CN102785718B - Wall-climbing robot control circuit with cut-off double auto-lock function - Google Patents
Wall-climbing robot control circuit with cut-off double auto-lock function Download PDFInfo
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- CN102785718B CN102785718B CN201210272036.6A CN201210272036A CN102785718B CN 102785718 B CN102785718 B CN 102785718B CN 201210272036 A CN201210272036 A CN 201210272036A CN 102785718 B CN102785718 B CN 102785718B
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Abstract
The invention discloses a wall-climbing robot control circuit with a cut-off double auto-lock function. The control circuit comprises a first driving motor, a second driving motor, a first encoder, a second encoder, a 24V power supply, a 5V power supply, a first motor locking circuit, a second motor locking circuit, a first motor driver, a second motor driver, a host computer singlechip system, an LCD screen, a first wireless communication module, a second wireless communication module, an operating handle, a crawler self-locking circuit, a crawler locking device and a locking spring. According to the invention, the double locking function of driving motor locking and wall-climbing robot crawler locking can be realized; a wall-climbing robot can be prevented from slipping; the double locking function can be carried out even if the power is cut off; signal control is eliminated; and the structure is simple, stable and reliable.
Description
Technical field
The present invention relates to a kind of robot control circuit, for carrying out climbing robot control, be particularly useful for the heavy load climbing robot function that cuts off self-lock.
Background technology
Climbing robot obtains a wide range of applications and develops in fields such as petrochemical industry, nuclear station, boats and ships and high-rise outer cleanings.And climbing robot control circuit is being played the part of the role of " robot brain " in climbing robot, mainly play climbing robot position sensing, path planning, motion control, the functions such as man-machine interaction.Climbing robot control circuit is along with the development of artificial intelligence, computer science, sensor technology etc. has obtained tremendous development.Heavy load climbing robot control circuit is a kind of non-autonomous robot control circuit, and robot adopts manual remote control to control, and it is that system stability is reliable that its main control requires, and robot in no instance can landing.Climbing robot mainly adopts magnetic to echo negative pressure of vacuum absorption at present, and solving robot power down landing problem is mainly to adopt design redundancy adsorption affinity, design safety lock etc.This method has not only increased robot deadweight, and safety lock can not be opened automatically in power down, is not perfectly safe reliable.
Chinese patent CN 101704241 A disclose a kind of wall-climbing robot for removing rust on wall surfaces of ships and method of work thereof, this patent relates to a kind of wall surfaces of ships rust removing robot and method of work thereof, it has designed left and right safety cock, can manual locking robot, prevent its landing, but can not realize power down self-locking.The disclosed industrial robot with redundant emergency brake circuit of Chinese patent CN 101896320 A, this patent relates to a kind of robots arm's of having industrial robot, can when emergency braking, make electrical motor short circuit, but can not realize power down self-locking.Existing robot control circuit does not have the design for climbing robot power down landing problem, a kind of climbing robot control circuit with the two auto-lock functions of power-off that the present invention proposes has completed the circuit layout for climbing robot power down landing problem, has solved prior art defect.
Summary of the invention
The object of the invention is in order to solve the problem of climbing robot power down landing, a kind of climbing robot control circuit with the two auto-lock functions of power-off is provided, the two auto-lock functions of climbing robot power down be can realize, drive motor locking and climbing robot crawler belt locking comprised.Two auto-lock function power down are carried out automatically, without control signal, simple in structure, reliable and stable.
The technical solution adopted for the present invention to solve the technical problems is:
The climbing robot control circuit with the two auto-lock functions of power-off, comprises the first drive motor, the second drive motor, the first coder, the second coder, 24V power supply, 5V power supply, the first electric motor locking circuit, the second electric motor locking circuit, the first motor driver, the second motor driver, upper computer Single Chip Microcomputer (SCM) system, LCD screen, the first wireless communication module, the second wireless communication module, operating handle, crawler belt latching circuit, crawler belt Locking Device, locking spring.
The first described drive motor afterbody is installed the first coder, and the first encoder output is connected with the first motor driver encoder port, and the first drive motor is connected with the first motor driver through the first electric motor locking circuit.
The second described drive motor afterbody is installed the second coder, and the second encoder output is connected with the second motor driver encoder port, and the second drive motor is connected with the second motor driver through the second electric motor locking circuit.
