CN104503452A - Motor driving circuit for tree-climbing robot - Google Patents
Motor driving circuit for tree-climbing robot Download PDFInfo
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- CN104503452A CN104503452A CN201410739661.6A CN201410739661A CN104503452A CN 104503452 A CN104503452 A CN 104503452A CN 201410739661 A CN201410739661 A CN 201410739661A CN 104503452 A CN104503452 A CN 104503452A
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Abstract
The invention provides a motor driving circuit for a tree-climbing robot. The motor driving circuit comprises a motor driving circuit, a motor set and a power supply, wherein an output end of the power supply is connected with a power supply input end of the motor driving circuit and the power supply input end of a control circuit; a control end of the motor driving circuit is connected with a signal output end of the control circuit; positioning sensors are respectively arranged on a tree-embracing motor, a tree-climbing motor, an annular slicer motor, a vertical slicer motor, a stem positioning motor and an erector motor; position information is sent by the positioning sensors; the signal output ends of the positioning sensors are connected with an AD (analog/digital) converter in a master control chip through an AD converter filtering circuit; after the signal is subjected to AD conversion through the AD converter in the master control chip, the signal is transmitted to the motor driving circuit and is used for controlling the running of the motor. The motor driving circuit for the tree-climbing robot is used for replacing manpower and realizing industrial automation, has wide market prospect and is suitable for the industry of electronic products.
Description
Technical field
The present invention relates to electronic circuit field, particularly relate to a kind of motor-drive circuit for robot capable of climbing trees.
Background technology
Palmae bark is widely used in commercial production and people life, can manufacture tow, rope, sofa, carpet, hairbrush, broom etc.At present, still adopt manpower mode to tap, because palm trunk is hard, and need climb the tree, artificial collection is very inconvenient.How to replace traditional manpower collection, improve collecting efficiency, realize industrial automation, become one, this area technical barrier, and there are wide market outlook, and its drive circuit works of existing electrical equipment is unstable.
Summary of the invention
The present invention is intended at least solve the technical matters existed in prior art, especially innovatively proposes a kind of motor-drive circuit for robot capable of climbing trees.
In order to realize above-mentioned purpose of the present invention, the invention provides a kind of motor-drive circuit for robot capable of climbing trees, its key is, comprises motor-drive circuit, group of motors, power supply,
Power output end connects motor-drive circuit power input;
Group of motors signal control end is connected with motor-drive circuit signal output part, described motor-drive circuit control end connection control circuit signal output terminal,
Described group of motors comprises: embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor,
Described armful of tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor arrange alignment sensor respectively, described alignment sensor sends positional information, alignment sensor signal output part connects main control chip internal A/D converter by analog to digital conversion filtering circuit, carry out after digital conversion through main control chip internal A/D converter, be transferred to motor-drive circuit, control motor and run;
Described motor-drive circuit comprises: main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11 resistance, the 12 resistance, the 13 resistance, the 14 resistance, the 15 resistance, the 16 resistance, the 13 electric capacity, the 14 electric capacity, the 15 electric capacity
7th resistance one end connects power supply, described 7th resistance other end connection control chip status flag terminal, 8th resistance one end connects disable input end, described 8th resistance other end ground connection, 15 electric capacity one end connects the 12 resistance one end, described 15 electric capacity other end ground connection, described 12 resistance other end ground connection, described 13 resistance one end connects main control chip pwm pulse signal output terminal, the described 13 resistance other end connects the enable input end of drive and control of electric machine chip logic, 9th resistance one end connects drive and control of electric machine chip input end 1, the described 9th resistance other end connects main control chip and controls motor drive ic signal output first end, 11 resistance one end connection control chip input end 2, the described 9th resistance other end connects main control chip control motor drive ic signal and exports the second end, described 14 electric capacity one end connects charge pump capacitor end, the described 14 electric capacity other end connects power supply, tenth resistance one end connects power supply, the described tenth resistance other end connects the 13 electric capacity one end, described 13 electric capacity other end ground connection, described 13 electric capacity one end also connects main control chip reset terminal, 14 resistance one end connects main control chip background debug end, described 14 resistance other end ground connection, 15 resistance one end connects main control chip IO and exports first end, the described 15 resistance other end connects drive and control of electric machine chip I/O input first end, 16 resistance one end connects main control chip IO and exports the second end, the described 16 resistance other end connects drive and control of electric machine chip I/O and inputs the second end.
The beneficial effect of technique scheme is: motor-drive circuit reasonable in design, and drives is stablized, and ensures that robot capable of climbing trees normally works.
