CN210061157U

CN210061157U - Industrial robot control device

Info

Publication number: CN210061157U
Application number: CN201920067457.2U
Authority: CN
Inventors: 彭芳; 于楚泓; 邓文彬; 何育铭; 文皇
Original assignee: University of Electronic Science and Technology of China Zhongshan Institute
Current assignee: University of Electronic Science and Technology of China Zhongshan Institute
Priority date: 2019-01-16
Filing date: 2019-01-16
Publication date: 2020-02-14
Anticipated expiration: 2029-01-16

Abstract

An embodiment of the utility model provides an industrial robot control device, include: a human-computer interaction module; the ARM module is connected with the human-computer interaction module to realize human-computer interaction control and is used for data operation to generate corresponding control parameters; the FPGA module is connected with the ARM module and used for receiving the control parameters output by the ARM module, converting the control parameters into pulse signals, transmitting the pulse signals to a servo driver of the industrial robot, receiving orthogonal coding signals fed back by the servo driver and transmitting the orthogonal coding signals to the ARM module; the interface circuit module is used for realizing bidirectional communication connection between the ARM module and the man-machine interaction module and between the FPGA module and the servo driver respectively; and a power module. The embodiment of the utility model provides an utilize the FPGA module to gather the angle value of each axle of industrial robot, can in time make the response to servo driver's feedback signal, carry out closed loop motion control to industrial robot, realize accurate control industrial robot's orbit motion, guaranteed the precision of industrial robot control.

Description

Industrial robot control device

Technical Field

The embodiment of the utility model provides a relate to industrial automation control technical field, especially relate to an industrial robot controlling means.

Background

Along with the continuous and rapid rising of the labor cost, the industrial automation level is greatly improved, and the industrial robot is widely applied. The control system of industrial robot that uses multiaxis arm to represent on the market is usually realized with single control chip, and its compatibility is relatively poor, and the system is closed relatively moreover, and control signal poor stability can't adapt to most industrial robot products.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a technical problem who solves lies in, provides an industrial robot control device, can effectively improve control signal stability and maneuverability.

In order to solve the technical problem, the embodiment of the utility model provides an adopt following technical scheme: an industrial robot control device comprising:

the human-computer interaction module is used for performing human-computer interaction control operation;

the ARM module is connected with the human-computer interaction module to realize human-computer interaction control and is used for data operation to generate corresponding control parameters, and the control parameters comprise a PWM sequence, a direction signal and a position completion signal;

the FPGA module is connected with the ARM module and used for receiving control parameters output by the ARM module, converting the control parameters into pulse signals, transmitting the pulse signals to a servo driver of the industrial robot and used for driving a servo motor, receiving orthogonal coding signals fed back by the servo driver and transmitting the orthogonal coding signals to the ARM module;

the interface circuit module is used for realizing bidirectional communication connection between the ARM module and the man-machine interaction module and between the FPGA module and the servo driver respectively; and

and the power supply module is used for supplying power to each module.

Further, the FPGA module includes an FPGA chip having a plurality of interfaces, and the FPGA chip has built-in:

the key control unit is externally connected with a key and generates a control signal for driving the servo motor to rotate forwards or backwards according to the pressing operation of the key;

an orthogonal coding unit interfaced with the interface circuit module for receiving an orthogonal coded signal fed back by the servo driver via the interface circuit module;

the FSMC unit is used for establishing bidirectional communication connection with an FSMC interface correspondingly arranged on the ARM module so as to receive control parameters sent by the ARM module and forward the orthogonal coding signals to the ARM module; and

and the PWM output unit is butted with the interface circuit module and is used for generating a single-ended pulse signal according to the control parameter provided by the ARM module and the control signal generated by the key control unit and sending the single-ended pulse signal to the servo driver through the interface circuit module.

Furthermore, the FPGA chip is further provided with an SRAM storage unit and a first Flash storage unit therein, and the FPGA module further includes:

and the first JTAG simulation downloading circuit is connected to the FPGA chip and is used for downloading and storing debugging codes to the SRAM storage unit, monitoring the internal data change of the FPGA chip and solidifying and storing programs to the first Flash storage unit when debugging is finished.

