CN109591022A - Joint of robot steering gear control system, automatic numbering method and the calculating voltage method of automatic numbering - Google Patents
Joint of robot steering gear control system, automatic numbering method and the calculating voltage method of automatic numbering Download PDFInfo
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- CN109591022A CN109591022A CN201910131682.2A CN201910131682A CN109591022A CN 109591022 A CN109591022 A CN 109591022A CN 201910131682 A CN201910131682 A CN 201910131682A CN 109591022 A CN109591022 A CN 109591022A
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- steering engine
- resistance
- automatic numbering
- steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
It a kind of joint of robot steering gear control system of automatic numbering, automatic numbering method and calculates voltage method and belongs to electric machine people field；The technical issues of steering engine of different numbers is mounted on different joints in the prior art；Including master controller, several steering engine branches and several connecting terminals；Master controller is equipped with several connecting terminals, and each connecting terminal is separately connected a steering engine branch, and steering engine includes two steering engine connecting terminals, T-type resistance pressure-dividing network and microprocessor；Connecting T-shaped resistance pressure-dividing network between two nodal lines of two steering engine connecting terminals；At the intermediate node of microprocessor connecting T-shaped resistance pressure-dividing network, collection voltages value；The nodal line of each connecting terminal connects a reference voltage by a pull-up resistor respectively, and pull-up resistor used by each nodal line is different, for collecting different voltage values；The present invention can be numbered automatically, improve the efficiency of articulated robot batch production, and facilitate user voluntarily mounter people.
Description
Technical field
The invention belongs to the joint of robot steering gear control system of robot field more particularly to a kind of automatic numbering, certainly
Dynamic method for numbering serial and calculating voltage method.
Background technique
Connection and drive part of the small-sized articulated robot usually using steering engine as joint.Steering engine slows down motor
Gear, the component encapsulations such as control panel have many advantages, such as that easy for installation, precision is high, fast response time at a modular unit.
According to the difference of input signal, steering engine can be divided into simulation steering engine and bus steering engine.The input signal for simulating steering engine is pwm signal,
Duty ratio corresponds to the output angle of steering engine, and steering engine itself does not have number information, and multiple steering engines need multiple pwm signals to be controlled
System, the cabling and control is more complicated for articulated robot.The input signal of bus steering engine is serial digital signal, than
Such as RS232, RS485, all steering engines are all articulated in the same bus, and each steering engine has the number of oneself, pass through formulation
Communication protocol can according to number each steering engine is controlled, can as needed to steering engine parameter carry out in real time adjustment and
Feedback, and cabling is very succinct, in articulated robot field using very extensive.
The amount of articulation of articulated robot is more, and general ten or more.Installation of the bus steering engine in articulated robot
In the process, it is necessary first to it is numbered to each steering engine, then the steering engine of specified number is installed on specified joint, it is different
The steering engine of number does not have interchangeability generally for different joints, this in batch production can serious influence production efficiency.
In addition, for ordinary user, if voluntarily assembling articulated robot, once a steering engine is mounted in the joint of mistake
On, then structural member must be dismantled to replace steering engine, user experience is poor.
Summary of the invention
The present invention overcomes above-mentioned the deficiencies in the prior art, provide a kind of joint of robot steering engine control system of automatic numbering
System, automatic numbering method and calculating voltage method are numbered automatically after being installed articulated robot steering engine,
The efficiency for improving articulated robot batch production, and facilitate user voluntarily mounter people, the effective solution prior art
The technical issues of steering engine of different numbers is mounted on different joints in the middle.
Technical solution of the present invention:
A kind of joint of robot steering gear control system of automatic numbering, including master controller, several steering engine branches and several
Connecting terminal；The master controller is equipped with several connecting terminals, and each connecting terminal is separately connected a steering engine branch,
And each connecting terminal corresponds to unique steering engine branch, each steering engine branch includes several concatenated steering engines；
The steering engine includes two steering engine connecting terminals, T-type resistance pressure-dividing network and microprocessor；Each steering engine connects
Line terminals include four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial signal line, nodal line；Two steering engines connect
The ground wire of line terminals, power supply line, serial signal line mutual conduction connect between two nodal lines of described two steering engine connecting terminals
Connect T-type resistance pressure-dividing network；
The T-type resistance pressure-dividing network includes resistance R1, resistance R2 and resistance 3；The resistance R1 series resistance R2, it is described
Resistance R3 is connected between resistance R1 and resistance R2, the resistance R3 connection ground wire；The resistance R1, resistance R2 and resistance 3
Resistance value is same or different, and when the resistance R1 is identical with resistance R2 resistance value, described two steering engine connecting terminals do not distinguish input
End and output end, i.e. input and output have interchangeability；
The analog-to-digital conversion interface of the microprocessor connects at the intermediate node of the T-type resistance pressure-dividing network, for adopting
Collect the voltage value；
The nodal line of each connecting terminal connects a reference voltage, each nodal line by a pull-up resistor respectively
Used pull-up resistor is different, the analog-digital converter acquisition of microprocessor in each steering engine for making different steering engine branches
To different voltage values.
