an interchanger, can be carried out communicating by interchanger between controller and peripheral module.
Fig. 1 is refer to, Fig. 1 is a kind of structure diagram of robot control system of the prior art.In the prior art
Using extra switch device by controller and multiple peripheral modules by Ethernet set associative, so as to fulfill controller and outside
If the communication between module.This mode not only increases cost, and space and the cabling for also taking up robot interior preciousness are wrong
Comprehensive complexity, cabling difficulty are bigger.
Therefore, how to provide a kind of scheme for solving above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Utility model content
The purpose of this utility model is to provide a kind of controller, can connect multiple peripheral modules；The utility model it is another
One purpose is to provide a kind of robot including controller noted above, its internal cabling is relatively simple.
In order to solve the above technical problems, the utility model provides a kind of controller, including power conversion module, first patrol
Circuit module and Ethernet interface are collected, first application of logic circuit module includes micro-control unit MCU chip and Ethernet switch
Chip, wherein：
First signal end of the chips of Ethernet exchange is connected with the MCU chip, secondary signal end with it is described with
Too network interface connection, the Ethernet interface are also connected with peripheral module；
The input terminal of the power conversion module is connected with the DC power supply outside the controller, the power supply modulus of conversion
The output terminal of block is connected with first application of logic circuit module and the Ethernet interface respectively.
Preferably, first application of logic circuit module further includes：
Input terminal is connected with the secondary signal end of the chips of Ethernet exchange, output terminal and the Ethernet interface one by one
The network transformer of corresponding connection.
Preferably, the power conversion module includes non-isolation type DC/DC converters and the first isolated form DC/DC is converted
Device, wherein：
Input terminal of the input terminal of the non-isolation type DC/DC converters as the power conversion module, output terminal are made
For the power conversion module the first output terminal respectively with the input terminals of the first isolated form DC/DC converters and it is described with
Too network interface connection, for supporting Width funtion to input；
Second output terminal and institute of the output terminal of the first isolated form DC/DC converters as the power conversion module
State the connection of the first application of logic circuit module.
Preferably, the power conversion module further includes：
Input terminal is connected with the output terminal of the DC power supply, output terminal is defeated with the non-isolation type DC/DC converters
Enter the filter circuit module of end connection.
Preferably, the filter circuit module includes the first capacitance, the second capacitance and common mode inductance, wherein：
The first end of the common mode inductance and first capacitance connection, its common port is as the filter circuit module
Input terminal, the second end of the common mode inductance and second capacitance connection, its common port is as the filter circuit module
Output terminal.
Preferably, the Ethernet interface is Power over Ethernet PoE ports.
Preferably, 1,2,3, No. 6 line of the PoE ports is data cable, and 4,5,7, No. 8 lines are power cord.
In order to solve the above technical problems, the utility model additionally provides a kind of robot, including connect with the Ethernet interface
The peripheral module connect, further includes the controller described in any of the above-described kind.
Preferably, when the Ethernet interface is Power over Ethernet PoE ports, and the Power over Ethernet PoE ports include
When power cord is with data cable, the peripheral module includes the second isolated form DC/DC converters and the second application of logic circuit module, its
In：
The input terminal of the second isolated form DC/DC converters is connected with the power cord, and output terminal is patrolled with described second
Collect circuit module connection；
The signal end of second application of logic circuit module is connected with the data cable.
The utility model provides a kind of controller, including power conversion module, the first application of logic circuit module and Ethernet
Mouthful, the first application of logic circuit module includes micro-control unit MCU chip and chips of Ethernet exchange, wherein：Ethernet switch
First signal end of chip is connected with MCU chip, and secondary signal end is connected with Ethernet interface, and Ethernet interface also connects with peripheral module
Connect；The output terminal of power conversion module is connected with the first application of logic circuit module and Ethernet interface respectively.