Further, the ARM module includes:

the ARM chip is provided with a plurality of interfaces and is connected with the human-computer interaction module and the FPGA module, and a second Flash storage unit and an FSMC interface which is correspondingly connected with the FSMC communication unit of the FPGA module are arranged in the ARM chip;

the reset circuit is connected to the ARM chip and used for providing a reset signal for the ARM chip;

the clock circuit is connected to the ARM chip and used for providing a working clock signal for the ARM chip;

the RTC clock circuit is connected to the ARM chip and is used for providing a real-time clock signal for the ARM chip; and

and the second JTAG simulation downloading circuit is connected to the ARM chip and is used for downloading the debugging codes into a second Flash storage unit of the ARM chip and monitoring the internal data change of the ARM chip.

Further, the ARM chip is also internally provided with:

the real-time multi-task control unit is used for carrying out data operation according to the result of the human-computer interaction control and the feedback parameters; and

and the track planning and control unit is used for planning and controlling the action track of the industrial robot according to the operation result of the real-time multitask control unit.

Further, the interface circuit module includes:

the single-ended-to-differential output circuit is arranged between the PWM output unit and the servo driver and is used for converting the single-ended pulse signal output by the PWM output unit into a differential signal and then transmitting the differential signal to the servo driver;

the motor driving circuit is used for controlling the on-off of a power supply circuit of the servo motor;

an enabling circuit connected with the servo driver and used for providing an enabling signal to the servo driver so as to enable the servo driver to feed back the rotation amount serial data; and

and the differential-to-single-ended input circuit is arranged between the orthogonal coding unit and the servo driver and is used for converting a feedback signal sent by the servo driver from a differential signal into a single-ended pulse signal and then outputting the single-ended pulse signal to the orthogonal coding unit.

Further, the interface circuit module further includes:

and the isolation circuit is arranged between the differential-to-single-ended input circuit and the servo driver to isolate electromagnetic interference.

Further, the interface circuit module further includes:

the RS485 communication circuit is used for realizing the bidirectional communication connection between the ARM chip and the man-machine interaction module;

the RS485 to RS232 circuit is used for converting a coding signal fed back by the servo driver into an RS232 signal and sending the RS232 signal to the FPGA chip, and the RS485 to RS232 circuit comprises a transient blocking unit and a bidirectional transient suppression diode; and

the RS232 communication circuit is used for converting the serial port level signal output by the ARM chip into an RS232 signal and transmitting the RS232 signal to external computing equipment;

the FPGA chip is also internally provided with a first RS232 interface unit which is respectively connected with the RS 485-to-RS 232 circuit and the FSMC communication unit; and an RS485 interface which is respectively butted with the RS485 communication circuit and a second RS232 interface which is butted with the RS232 communication circuit are also arranged in the ARM chip.

Furthermore, the RS 485-to-RS 232 circuit is provided with an RS232 end and an RS485 end, and the grounding end of the RS232 end is isolated from the grounding end of the RS485 end.

Further, the power supply module includes:

the voltage stabilizing circuit is used for connecting an external power supply to obtain an external input voltage, and outputting the external input voltage after the external input voltage is adjusted to a preset first working voltage;

the voltage conversion circuit is used for further converting the first working voltage output by the voltage stabilizing circuit into a preset second working voltage; and

and the DC-DC isolation circuit is connected between the voltage stabilizing circuit and the isolation circuit and is used for isolating the power supply supplied to the isolation circuit.

Adopt above-mentioned technical scheme, the embodiment of the utility model provides a following beneficial effect has at least: the embodiment of the utility model provides a through integrated human-computer interaction module, ARM module, FPGA module, interface module and power module, industrial robot's closed-loop control can be accomplished to the high efficiency. Moreover, the whole device has very high real-time performance, the FPGA module is utilized to collect the angle values of all the shafts of the industrial robot, the feedback signal of the servo driver can be responded in time, closed-loop motion control is carried out on the industrial robot, the track motion of the industrial robot is accurately controlled, and the control precision of the industrial robot is guaranteed.

The embodiment of the utility model provides a still through adopting the modularization design thought, be favorable to keeping the flexibility that the system is constituteed, under the prerequisite that satisfies intermodule data and signal transmission's requirement, the user can expand new module and function according to the demand of oneself, adaptable most industrial robot on the market to have very strong scalability and maneuverability. Moreover, different modules can be developed simultaneously, the research and development period is shortened, the development cost is reduced, and the method is more economical and practical.

Drawings

Fig. 1 is a system block diagram of an alternative embodiment of an industrial robot control device of the present invention.