Further, the connecting terminal includes four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial
Signal wire, nodal line；The ground wire of several connecting terminals, power supply line, serial signal line are connected with each other conducting.
A kind of automatic numbering method that the joint of robot steering gear control system based on the automatic numbering is realized, including with
Lower step:
Step S1, the installation of articulated robot steering engine is completed, the steering engine in installation process between different joints has mutual
It is transsexual；Connecting terminal between master controller and steering engine is attached, master controller sends an instruction, notifies all rudders
Machine carries out automatic numbering；
Step S2, after each steering engine receives this instruction, itself T-type is acquired by the analog-digital converter in microprocessor
The characteristic voltage value of resistance pressure-dividing network intermediate node；
Step S3, pre-set voltage-number table of comparisons is searched according to this characteristic voltage value, determines that itself is numbered；
Step S4, it after master controller has sent automatic numbering instruction, waits for a period of time, successively the transmission of poll has rudder
The inquiry instruction of machine number such as sends the instruction for being 1 with steering engine number for the first time, and it is 2 that second, which sends with steering engine number,
Instruction, and so on, it is every sent one instruction after, wait the steering engine of the number to carry out response, if in preset waiting
Effective response had received in time or be more than not reply the preset waiting time, just send next inquiry instruction,
Until all number polls finish；
Step S5, all inquiries instruction of master controller all has received response, then shows that all steering engines complete automatic volume
Number.
A kind of voltage calculation method that the automatic numbering method of the joint of robot steering engine based on the automatic numbering is realized,
Include:
Resistance R1=resistance R2=R=5k, resistance R3=2R=10k, pull-up resistor R_A=R=5k is taken to calculate steering engine
The characteristic voltage value of each steering engine of branch is as follows:
Pull-up resistor R_B=2R=10k is taken, calculates the characteristic voltage value of each steering engine of another steering engine branch such as
Under:
The present invention has the advantages that compared with the existing technology
The present invention provides a kind of joint of robot steering gear control system of automatic numbering, automatic numbering method and calculate electricity
Pressure method is numbered automatically after being installed articulated robot steering engine, improves articulated robot batch production
Efficiency, and facilitate user voluntarily mounter people, the steering engine of different numbers is mounted on different joints by effective solution
Technical problem has following advantage compared with prior art.
(1) each steering engine does not need to be numbered in advance before factory.
(2) steering engine of different numbers has interchangeability for different joints, improves batch production efficiency.
(3) method of automatic numbering has adaptability for different robot forms, can be used for a variety of different shapes
Robot.
(4) for ordinary user, without considering that steering engine is numbered when mounter people, user experience is good.
Detailed description of the invention
Fig. 1 is structure of the invention figure；
Fig. 2 is steering engine structure chart of the present invention；
Fig. 3 is flow chart of the present invention.
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail.
Specific embodiment one
A kind of joint of robot steering gear control system of automatic numbering, as shown in Figure 1, including master controller, several steering engines
Branch and several connecting terminals；The master controller is equipped with several connecting terminals, and each connecting terminal is separately connected one
Steering engine branch, and each connecting terminal corresponds to unique steering engine branch, each steering engine branch include it is concatenated several
Steering engine；
As shown in Fig. 2, the steering engine includes two steering engine connecting terminals, T-type resistance pressure-dividing network and Micro-processor MCV；
Each steering engine connecting terminal includes four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial signal line, section
Dotted line；The ground wire of two steering engine connecting terminals, power supply line, serial signal line mutual conduction, described two steering engine connecting terminals
Connecting T-shaped resistance pressure-dividing network between two nodal lines；
As shown in Fig. 2, the T-type resistance pressure-dividing network includes resistance R1, resistance R2 and resistance 3；The resistance R1 series connection
Resistance R2, the resistance R3 are connected between resistance R1 and resistance R2, the resistance R3 connection ground wire；The resistance R1, resistance
The resistance value of R2 and resistance 3 is same or different, when the resistance R1 is identical with resistance R2 resistance value, described two steering engine connecting terminals
Input terminal and output end are not distinguished, i.e. input and output have interchangeability；
The analog-to-digital conversion interface of the Micro-processor MCV connects at the intermediate node of the T-type resistance pressure-dividing network, is used for
Acquire the voltage value；
The nodal line of each connecting terminal connects a reference voltage, each nodal line by a pull-up resistor respectively
Used pull-up resistor is different, the analog-digital converter of Micro-processor MCV in each steering engine for making different steering engine branches
Different voltage values is collected, as shown in Fig. 2, present embodiment uses pull-up resistor R_A and pull-up resistor R_B.