As it can be seen that the application is integrated with chips of Ethernet exchange in the MCU chip of controller, due to Ethernet switch
The secondary signal end of chip can connect multiple Ethernet interfaces so that the controller can connect multiple peripheral modules, so that real
Existing data communication between controller and multiple peripheral modules, not only saves cost, it is not necessary to take robot interior treasured
Expensive space, and greatly facilitate cabling.
The utility model additionally provides a kind of robot, has identical beneficial effect with controller noted above.
Brief description of the drawings
, below will be to the prior art and embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Needed in attached drawing be briefly described, it should be apparent that, drawings in the following description are only the utility model
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is a kind of structure diagram of robot control system of the prior art；
Fig. 2 is a kind of structure diagram of controller provided by the utility model；
Fig. 3 is the structure diagram of another controller provided by the utility model.
Embodiment
The core of the utility model is to provide a kind of controller, can connect multiple peripheral modules；The utility model it is another
One core is to provide a kind of robot including controller noted above, its internal cabling is relatively simple.
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained without making creative work, belongs to
The scope of the utility model protection.
Fig. 2 is refer to, Fig. 2 is a kind of structure diagram of controller provided by the utility model.
The controller includes power conversion module 1, the first application of logic circuit module 2 and Ethernet interface 3, the first logic circuit mould
Block 2 includes micro-control unit MCU chip 21 and chips of Ethernet exchange 22, wherein：
First signal end of chips of Ethernet exchange 22 is connected with MCU chip 21, and secondary signal end connects with Ethernet interface 3
Connect, Ethernet interface 3 is also connected with peripheral module；
Specifically, it is contemplated that controller usually connects multiple peripheral modules in practical application, to realize controller and these
Communication between peripheral module, micro-control unit MCU (Microcontroller Unit, microcontroller of the application in controller
Unit) chips of Ethernet exchange 22 is extended on chip.First signal end of chips of Ethernet exchange 22 and MCU chip 21
Connection, secondary signal end are connected with Ethernet interface 3, and Ethernet interface 3 is also connected with peripheral module, due to secondary signal end here
Can be multiple, therefore, controller can connect multiple peripheral modules, so as to fulfill the communication between multiple peripheral modules.
Specifically, chips of Ethernet exchange 22 herein can be KSZ8895 100 m ethernet exchanger chips.Consider
It is the exchanger chip of 5 ports to KSZ8895 chips, therefore can be using wherein 1 port as the first signal end, another 4 ends
Mouth is used as secondary signal end.
Certainly, the chips of Ethernet exchange 22 of the application can also be the chip of other models, and the utility model is herein
It is not particularly limited, is determined according to actual conditions.
DC power supply connection outside the input terminal and controller of power conversion module 1, the output terminal of power conversion module 1
It is connected respectively with the first application of logic circuit module 2 and Ethernet interface 3.
Specifically, it is contemplated that the DC power supply outside controller can not directly be the first application of logic circuit module 2 and ether
Network interface 3 is powered, and therefore, the application is also provided with being used to be converted into DC power supply to meet the first application of logic circuit module 2 and ether
The power conversion module 1 of the voltage of the requirement of network interface 3, specifically, DC power supply is by power conversion module 1 and Ethernet interface 3
Peripheral module is powered, and DC power supply is directly powered by power conversion module 1 for the first application of logic circuit module 2.
The utility model provides a kind of controller, including power conversion module 1, the first application of logic circuit module 2 and ether
Network interface 3, the first application of logic circuit module 2 include micro-control unit MCU chip 21 and chips of Ethernet exchange 22, wherein：Ether
First signal end of network switch chip 22 is connected with MCU chip 21, and secondary signal end is connected with Ethernet interface 3, Ethernet interface 3
Also it is connected with peripheral module；The output terminal of power conversion module 1 is connected with the first application of logic circuit module 2 and Ethernet interface 3 respectively.
As it can be seen that the application is integrated with chips of Ethernet exchange 22 in the MCU chip 21 of controller, since Ethernet is handed over
The change planes secondary signal end of chip 22 can connect multiple Ethernet interfaces 3 so that and the controller can connect multiple peripheral modules,
So as to fulfill the data communication between controller and multiple peripheral modules, cost is not only saved, it is not necessary to take robot
Internal valuable space, and greatly facilitate cabling.