Fig. 2 is a schematic block diagram of an FPGA module according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 3 is a schematic circuit diagram of a first JTAG emulation download circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 4 is a schematic block diagram of an ARM module according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 5 is a schematic circuit diagram of a second JTAG emulation download circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 6 is a block diagram of an interface circuit module according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 7 is a schematic circuit diagram of a single-ended to differential output circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 8 is a schematic circuit diagram of a motor driving circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 9 is a schematic circuit diagram of an enable circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 10 is a schematic circuit diagram of a differential-to-single-ended input circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 11 is a schematic circuit diagram of an isolation circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 12 is a schematic diagram of a circuit structure of the interface circuit module of an optional embodiment of the industrial robot control device of the present invention, connected to the corresponding ARM chip, FPGA chip, human-computer interaction module, and external computing device.

Fig. 13 is a schematic circuit diagram of an RS485 communication circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 14 is a schematic circuit diagram of an RS232 communication circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 15 is a schematic block diagram of a power module of an alternative embodiment of the industrial robot control device of the present invention.

Fig. 16 is a schematic circuit diagram of a voltage stabilizing circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 17 is a schematic circuit diagram of a voltage conversion circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Fig. 18 is a schematic circuit diagram of a DC-DC isolation circuit according to an alternative embodiment of the industrial robot controller of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the following illustrative embodiments and description are only intended to illustrate the present invention, and are not intended as a limitation of the present invention, and that features of the embodiments and examples may be combined with each other without conflict.

As shown in fig. 1, an alternative embodiment of the present invention provides an industrial robot control device, including:

the human-computer interaction module 1 is used for performing human-computer interaction control operation;

the ARM module 2 is connected with the human-computer interaction module 1 to realize human-computer interaction control and is used for data operation to generate corresponding control parameters, and the control parameters comprise PWM sequences, direction signals and position completion signals;

the FPGA module 3 is connected with the ARM module 2 and used for receiving the control parameters output by the ARM module 2, converting the control parameters into pulse signals, transmitting the pulse signals to a servo driver 7 of the industrial robot 6, receiving orthogonal coding signals fed back by the servo driver 7 and transmitting the orthogonal coding signals to the ARM module 2;

the interface circuit module 4 is used for realizing bidirectional communication connection between the ARM module 2 and the human-computer interaction module 1 and between the FPGA module 3 and the servo driver 7 respectively; and

and the power supply module 5 is used for supplying power to each module.

The embodiment of the utility model provides a through integrated human-computer interaction module 1, ARM module 2, FPGA module 3, interface module 4 and power module 5, industrial robot's closed-loop control can be accomplished to the high efficiency. Moreover, the device is high in real-time performance, the FPGA module 3 is used for collecting the angle values of all axes of the industrial robot 6, the feedback signals of the servo driver 7 can be responded in time, closed-loop motion control is carried out on the industrial robot 6, the track motion of the industrial robot 6 is accurately controlled, and the control precision of the industrial robot 6 is guaranteed. The embodiment of the utility model provides a still through adopting the modularization design thought, be favorable to keeping the flexibility that the system is constituteed, under the prerequisite that satisfies intermodule data and signal transmission's requirement, the user can expand new module and function according to the demand of oneself, adaptable most industrial robot on the market to have very strong scalability and maneuverability. Moreover, different modules can be developed simultaneously, the research and development period is shortened, the development cost is reduced, and the method is more economical and practical.

In an optional embodiment of the present invention, as shown in fig. 2, the FPGA module 3 includes an FPGA chip 30 having a plurality of interfaces, and the FPGA chip 30 is embedded with:

the key control unit 308 is externally connected with a key and generates a control signal for driving the servo motor to rotate forwards or backwards according to the pressing operation of the key;

an orthogonal encoding unit 304 interfaced with the interface circuit module 4 for receiving an orthogonal encoded signal fed back by the servo driver 7 via the interface circuit module 4;

the FSMC communication unit 300 is configured to establish a bidirectional communication connection with the FSMC interface 206 (see fig. 4) correspondingly disposed on the ARM module 2 to receive the control parameter sent by the ARM module 2 and forward the orthogonal code signal to the ARM module 2; and

and the PWM output unit 302 is in butt joint with the interface circuit module 4, and is configured to generate a single-ended pulse signal according to the control parameter provided by the ARM module 2 and the control signal generated by the key control unit 308, and send the single-ended pulse signal to the servo driver 7 through the interface circuit module 4.