The articulated robot form given for one, by design each nodal line of master controller pull-up resistor with
And the T-type resistance pressure-dividing network resistance value of steering engine, make to be mounted on each steering engine microprocessor on articulated robot and collects one
A voltage value different from other steering engines, and multiple steering engines just correspond to multiple and different voltage values, different voltage values is just right
Different steering engines is answered to number.
The invention also includes shell, motor, train of reduction gears, bearing, control panel, potentiometers；Master controller is integrated in control
In making sheet, shown shell, motor, train of reduction gears, bearing, control panel, potentiometer specific structure be the prior art, such as apply
Numbers 201721627265.5, a kind of entitled steering engine is consistent with steering engine structure disclosed in the patent of robot.
Specifically, the connecting terminal includes four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial letter
Number line, nodal line；The ground wire of several connecting terminals, power supply line, serial signal line are connected with each other conducting.
Specific embodiment two
A kind of automatic numbering method that the joint of robot steering gear control system based on the automatic numbering is realized, such as Fig. 3
It is shown, comprising the following steps:
Step S1, the installation of articulated robot steering engine is completed, the steering engine in installation process between different joints has mutual
It is transsexual；Connecting terminal between master controller and steering engine is attached, master controller sends an instruction, notifies all rudders
Machine carries out automatic numbering；
Step S2, after each steering engine receives this instruction, itself is acquired by the analog-digital converter in Micro-processor MCV
The characteristic voltage value of T type resistance pressure-dividing network intermediate node；
Step S3, pre-set voltage-number table of comparisons is searched according to this characteristic voltage value, determines that itself is numbered；
Step S4, it after master controller has sent automatic numbering instruction, waits for a period of time, successively the transmission of poll has rudder
The inquiry instruction of machine number such as sends the instruction for being 1 with steering engine number for the first time, and it is 2 that second, which sends with steering engine number,
Instruction, and so on, it is every sent one instruction after, wait the steering engine of the number to carry out response, if in preset waiting
Effective response had received in time or be more than not reply the preset waiting time, just send next inquiry instruction,
Until all number polls finish；
Step S5, all inquiries instruction of master controller all has received response, then shows that all steering engines complete automatic volume
Number.
Specific embodiment three
As depicted in figs. 1 and 2, master controller of the invention has multiple connecting terminals, and each connecting terminal is correspondingly connected with
One steering engine branch, connect in each steering engine branch multiple steering engines, by taking a steering engine branch as an example, 3 rudders of connecting thereon
Machine.
One steering engine includes two steering engine connecting terminals, and each steering engine connecting terminal includes four piece-root grafting terminals, four wiring
Column respectively corresponds ground wire GND, power supply line VCC, serial signal line Signal, nodal line Node1 or Node2.Two steering engine wiring
The ground wire of terminal, power supply line, serial signal line are electrically directly being connected, and two nodal lines Node1 and Node2 it
Between be T-type resistance pressure-dividing network.T-type resistance pressure-dividing network includes three resistance R1, R2 and R3, as R1=R2, two steering engines
Which connecting terminal do not need to distinguish as which inputs as output, that is, has interchangeability.Also there is analog-to-digital conversion comprising one
The Micro-processor MCV of function, an analog-to-digital conversion interface of Micro-processor MCV is connected to the intermediate node O of R1 and R2, for adopting
Collect this voltage value VO, the i.e. characteristic voltage value of the steering engine.