On the basis of above-described embodiment：
As a kind of preferred embodiment, the first application of logic circuit module 2 further includes：
Input terminal is connected with the secondary signal end of chips of Ethernet exchange 22, output terminal and Ethernet interface 3 correspond
The network transformer of connection.
Specifically, chips of Ethernet exchange 22 may be subject to exterior or Ethernet interface 3 in practical work process
Interference, influence the laser propagation effect of signal.Net is provided with the application between chips of Ethernet exchange 22 and Ethernet interface 3
Network transformer, can strengthen the antijamming capability of chip so that the transmission range of signal is farther.
Fig. 3 is refer to, Fig. 3 is the structure diagram of another controller provided by the utility model.
As a kind of preferred embodiment, power conversion module 1 is isolated including non-isolation type DC/DC converters 11 and first
Type DC/DC converters 12, wherein：
Input terminal of the input terminal of non-isolation type DC/DC converters 11 as power conversion module 1, output terminal is as power supply
First output terminal of modular converter 1 is connected with the input terminal and Ethernet interface 3 of the first isolated form DC/DC converters 12 respectively, is used
Inputted in supporting Width funtion；
The output terminal of first isolated form DC/DC converters 12 is patrolled as the second output terminal of power conversion module 1 with first
Circuit module 2 is collected to connect.
Specifically, it is generally the case that the output voltage of robot interior DC power supply is too high, it is impossible to directly to peripheral module
Power supply；And DC power supply can generally power directly to the motor device in robot, there are larger interference, it is therefore desirable to every
From peripheral module power supply is given after, voltage stabilizing again.Since the output voltage range of DC power supply is very wide, (different model robot uses
DC power supply specification is different, and supply voltage generally has the plurality of specifications such as 24V, 36V, 48V, 60V, 80V), cause the DC/ of isolated form
The design difficulty of DC circuits is bigger, and cost is higher.Power conversion module 1 uses secondary power supply circuit design in the application,
The first order is responsible for the Width funtion power supply for exporting DC power supply to support the non-isolation type DC/DC converters 11 of Width funtion input
Voltage stabilizing is larger to 24V, output power；The second level is the first isolated form DC/DC converters 12, is responsible for the isolation of power supply.It is such
Secondary power supply circuit design avoids directly design one and supports the larger isolated power supply of wide pressure input, power, not only reduces
The development difficulty of isolated power supply, also reduces cost.
Certainly, the power conversion module in the application can also be other structures, and the utility model is not done particularly herein
Limit, determined according to actual conditions.
As a kind of preferred embodiment, power conversion module 1 further includes：
The input terminal of the connection of the output terminal of input terminal and DC power supply, output terminal and non-isolation type DC/DC converters 11 connects
The filter circuit module connect.
Specifically, it is contemplated that DC power supply can generally power directly to the motor device in robot in practical application, electricity
Larger interference can be caused during machine equipment start-stop, be not enough to isolate these interference only by isolated form DC/DC converters.This Shen
Filter circuit module please can also be set in power conversion module 1, so as to preferably suppress the interference in supply line.
As a kind of preferred embodiment, filter circuit module includes the first capacitance, the second capacitance and common mode inductance, its
In：
The first end of common mode inductance and the first capacitance connection, input terminal of its common port as filter circuit module, common mode
The second end of inductance and the second capacitance connection, output terminal of its common port as filter circuit module.
Specifically, the mainly interference caused by the motor device start-stop including robot of the interference in supply line, the interference
For common mode interference, based on this, filter circuit module can include common mode inductance in the application, and two coils of common mode inductance are wound on
On same iron core, the number of turn and phase are all identical, in the same direction due to common-mode interference current when there is common-mode interference current flowing through coil
Property, stronger damping can be produced, with this attenuation common-mode interference electric current, so as to achieve the purpose that filtering.