The described motor-drive circuit for robot capable of climbing trees, preferably, also comprises, the 20 resistance, the 20 electric capacity, the 21 electric capacity,
20 resistance one end connects embraces tree motor alignment sensor signal output part, the described 20 resistance other end connects main control chip analog to digital conversion first end, 20 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 20 electric capacity other end ground connection, described 21 electric capacity one end connects the 20 resistance one end, described 21 electric capacity other end ground connection;
Also comprise, the 30 resistance, the 30 electric capacity, the 31 electric capacity,
30 resistance one end connects motor alignment sensor signal output part of climbing tree, the described 30 resistance other end connects main control chip analog to digital conversion second end, 30 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 30 electric capacity other end ground connection, described 31 electric capacity one end connects the 30 resistance one end, described 31 electric capacity other end ground connection;
Also comprise, the 40 resistance, the 40 electric capacity, the 41 electric capacity,
40 resistance one end abutment ring cutter motor alignment sensor signal output part, the described 40 resistance other end connects main control chip analog to digital conversion the 3rd end, 40 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 40 electric capacity other end ground connection, described 41 electric capacity one end connects the 40 resistance one end, described 41 electric capacity other end ground connection;
Also comprise, the 50 resistance, the 50 electric capacity, the 51 electric capacity,
50 resistance one end connects perpendicular cutter motor alignment sensor signal output part, the described 50 resistance other end connects main control chip analog to digital conversion the 4th end, 50 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 50 electric capacity other end ground connection, described 51 electric capacity one end connects the 50 resistance one end, described 51 electric capacity other end ground connection;
Also comprise, the 60 resistance, the 60 electric capacity, the 61 electric capacity,
60 resistance one end connects stem positioning motor alignment sensor signal output part, the described 60 resistance other end connects main control chip analog to digital conversion five terminal, 60 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 60 electric capacity other end ground connection, described 61 electric capacity one end connects the 60 resistance one end, described 61 electric capacity other end ground connection;
Also comprise, the 70 resistance, the 70 electric capacity, the 71 electric capacity,
70 resistance one end connects crane motor alignment sensor signal output part, the described 70 resistance other end connects main control chip analog to digital conversion the 6th end, 70 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 70 electric capacity other end ground connection, described 71 electric capacity one end connects the 70 resistance one end, described 71 electric capacity other end ground connection.
The beneficial effect of technique scheme is: form analog to digital conversion harvester, when alignment sensor location corresponding motor, for exporting digital information transmission work.
The described motor-drive circuit for robot capable of climbing trees, preferably, described power supply comprises: the second diode, voltage stabilizing chip, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th electric capacity,
Second diode cathode connects power supply, described second diode cathode connects the 4th electric capacity one end, described 4th electric capacity other end ground connection, described 4th electric capacity one end also connects the 5th electric capacity one end, described 5th electric capacity other end ground connection, described 5th electric capacity one end also connects voltage stabilizing chip input end, and described voltage stabilizing chip output connects second electric capacity one end, described second electric capacity one end also connects the 3rd electric capacity one end, the described second electric capacity other end and the 3rd electric capacity other end ground connection.
The beneficial effect of technique scheme is: described power supply is used for carrying out stabilized power source to the motor-drive circuit for robot capable of climbing trees and powers.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
Substitute manpower, realize industrial automation, there are wide market outlook, be applicable to electronic product industry.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the motor-drive circuit general illustration of the present invention for robot capable of climbing trees;
Fig. 2 is the motor-drive circuit motor-drive circuit schematic diagram of the present invention for robot capable of climbing trees;
Fig. 3 is the motor-drive circuit main control chip circuit diagram of the present invention for robot capable of climbing trees;
Fig. 4 is the motor-drive circuit analog to digital conversion filtering circuit schematic diagram of the present invention for robot capable of climbing trees;
Fig. 5 is the motor-drive circuit power circuit schematic diagram of the present invention for robot capable of climbing trees;
Fig. 6 is the motor-drive circuit CAN controller circuitry schematic diagram of the present invention for robot capable of climbing trees;
Fig. 7 is the motor-drive circuit matrix press-key schematic diagram of the present invention for robot capable of climbing trees;
Fig. 8 is the motor-drive circuit Transducer Signal Detecting Circuit schematic diagram of the present invention for robot capable of climbing trees;
Fig. 9 is that the present invention is for remote-control box control circuit schematic diagram in the motor-drive circuit of robot capable of climbing trees.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.
In describing the invention, it will be appreciated that, term " longitudinal direction ", " transverse direction ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.