Described upper computer Single Chip Microcomputer (SCM) system is passed through single-chip processor i/o, PWM port is connected with the second motor driver control signal port with the first motor driver control signal port, upper computer Single Chip Microcomputer (SCM) system is connected with LCD screen, its micro controller system RS232 serial port module is by the first wireless communication module and the second wireless communication module, with operating handle wireless connections, crawler belt latching circuit comprises an electromagnet, is connected with crawler belt Locking Device, and crawler belt Locking Device opposite side is connected with locking spring.
The invention has the beneficial effects as follows: the present invention has realized a kind of climbing robot circuit with the function of cutting off self-lock, can be under electrifying condition, electric motor locking circuit is by motor driver hardware-enabled, while locking circuit malfunction, allow motor in normal working, crawler belt latching circuit is in failure state, and crawler belt Locking Device unclamps, robot crawler belt can free motion, and operator can control climbing robot by operating handle and operate; Under power-down conditions, electric motor locking circuit, by motor two terminals short circuits, is realized electric motor locking, realize motor driver hardware simultaneously and do not enable, prevent the motor damage actuator that powers on suddenly, crawler belt latching circuit is in running order, climbing robot crawler belt, by crawler belt Locking Device locking, prevents landing; Circuit can be realized drive motor locking and the two self-lockings of climbing robot crawler belt locking, prevents climbing robot landing, and two auto-lock function power down are carried out automatically, without control signal, simple in structure, reliable and stable.
Accompanying drawing explanation
Fig. 1 is control circuit block diagram of the present invention;
Fig. 2 is electric motor locking of the present invention and crawler belt latching circuit figure.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
As depicted in figs. 1 and 2, the present invention includes the first drive motor 1 and the second drive motor 26, the other end of output shaft is installed respectively the first coder 2 and the second coder 27.The positive terminals 7 of the first drive motor are connected with the first motor driver MOTOR port one 3 through the first electric motor locking circuit 9 with the negative terminals 8 of the first drive motor, the first coder 2 by the first encoder interfaces 39 and the first motor driver interface 41, conveys to the encoder port one 5 of the first motor driver 11 by the velocity information gathering; The positive terminals 30 of the second drive motor are connected with the second motor driver MOTOR port 36 through the second electric motor locking circuit 32 with the negative terminals 31 of the second drive motor, the second coder 27 by the second encoder interfaces 40 and the second motor driver interface 42, conveys to the encoder port 38 of the second motor driver 34 by the velocity information gathering.Upper computer Single Chip Microcomputer (SCM) system 16 is passed through single-chip processor i/o, PWM port one 7 is connected with the first motor driver control signal port one 4, the second motor driver control signal port 37, upper computer Single Chip Microcomputer (SCM) system 16 is connected with LCD screen 18, its micro controller system RS232 serial port module 19 is by the first wireless communication module 20 and the second wireless module 22, with operating handle 21 wireless connections.Crawler belt latching circuit 23 comprises an electromagnet 44, be connected with crawler belt Locking Device 24, crawler belt Locking Device 24 opposite sides are connected with locking spring 25, its design adopts the open contact of relay 43 to control 24V power supply 3 power supplies of electromagnet 44, relay 43 adopts 4 power supplies of 5V power supply, such design makes no matter circuit is the in the situation that of 5V power supply 4 or 3 inefficacy of 24V power supply, can realize crawler belt self-locking.
Electric motor locking circuit part is concrete to be connected as shown in Figure 2, the negative terminals 8 of the positive terminals 7 of the first drive motor and the first drive motor are connected to the first relay normally closed switch 6 two ends, the first relay time closing switch 5 is connected 5V power supply 4 with the first motor driver EN port one 2, the first relay coil 10 is directly connected with 24V power supply 3; The negative terminals 31 of the positive terminals 30 of the second drive motor and the second drive motor are connected to the second relay normally closed switch 29 two ends, the second relay time closing switch 28 is connected 5V power supply 4 with the second motor driver EN port 35, the second relay coil 33 is directly connected with 24V power supply 3.Wherein the first encoder interfaces 39 and the second respectively comprise respectively+5V of encoder interfaces 40, L_A+, L_A-, L_B+, L_B, these six ports of GND, they respectively with the first motor driver interface and the second motor driver interface 10,9,8,7,6,5, No. 1 port is connected, the negative terminals 8 of the positive terminals 7 of the first drive motor and the first drive motor and the first motor driver interface 3,2 ports (motor+, motor-) are connected; The negative terminals 31 of the positive terminals 30 of the second drive motor and the second drive motor and the second motor driver interface 3,2 ports (motor+, motor-) are connected.