The FPGA module 3 provided by the embodiment has the main tasks of controlling the rotation of the servo motor of the industrial robot 6 through the servo driver 7 of the servo motor and receiving the orthogonal coding signal sent by the servo driver 7. The FPGA module 3 receives parallel data including PWM sequence, direction signal and position completion signal from the ARM module 2 through the FSMC communication unit 300, and in response, drives the industrial robot 6 to move through the PWM output unit 302. Meanwhile, the orthogonal coding unit 304 is used for receiving the orthogonal coding signal sent by the servo driver 7 and sending the signal data to the ARM module 2 for angle operation, so that the driving control and the signal feedback can be realized more quickly and accurately. In specific implementation, the FPGA chip 30 may adopt a Cyclone IV series EP4CE30F23C8 type FPGA chip.

In an optional embodiment of the present invention, as shown in fig. 2, the FPGA chip 3 further has an SRAM storage unit 307 and a first Flash storage unit 309 built therein, and the FPGA module 3 further includes:

a first JTAG emulation download circuit 32, connected to the FPGA chip 30, for downloading and storing debugging codes to the SRAM storage unit 307, monitoring internal data changes of the FPGA chip 30, and solidifying and storing programs to the first Flash storage unit 309 when debugging is completed, in a specific embodiment, a circuit structure diagram of the first JTAG emulation download circuit 32 may be as shown in fig. 3.

In an optional embodiment of the present invention, as shown in fig. 4, the ARM module 2 includes:

the ARM chip 20 is provided with a plurality of interfaces and is connected with the human-computer interaction module 1 and the FPGA module 3, and a second Flash storage unit 200 and an FSMC interface 202 used for being correspondingly connected with an FSMC communication unit 300 of the FPGA module are arranged in the ARM chip 20;

a reset circuit 22 connected to the ARM chip 20 for providing a reset signal to the ARM chip 20;

a first clock circuit 24 connected to the ARM chip 20 for providing a working clock signal for the ARM chip 20;

an RTC clock circuit 26 connected to the ARM chip 20 for providing a real-time clock signal to the ARM chip 20; and

a second JTAG emulation download circuit 28, connected to the ARM chip 20, for downloading the debugging code into the second Flash memory unit 200 of the ARM chip 20 and monitoring the internal data change of the ARM chip 20, in a specific embodiment, the circuit structure diagram of the second JTAG emulation download circuit 28 can be as shown in fig. 5.

ARM module 2 does the utility model provides an among the industrial robot controlling means play the control effect the module, mainly be responsible for control system initialization, task scheduling, the positive and negative kinematics algorithm operation of robot, orbit generation algorithm operation, quadrature code signal processing and PD algorithm operation, control module communication and human-computer interaction module's communication etc.. In one embodiment, the ARM chip 20 is adopted to build a stable core circuit for the core, so that data calculation can be more effectively carried out. In one embodiment, an ARM chip 20 of the type STM32F407Z6T6 may be used.

In an optional embodiment of the present invention, as shown in fig. 4, the ARM chip 20 further has built-in:

the real-time multitask control unit 204 is used for performing data operation according to a result of the human-computer interaction control and the feedback parameters; and

and the track planning and control unit 206 is used for planning and controlling the action track of the industrial robot 6 according to the operation result of the real-time multitask control unit.

To achieve precise control of the movement position of the servo motor of the industrial robot 6, the main input signals of the servo driver 7 are: PULS pulse drive signal, SIGN direction signal, SEN absolute value encoder enable signal, servo motor ON signal. To acquire the current position of the servo motor, an output signal of the servo needs to be acquired. The main output signals of the servo driver 7 are: the encoder A, B, C phase signals, rotates the amount of serial data. Thus, as shown in fig. 6, in an optional embodiment of the present invention, the interface circuit module 4 includes:

the single-ended-to-differential output circuit 40 is arranged between the PWM output unit 302 and the servo driver 7, and is configured to convert the single-ended pulse signal output by the PWM output unit 302 into a differential signal and transmit the differential signal to the servo driver 7;

the motor driving circuit 42 is used for controlling the on-off of the power supply circuit of the servo motor 6;

an enable circuit 44 connected to the servo driver 7 for providing an enable signal to the servo driver 7 to make the servo driver 7 feed back the rotation amount serial data; and

and the differential-to-single-ended input circuit 46 is arranged between the orthogonal coding unit 304 and the servo driver 7, and is configured to convert a feedback signal sent by the servo driver 7 from a differential signal to a single-ended pulse signal and output the single-ended pulse signal to the orthogonal coding unit 304.