In describing the invention, unless otherwise prescribed and limit, it should be noted that, term " installation ", " being connected ", " connection " should be interpreted broadly, such as, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be directly be connected, also indirectly can be connected by intermediary, for the ordinary skill in the art, the concrete meaning of above-mentioned term can be understood as the case may be.
As shown in Figure 1, the invention provides a kind of motor-drive circuit for robot capable of climbing trees, its key is, comprises motor-drive circuit, control circuit, group of motors, power supply,
Power output end connects motor-drive circuit power input and control circuit power input;
Group of motors signal control end is connected with motor-drive circuit signal output part, described motor-drive circuit control end connection control circuit signal output terminal,
Described control circuit signal input part is connected with external control devices;
Described group of motors comprises: embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor,
Described armful of tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor arrange alignment sensor respectively, described alignment sensor sends positional information, alignment sensor signal output part connects main control chip internal A/D converter by analog to digital conversion filtering circuit, carry out after digital conversion through main control chip internal A/D converter, be transferred to motor-drive circuit, control motor and run.
The beneficial effect of technique scheme is: the control circui function being realized robot capable of climbing trees by the coordinated of motor-drive circuit, control circuit, group of motors, substitutes manual operation.
As shown in Figure 2,3, the described motor-drive circuit for robot capable of climbing trees, preferably, described motor-drive circuit comprises: main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11 resistance, the 12 resistance, the 13 resistance, the 14 resistance, the 15 resistance, the 16 resistance, the 13 electric capacity, the 14 electric capacity, the 15 electric capacity,
7th resistance one end connects power supply, described 7th resistance other end connection control chip status flag terminal, 8th resistance one end connects disable input end, described 8th resistance other end ground connection, 15 electric capacity one end connects the 12 resistance one end, described 15 electric capacity other end ground connection, described 12 resistance other end ground connection, described 13 resistance one end connects main control chip pwm pulse signal output terminal, the described 13 resistance other end connects the enable input end of drive and control of electric machine chip logic, 9th resistance one end connects drive and control of electric machine chip input end 1, the described 9th resistance other end connects main control chip and controls motor drive ic signal output first end, 11 resistance one end connection control chip input end 2, the described 9th resistance other end connects main control chip control motor drive ic signal and exports the second end, described 14 electric capacity one end connects charge pump capacitor end, the described 14 electric capacity other end connects power supply, tenth resistance one end connects power supply, the described tenth resistance other end connects the 13 electric capacity one end, described 13 electric capacity other end ground connection, described 13 electric capacity one end also connects main control chip reset terminal, 14 resistance one end connects main control chip background debug end, described 14 resistance other end ground connection, 15 resistance one end connects main control chip IO and exports first end, the described 15 resistance other end connects drive and control of electric machine chip I/O input first end, 16 resistance one end connects main control chip IO and exports the second end, the described 16 resistance other end connects drive and control of electric machine chip I/O and inputs the second end.
Described drive and control of electric machine chip is preferably MC33931.Main control chip is preferably MC9S12G48.
The beneficial effect of technique scheme is: motor-drive circuit reasonable in design, and drives is stablized, and ensures that robot capable of climbing trees normally works.
As shown in Figure 4, the described motor-drive circuit for robot capable of climbing trees, preferably, also comprises, the 20 resistance, the 20 electric capacity, the 21 electric capacity,
20 resistance one end connects embraces tree motor alignment sensor signal output part, the described 20 resistance other end connects main control chip analog to digital conversion first end, 20 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 20 electric capacity other end ground connection, described 21 electric capacity one end connects the 20 resistance one end, described 21 electric capacity other end ground connection;
Also comprise, the 30 resistance, the 30 electric capacity, the 31 electric capacity,
30 resistance one end connects motor alignment sensor signal output part of climbing tree, the described 30 resistance other end connects main control chip analog to digital conversion second end, 30 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 30 electric capacity other end ground connection, described 31 electric capacity one end connects the 30 resistance one end, described 31 electric capacity other end ground connection;
Also comprise, the 40 resistance, the 40 electric capacity, the 41 electric capacity,
40 resistance one end abutment ring cutter motor alignment sensor signal output part, the described 40 resistance other end connects main control chip analog to digital conversion the 3rd end, 40 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 40 electric capacity other end ground connection, described 41 electric capacity one end connects the 40 resistance one end, described 41 electric capacity other end ground connection;
Also comprise, the 50 resistance, the 50 electric capacity, the 51 electric capacity,
50 resistance one end connects perpendicular cutter motor alignment sensor signal output part, the described 50 resistance other end connects main control chip analog to digital conversion the 4th end, 50 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 50 electric capacity other end ground connection, described 51 electric capacity one end connects the 50 resistance one end, described 51 electric capacity other end ground connection;
Also comprise, the 60 resistance, the 60 electric capacity, the 61 electric capacity,
60 resistance one end connects stem positioning motor alignment sensor signal output part, the described 60 resistance other end connects main control chip analog to digital conversion five terminal, 60 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 60 electric capacity other end ground connection, described 61 electric capacity one end connects the 60 resistance one end, described 61 electric capacity other end ground connection;
Also comprise, the 70 resistance, the 70 electric capacity, the 71 electric capacity,
70 resistance one end connects crane motor alignment sensor signal output part, the described 70 resistance other end connects main control chip analog to digital conversion the 6th end, 70 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 70 electric capacity other end ground connection, described 71 electric capacity one end connects the 70 resistance one end, described 71 electric capacity other end ground connection.