Under electrifying condition, 23 electromagnet 44 work of crawler belt latching circuit, overcome locking spring 25 thrust adhesive crawler belt Locking Devices 24, and itself and track chain are thrown off, and realize release.In the first electric motor locking circuit 9, the first relay coil 10 works on power, the first relay normally closed switch 6 disconnects, the negative terminals 8 of the positive terminals 7 of the first drive motor and the first drive motor are short circuit not, the first drive motor 1 is in normally treating operating state, and now the positive terminals 7 of the first drive motor are connected with the first motor driver MOTOR port one 3 with the negative terminals 8 of the first drive motor; While the first relay time closing switch 5 closures, 5V power supply 4 and the first motor driver EN port one 2 short circuits, now the first motor driver 11 hardware-enabled; In the second electric motor locking circuit 32, the second relay coil 33 works on power, the second relay normally closed switch 29 disconnects, the negative terminals 31 of the positive terminals 30 of the second drive motor and the second drive motor are short circuit not, the second drive motor 26 is in normally treating operating state, and now the positive terminals 30 of the second drive motor are connected with the second motor driver MOTOR port 36 with the negative terminals 31 of the second drive motor; While the second relay time closing contact 28 closures, 5V power supply 4 and the second motor driver EN port 35 short circuits, now the second motor driver 34 hardware-enabled; Upper computer Single Chip Microcomputer (SCM) system 16 is by single-chip processor i/o, and PWM port one 7 sends instruction and can operate by drive motor to the first motor driver control signal port one 4, the second motor driver control signal port 37.Operating handle 21 offers upper computer Single Chip Microcomputer (SCM) system 16 after operator's operating order is identified by micro controller system RS232 serial port module 19 by second wireless communication module 22 transmission the first wireless communication modules 20, micro controller system is accepted after operating order, be converted into electric machine control instruction, control motor positive and inverse and rotating speed.First, second coder feeds back to first, second motor driver by the rotary speed information of motor by first, second encoder interfaces, realizes the speed closed loop of motor.In addition, upper computer Single Chip Microcomputer (SCM) system 16 is presented at the running state of robot on LCD screen 18, offers operator.
If run into unexpected power down suddenly, now crawler belt latching circuit 23 power down, electromagnet 44 power down quit work, and lose the suction-combining force, and locking spring 25 promotes crawler belt Locking Device 24 stuck track chains, by crawler belt locking.Crawler belt latching circuit 23 adopts the open contact of relay 43 to control 24V power supply 3 power supplies of electromagnet 44, relay 43 adopts 4 power supplies of 5V power supply, such design makes no matter circuit is the in the situation that of 5V power supply 4 or 3 inefficacy of 24V power supply, can realize crawler belt self-locking.In the first electric motor locking circuit 9, the first relay coil 10 power down quit work, the first relay normally closed switch 6 closures, the positive terminals 7 of the first drive motor and the first drive motor are born terminals 8 short circuits, in the second electric motor locking circuit 32, the second relay coil 33 power down quit work, the second relay normally closed switch 29 closures, the positive terminals 30 of the second drive motor and the second drive motor are born terminals 31 short circuits, the first drive motor 1 and the second drive motor 26 utilize inverse electromotive force to realize power down locking, in self-locking state; The first relay time closing switch 5 disconnects simultaneously, 5V power supply 4 and the first motor driver EN port one 2 disconnect, the second relay time closing switch 28 disconnects, 5V power supply 4 and the second motor driver EN port 35 disconnect, now the first motor driver 11 and the second motor driver 34 hardware do not enable, while preventing from powering on suddenly, the first motor driver 11 and the second motor driver 34 mouth short circuits, avoid the first motor driver 11 and the second motor driver 34 to burn.This pair of auto-lock function power down carried out automatically, without control signal, simple in structure, reliable and stable.