Since the servo system uses differential signals to transmit driving signals, the single-ended pulse signals generated by the FPGA module 3 need to be converted into differential signals, and the interface circuit module 4 is correspondingly provided with a single-ended to differential output circuit 40 to convert the single-ended pulse signals into differential signals.

When the servo driver 7 is used for control, a 24V power supply is required to be provided externally to drive the servo motor and enable the band-type brake. The control of the on and off of the 24V voltage is realized by providing the motor driving circuit 42, so that the real-time control of the servo motor can be realized. In a circuit for controlling large voltage by small voltage, a relay is generally adopted for control, and the large voltage is controlled by the small voltage by controlling the on and off of a normally open contact of the relay. In one embodiment, the circuit structure of the motor driving circuit 42 can be as shown in fig. 8.

The servo driver 7 needs to receive the enable signal to feed back the rotation amount serial data, and the level signal output by the ARM module 3 cannot enable the servo driver 7, and an enable circuit 44 needs to be added to the interface circuit module 4 to meet the level requirement of the servo driver 7, in one embodiment, the circuit structure diagram of the enable circuit 44 may be as shown in fig. 9.

In the moving process of the industrial robot, the servo driver 7 feeds back an orthogonal coding signal, and the fed back signal is a differential signal and can be received by the FPGA module after being converted into a single-ended pulse signal. Therefore, it is necessary to add a differential-to-single-ended input circuit into the interface circuit module, and in a specific embodiment, the differential-to-single-ended input circuit 46 is formed by using a chip with a model number of AM26LS32 as a core and matching with necessary peripheral circuits, and a specific circuit structure diagram thereof can be shown in fig. 10.

In an optional embodiment of the present invention, as shown in fig. 6, the interface circuit module 4 further includes:

and an isolation circuit 45 disposed between the differential-to-single-ended input circuit 46 and the servo driver 7 for isolating electromagnetic interference.

Since the industrial robot has strong electromagnetic interference in the moving process, an isolation circuit 45 is added in the interface circuit module 4 to ensure the stability of signals. In a specific embodiment, an isolation circuit 45 consisting of a HCPL2631 high-speed optocoupler can be added, and a circuit structure diagram of the isolation circuit 45 can be shown in fig. 11.

In an optional embodiment of the present invention, as shown in fig. 12, the interface circuit module 4 further includes:

the RS485 communication circuit 47 is used for realizing the bidirectional communication connection between the ARM chip 20 and the man-machine interaction module 1;

the RS485 to RS232 circuit 48 is configured to convert a coded signal received by the RS485 communication circuit into an RS232 signal and send the RS232 signal to the FPGA chip 30, and the RS485 to RS232 circuit 48 further includes a transient blocking unit and a bidirectional transient suppression diode; and

the RS232 communication circuit 49 is used for converting the serial port level signal output by the ARM chip 20 into an RS232 signal and transmitting the RS232 signal to the external computing device 8;

the FPGA chip 30 is further internally provided with a first RS232 interface unit 306 respectively connected with the RS485 to RS232 circuit 48 and the FSMC communication unit 300, so that the RS232 signal converted and output by the RS485 to RS232 circuit 48 can be received and sent to the FSMC communication unit 300 to be further sent to the ARM chip 20; the ARM chip 20 is further internally provided with an RS485 interface 201 which is respectively butted with the RS485 communication circuit 47 and a second RS232 interface 203 which is butted with the RS232 communication circuit 49.

Because the ARM chip 20 needs to communicate with the human-computer interaction module 1, an RS485 serial port signal is needed, the requirement can be realized by adding the RS485 communication circuit 47 into the interface circuit module 4, and the circuit structure diagram of the RS485 communication circuit 47 can be shown in FIG. 13. The rotation amount serial data fed back by the servo driver 7 is also an RS485 signal, and needs to be converted into a TTL level of an RS232 signal, so that serial port communication can be carried out with the ARM chip 20, and conversion from the RS485 signal to the RS232 signal can be realized by adding the RS485 to RS232 circuit 48. In a specific embodiment of the present invention, the RS485 to RS232 circuit 48 further includes a transient blocking unit and a bidirectional transient suppression diode to protect the RS485 circuit 47 from being damaged by transient voltage or current impact. When the circuit is specifically implemented, the RS 485-to-RS 232 circuit 48 is provided with an RS232 end and an RS485 end, the grounding end of the RS232 end is isolated from the grounding end of the RS485 end, and signals can be better prevented from being interfered by external noise waves through grounding isolation.