A kind of voltage calculation method that the automatic numbering method of the joint of robot steering engine based on the automatic numbering is realized,
Include:
Resistance R1=resistance R2=R=5k, resistance R3=2R=10k, pull-up resistor R_A=R=5k is taken to calculate steering engine
The characteristic voltage value of each steering engine of branch is as follows:
Pull-up resistor R_B=2R=10k is taken, calculates the characteristic voltage value of each steering engine of another steering engine branch such as
Under:
By the above method, the characteristic voltage value of steering engine on each joint position is obtained, it is contemplated that the error of divider resistance,
The character voltage range of setting one ± 5%, thus obtains a voltage-number table of comparisons, such as:
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of joint of robot steering gear control system of automatic numbering, which is characterized in that including master controller, several steering engines point
Branch and several connecting terminals；The master controller is equipped with several connecting terminals, and each connecting terminal is separately connected one
Steering engine branch, and each connecting terminal corresponds to unique steering engine branch, each steering engine branch includes several concatenated rudders
Machine；
The steering engine includes two steering engine connecting terminals, T-type resistance pressure-dividing network and microprocessor；Each steering engine terminals
Attached bag includes four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial signal line, nodal line；Two steering engine terminals
Ground wire, the power supply line, serial signal line mutual conduction of son, connect T between two nodal lines of described two steering engine connecting terminals
Type resistance pressure-dividing network；
The T-type resistance pressure-dividing network includes resistance R1, resistance R2 and resistance 3；The resistance R1 series resistance R2, the resistance
R3 is connected between resistance R1 and resistance R2, the resistance R3 connection ground wire；The resistance value of the resistance R1, resistance R2 and resistance 3
It is same or different, when the resistance R1 is identical with resistance R2 resistance value, described two steering engine connecting terminals do not distinguish input terminal and
Output end, i.e. input and output have interchangeability；
The analog-to-digital conversion interface of the microprocessor connects at the intermediate node of the T-type resistance pressure-dividing network, for acquiring this
Point voltage value；
The nodal line of each connecting terminal connects a reference voltage by a pull-up resistor respectively, and each nodal line is adopted
Pull-up resistor is different, and the analog-digital converter of microprocessor collects not in each steering engine for making different steering engine branches
Same voltage value.
2. the joint of robot steering gear control system of a kind of automatic numbering according to claim 1, which is characterized in that described to connect
Line terminals include four piece-root grafting terminals, and four binding posts are respectively ground wire, power supply line, serial signal line, nodal line；If the stem grafting
The ground wire of line terminals, power supply line, serial signal line are connected with each other conducting.
3. a kind of automatic numbering side that the joint of robot steering gear control system based on automatic numbering described in claim 1 is realized
Method, which comprises the following steps:
Step S1, the installation of articulated robot steering engine is completed, the steering engine in installation process between different joints has interchangeability；
Connecting terminal between master controller and steering engine is attached, master controller send one instruction, notify all steering engines into
Row automatic numbering；
Step S2, after each steering engine receives this instruction, itself T-type resistance is acquired by the analog-digital converter in microprocessor
The characteristic voltage value of potential-divider network intermediate node；
Step S3, pre-set voltage-number table of comparisons is searched according to this characteristic voltage value, determines that itself is numbered；
Step S4, it after master controller has sent automatic numbering instruction, waits for a period of time, successively the transmission of poll is compiled with steering engine
Number inquiry instruction, such as send the instruction for being 1 with steering engine number for the first time, second sends the finger for being 2 with steering engine number
Enable, and so on, it is every has sent one instruct after, wait the steering engine of the number to carry out response, if in the preset waiting time
It inside has received effective response or has been more than not reply the preset waiting time, just send next inquiry instruction, until
Until all number polls finish；
Step S5, all inquiries instruction of master controller all has received response, then shows that all steering engines complete automatic numbering.
4. the potentiometer that a kind of automatic numbering method of joint of robot steering engine based on automatic numbering described in claim 3 is realized
Calculation method characterized by comprising
Resistance R1=resistance R2=R=5k, resistance R3=2R=10k, pull-up resistor R_A=R=5k is taken to calculate steering engine branch
Each steering engine characteristic voltage value it is as follows:
Pull-up resistor R_B=2R=10k is taken, the characteristic voltage value for calculating each steering engine of another steering engine branch is as follows:
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| CN201910131682.2A CN109591022B (en) | 2019-02-22 | 2019-02-22 | Robot joint steering engine control system, automatic numbering method and voltage calculating method |
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|---|---|---|---|
| CN201910131682.2A CN109591022B (en) | 2019-02-22 | 2019-02-22 | Robot joint steering engine control system, automatic numbering method and voltage calculating method |
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| CN109591022B CN109591022B (en) | 2020-10-23 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110474826A (en) * | 2019-07-23 | 2019-11-19 | 广东创达自动化装备有限公司 | A kind of main equipment is given from device numbering system |
| CN111757579A (en) * | 2020-06-10 | 2020-10-09 | 烽火通信科技股份有限公司 | Method and system for automatically acquiring street lamp arrangement sequence |
| CN113183149A (en) * | 2021-04-01 | 2021-07-30 | 深圳市优必选科技股份有限公司 | Control method, control device and terminal equipment |
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