Claims (2)
1. the climbing robot control circuit with the two auto-lock functions of power-off, comprise the first drive motor (1), the second drive motor (26), the first coder (2), the second coder (27), 24V power supply (3), 5V power supply (4), the first electric motor locking circuit (9), the second electric motor locking circuit (32), the first motor driver (11), the second motor driver (34), upper computer Single Chip Microcomputer (SCM) system (16), LCD shields (18), the first wireless communication module (20), the second wireless communication module (22), operating handle (21), crawler belt latching circuit (23), crawler belt Locking Device (24), locking spring (25), it is characterized in that:
Described the first drive motor (1) afterbody is installed the first coder (2), the first coder (2) output signal is connected with the first motor driver encoder port (15), and the first drive motor (1) is connected with the first motor driver (11) through the first electric motor locking circuit (9);
Described the second drive motor (26) afterbody is installed the second coder (27), the second coder (27) output signal is connected with the second motor driver encoder port (38), and the second drive motor (26) is connected with the second motor driver (34) through the second electric motor locking circuit (32);
Described upper computer Single Chip Microcomputer (SCM) system (16) is passed through single-chip processor i/o, PWM port (17) is connected with the second motor driver control signal port (37) with the first motor driver control signal port (14), upper computer Single Chip Microcomputer (SCM) system (16) is connected with LCD screen (18), its micro controller system RS232 serial port module (19) is by the first wireless communication module (20) and the second wireless communication module (22), with operating handle (21) wireless connections, crawler belt latching circuit (23) comprises an electromagnet, be connected with crawler belt Locking Device (24), crawler belt Locking Device (24) opposite side is connected with locking spring (25),
Described the first electric motor locking circuit (9) comprises the first relay coil (10), the first relay normally closed switch (6), the first relay time closing switch (5), the first relay coil (10) is directly connected with 24V power supply (3), the first relay normally closed switch (6) is connected with the negative terminals (8) of the positive terminals of the first drive motor (7) and the first drive motor, and the first relay time closing switch (5) is connected 5V power supply (4) with the first motor driver EN port (12);
Described the second electric motor locking circuit (32) comprises the second relay coil (33), the second relay normally closed switch (29), the second relay time closing switch (28), the second relay coil (33) is directly connected with 24V power supply (3), the second relay normally closed switch (29) is connected with the negative terminals (31) of the positive terminals of the second drive motor (30) and the second drive motor, and the second relay time closing switch (28) is connected 5V power supply (4) with the second motor driver EN port (35).
2. the climbing robot control circuit with the two auto-lock functions of power-off according to claim 1, it is characterized in that: adopt the two latching circuit designs of climbing robot power down, under power-down conditions, the first electric motor locking circuit (9) can guarantee negative terminals (8) short circuit of the positive terminals of the first drive motor (7) and the first drive motor, the second electric motor locking circuit (32) can guarantee negative terminals (31) short circuit of the positive terminals of the second drive motor (30) and the second drive motor, realizes drive motor self-locking; Crawler belt latching circuit (23) power down simultaneously, electromagnet resets, and locking spring (25) promotes crawler belt Locking Device (24) and realizes crawler belt locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210272036.6A CN102785718B (en) | 2012-08-01 | 2012-08-01 | Wall-climbing robot control circuit with cut-off double auto-lock function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210272036.6A CN102785718B (en) | 2012-08-01 | 2012-08-01 | Wall-climbing robot control circuit with cut-off double auto-lock function |
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| CN102785718A CN102785718A (en) | 2012-11-21 |
| CN102785718B true CN102785718B (en) | 2014-11-05 |
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| CN201210272036.6A Active CN102785718B (en) | 2012-08-01 | 2012-08-01 | Wall-climbing robot control circuit with cut-off double auto-lock function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107458492A (en) * | 2017-07-10 | 2017-12-12 | 浙江大学 | climbing robot wireless control system with braking circuit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2653042Y (en) * | 2003-04-25 | 2004-11-03 | 深圳市特辰升降架工程有限公司 | Crawler lifting scaffold |
| ES2334186B1 (en) * | 2006-08-11 | 2010-12-28 | Ventol España S.L. | ROBOT TREPADOR CLEANER. |
| CN101459018B (en) * | 2008-06-20 | 2010-09-29 | 扬州新菱电器有限公司 | Control and protection switch electric appliance |
| CN101441154B (en) * | 2008-12-23 | 2011-05-25 | 华东理工大学 | High precision microscopic fatigue tester |
| CN101704241A (en) * | 2009-11-03 | 2010-05-12 | 大连海事大学 | Wall-climbing robot for removing rust on wall surfaces of ships and working method thereof |
| JP5220077B2 (en) * | 2010-09-30 | 2013-06-26 | 株式会社小川優機製作所 | Adsorption traveling device |
| CN103105818A (en) * | 2012-12-11 | 2013-05-15 | 吴江昆鹏纺织有限公司 | Electronic yarn let-off and take-up control device |
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