Specifically, common mode inductance uses common mode inductance of the iron core for magnet ring in the application, and the common mode inductance of the type is big
Saturation is not easy under electric current, adaptability is good, and the number of turn used is few, flexible structure, and efficiency is higher.
Certainly, the common mode inductance of the filter circuit module of the application can also be other types, and the utility model is herein not
It is particularly limited, is determined according to actual conditions.
As a kind of preferred embodiment, Ethernet interface 3 is Power over Ethernet PoE ports.
Specifically, current robot needs, to each peripheral module connection communication line and power cord, to cause circuit to design
Complexity, robot interior electrical traces are intensive, and cost is higher.Ethernet interface 3 is Power over Ethernet PoE (Power in the application
Over Ethernet, active Ethernet) port, is directly powered using ethernet communication line to peripheral module so that power cord,
Order wire is unified, and greatly simplify the complexity of robot interior cabling.
As a kind of preferred embodiment, 1,2,3, No. 6 line of PoE ports is data cable, and 4,5,7, No. 8 lines are power supply
Line.
Specifically, in practical application, the 100 m ethernet of standard uses 8 core cables, wherein 1,2,3, No. 6 line passes for data
Defeated line, 4,5,7, No. 8 lines are not used.Based on this, PoE ports use RJ45 mouthfuls of standard in the application, wherein, 1,2,3, No. 6 line
By specification as order wire, for data transfer, 4,5,7, No. 8 lines are powered as power cord for peripheral module.As it can be seen that in cable
Include order wire and power cord, that is, the mode for employing PoE is communicated and powered to peripheral module, is greatly facilitated and is electrically walked
Line.
Certainly, the Ethernet interface 3 in the application can also be the port of other models, and the utility model is not spy herein
Other restriction, determines according to actual conditions.
The utility model also provides a kind of robot, including the peripheral module being connected with Ethernet interface 3, further includes above-mentioned
A kind of controller.
Specifically, the introduction for robot provided by the utility model refer to controller noted above embodiment, this practicality
It is new that details are not described herein.
Chips of Ethernet exchange 22 is integrated with the MCU chip 21 of the controller of robot, due to Ethernet switch
The secondary signal end of chip 22 can connect multiple Ethernet interfaces 3 so that and the controller can connect multiple peripheral modules, so that
Realize the data communication between controller and multiple peripheral modules, the great convenience cabling of robot interior.
On the basis of above-described embodiment：
As a kind of preferred embodiment, when Ethernet interface 3 is Power over Ethernet PoE ports, and Power over Ethernet PoE ends
When mouth includes power cord with data cable, peripheral module includes the second isolated form DC/DC converters and the second application of logic circuit module, its
In：
The input terminal of second isolated form DC/DC converters is connected with power cord, and output terminal and the second application of logic circuit module connect
Connect；
The signal end of second application of logic circuit module is connected with data cable.
Specifically, it is contemplated that the power supply of peripheral module for non-isolation type DC/DC converters 11 handle after 24V it is non-every
From power supply, in order to isolate to power supply, and the second power logic circuitry of itself is given again by isolated supplies circuit,
The application is provided with a second isolated form DC/DC converter in each peripheral module.Since the second isolated form DC/DC is converted
Device is dispersed on each peripheral module, and the power of single inverter is smaller, therefore reduces cost and development difficulty.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For machine disclosed in embodiment
For people, due to its with embodiment disclosed in controller it is corresponding, so description is fairly simple, related part is referring to method portion
Defend oneself bright.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (9)
1. a kind of controller, it is characterised in that described including power conversion module, the first application of logic circuit module and Ethernet interface
First application of logic circuit module includes micro-control unit MCU chip and chips of Ethernet exchange, wherein：
First signal end of the chips of Ethernet exchange is connected with the MCU chip, secondary signal end and the Ethernet
Mouth connection, the Ethernet interface are also connected with peripheral module；
The input terminal of the power conversion module is connected with the DC power supply outside the controller, the power conversion module
Output terminal is connected with first application of logic circuit module and the Ethernet interface respectively.