Due to the requirement of the early development process, in the code debugging process, the external computing device 8 such as a computer needs to check the data change in the operation process, and the external computing device 8 needs to communicate with the ARM chip 20. In order to enable the ARM chip 20 to communicate with the external computing device 8, an RS232 communication circuit 49 is added to the interface circuit module 4 to convert the serial port level signal of the ARM chip 20 into an RS232 signal, so as to implement normal communication with the external computing device 8. In one embodiment, the circuit structure of the RS232 communication circuit 49 can be as shown in fig. 14.

In an alternative embodiment of the present invention, as shown in fig. 15, the power module 5 includes:

a voltage stabilizing circuit 50 for connecting an external power supply to obtain an external input voltage, and adjusting the external input voltage to a predetermined first operating voltage and then outputting the adjusted voltage;

a voltage conversion circuit 52 for further converting the first operating voltage outputted from the voltage stabilizing circuit 50 into a predetermined second operating voltage; and

and a DC-DC isolation circuit 54 connected between the regulator circuit 50 and the isolation circuit 49 for isolating the power supplied to the isolation circuit 49.

The utility model discloses industrial robot controlling means will steady operation, needs stable power supply. The unstable power supply can cause the human-computer interaction module 1, the ARM module 2, the FPGA module 3 and the interface circuit module 4 to be incapable of working stably, and even burn out the circuit. The voltage regulator circuit 50 can stabilize the external input voltage at a predetermined voltage value, so as to meet the power supply requirements of the ARM module 2, the FPGA module 3 and the interface circuit module 4, in a specific embodiment, the voltage regulator circuit 50 is formed by taking an LM2596 voltage regulator chip as a core and matching with necessary peripheral circuits, the LM2596 voltage regulator chip is a voltage reduction type power management monolithic integrated circuit, and has good linearity and load regulation characteristics, and a specific circuit structure diagram of the voltage regulator circuit 50 can be shown in fig. 16.

Since it is possible that some of the modules or circuits require voltages different from the output voltage of the regulator circuit in actual practice, the voltage conversion circuit 52 can effectively convert the output voltage of the regulator circuit to supply power at a specific voltage value (e.g., 3.3V). The voltage conversion circuit 52 can be formed by using the SPX1117M3-3.3 chip as a core and further matching with necessary peripheral circuits, and the circuit structure diagram thereof can be shown in fig. 17.

In order to enable the isolation circuit 49 formed by the high-speed optocoupler to have a better isolation effect, a DC-DC isolation circuit 54 needs to be added to isolate the power supply of the isolation circuit 49, in a specific embodiment, the core of the DC-DC isolation circuit 54 is mainly a B0505S-1W chip, and necessary peripheral circuits such as LC filter and the like are added, so that a more stable power supply ripple can be obtained, and a specific circuit structure diagram of the DC-DC isolation circuit 54 can be as shown in fig. 18.

The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the spirit and scope of the present invention, and these forms are within the scope of the present invention.

Claims

1. An industrial robot control device, characterized by comprising:

the power supply module is used for supplying power to each module;

wherein, the FPGA module includes:

the FPGA chip with a plurality of interfaces, the FPGA chip embeds has:

the FSMC communication unit is used for establishing bidirectional communication connection with an FSMC interface correspondingly arranged on the ARM module so as to receive control parameters sent by the ARM module and forward the orthogonal coding signals to the ARM module; and

the PWM output unit is butted with the interface circuit module and is used for generating a single-ended pulse signal according to the control parameter provided by the ARM module and the control signal generated by the key control unit and sending the single-ended pulse signal to the servo driver through the interface circuit module;

the ARM module comprises:

2. The industrial robot control device according to claim 1, wherein the FPGA chip further incorporates an SRAM memory cell and a first Flash memory cell, the FPGA module further comprising:

3. The industrial robot control device according to claim 1, wherein the interface circuit module includes:

4. The industrial robot control device according to claim 3, wherein the interface circuit module further comprises:

5. The industrial robot control device according to claim 1, wherein the interface circuit module includes:

6. The industrial robot control device according to claim 5, wherein the RS485 to RS232 circuit has an RS232 terminal and an RS485 terminal, and a ground terminal of the RS232 terminal is isolated from a ground terminal of the RS485 terminal.

7. The industrial robot control device of claim 4, wherein the power module comprises:

and the DC-DC isolation circuit is connected between the voltage stabilizing circuit and the isolation circuit to isolate the power supply supplied to the isolation circuit.