2. controller as claimed in claim 1, it is characterised in that first application of logic circuit module further includes：
Input terminal is connected with the secondary signal end of the chips of Ethernet exchange, output terminal is corresponded with the Ethernet interface
The network transformer of connection.
3. controller as claimed in claim 1, it is characterised in that the power conversion module becomes including non-isolation type DC/DC
Parallel operation and the first isolated form DC/DC converters, wherein：
Input terminal of the input terminal of the non-isolation type DC/DC converters as the power conversion module, output terminal is as institute
State the first output terminal of the power conversion module input terminal with the first isolated form DC/DC converters and the Ethernet respectively
Mouth connection, for supporting Width funtion to input；
Second output terminal and described the of the output terminal of the first isolated form DC/DC converters as the power conversion module
One application of logic circuit module connects.
4. controller as claimed in claim 3, it is characterised in that the power conversion module further includes：
Input terminal is connected with the output terminal of the DC power supply, the input terminal of output terminal and the non-isolation type DC/DC converters
The filter circuit module of connection.
5. controller as claimed in claim 4, it is characterised in that the filter circuit module includes the first capacitance, the second electricity
Appearance and common mode inductance, wherein：
The first end of the common mode inductance and first capacitance connection, input of its common port as the filter circuit module
End, the second end of the common mode inductance and second capacitance connection, output of its common port as the filter circuit module
End.
6. such as claim 1-5 any one of them controllers, it is characterised in that the Ethernet interface is Power over Ethernet PoE
Port.
7. controller as claimed in claim 6, it is characterised in that 1,2,3, No. 6 line of the PoE ports is data cable, 4,
5th, 7, No. 8 lines are power cord.
8. a kind of robot, it is characterised in that including the peripheral module being connected with the Ethernet interface, further include such as claim
1-7 any one of them controllers.
9. robot as claimed in claim 8, it is characterised in that when the Ethernet interface is Power over Ethernet PoE ports, and
When the Power over Ethernet PoE ports include power cord with data cable, the peripheral module is converted including the second isolated form DC/DC
Device and the second application of logic circuit module, wherein：
The input terminal of the second isolated form DC/DC converters is connected with the power cord, output terminal and second logic electricity
Road module connection；
The signal end of second application of logic circuit module is connected with the data cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180031.5U CN207301680U (en) | 2017-09-14 | 2017-09-14 | A kind of controller and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180031.5U CN207301680U (en) | 2017-09-14 | 2017-09-14 | A kind of controller and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207301680U true CN207301680U (en) | 2018-05-01 |
Family
ID=62441550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721180031.5U Active CN207301680U (en) | 2017-09-14 | 2017-09-14 | A kind of controller and robot |
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| Country | Link |
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| CN (1) | CN207301680U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450378A (en) * | 2017-09-14 | 2017-12-08 | 浙江国自机器人技术有限公司 | A kind of controller and robot |
| CN111928895A (en) * | 2020-08-04 | 2020-11-13 | 深圳市信锐网科技术有限公司 | Data acquisition system and data acquisition method |
| CN114499814A (en) * | 2022-01-21 | 2022-05-13 | 美的集团(上海)有限公司 | Robot communication circuit, communication method, and robot |
-
2017
- 2017-09-14 CN CN201721180031.5U patent/CN207301680U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450378A (en) * | 2017-09-14 | 2017-12-08 | 浙江国自机器人技术有限公司 | A kind of controller and robot |
| CN111928895A (en) * | 2020-08-04 | 2020-11-13 | 深圳市信锐网科技术有限公司 | Data acquisition system and data acquisition method |
| CN111928895B (en) * | 2020-08-04 | 2022-06-17 | 深圳市信锐网科技术有限公司 | Data acquisition system and data acquisition method |
| CN114499814A (en) * | 2022-01-21 | 2022-05-13 | 美的集团(上海)有限公司 | Robot communication circuit, communication method, and robot |
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