The beneficial effect of technique scheme is: form analog to digital conversion harvester, when alignment sensor location corresponding motor, for exporting digital information transmission work.
As shown in Figure 9, the described motor-drive circuit for robot capable of climbing trees, preferably, described control circuit comprises: the 17 resistance, 18 resistance, 19 resistance, 21 resistance, 25 resistance, 27 resistance, 32 resistance, 33 resistance, 34 resistance, 8th electric capacity, 9th electric capacity, tenth electric capacity, 11 electric capacity, 12 electric capacity, 16 electric capacity, 17 electric capacity, 18 electric capacity, 23 electric capacity, 27 electric capacity, 3rd light emitting diode, 4th light emitting diode, 5th light emitting diode,
17 connecting analog ground, resistance one end end, the described 17 resistance other end connects digitally to be held, 21 resistance one end connects power supply, the described 21 resistance other end connects main control chip external interrupt end 0, the described 21 resistance other end also connects the 15 resistance one end, described 15 resistance other end ground connection, 8th electric capacity, 9th electric capacity, tenth electric capacity, one end ground connection after 11 Capacitance parallel connection, the other end connects voltage input end, 27 resistance one end connects power supply, the described 27 resistance other end connects to reset to be held, the described 27 resistance other end also connects the 16 electric capacity one end, described 16 electric capacity other end ground connection, 17 electric capacity one end connects crystal oscillator one end, the described crystal oscillator other end connects the 18 electric capacity one end, described 17 electric capacity other end ground connection, described 18 electric capacity other end ground connection, described crystal oscillator one end also connects crystal oscillator input end, the described crystal oscillator other end connects crystal oscillator output terminal, 18 resistance one end connection data transmission input end, described 18 resistance other end ground connection, 19 resistance one end connection data transmission input end, the described 19 resistance other end connects power supply, 22 resistance one end connects power supply, the described 22 resistance other end connects main control chip external interrupt end 1, 3rd light emitting diode, 4th light emitting diode, power supply is connected after 5th light emitting diode positive pole parallel connection, described 3rd light emitting diode negative pole connects the 32 resistance one end, described 32 resistance other end connection data receiving end, described 4th light emitting diode negative pole connects the 33 resistance one end, described 33 resistance other end connection data transmitting terminal, described 5th light emitting diode negative pole connects the 34 resistance one end, the described 34 resistance other end connects input end of clock, 16 resistance one end connects modulus transmission output terminal, the described 16 resistance other end connects modulus transmission input end, described 16 resistance one end also connects the 23 electric capacity one end, 23 electric capacity other end ground connection, the 16 resistance other end also connects the 12 electric capacity one end, described 12 electric capacity other end ground connection.
The beneficial effect of technique scheme is: control circuit is used for remote-control motor driving circuit and carries out control operation to motor, configuration effort information.
As shown in Figure 5, the described motor-drive circuit for robot capable of climbing trees, preferably, described power supply comprises: the second diode, voltage stabilizing chip, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th electric capacity,
Second diode cathode connects power supply, described second diode cathode connects the 4th electric capacity one end, described 4th electric capacity other end ground connection, described 4th electric capacity one end also connects the 5th electric capacity one end, described 5th electric capacity other end ground connection, described 5th electric capacity one end also connects voltage stabilizing chip input end, and described voltage stabilizing chip output connects second electric capacity one end, described second electric capacity one end also connects the 3rd electric capacity one end, the described second electric capacity other end and the 3rd electric capacity other end ground connection.
The beneficial effect of technique scheme is: described power supply is used for carrying out stabilized power source to the motor-drive circuit for robot capable of climbing trees and powers.
As shown in Figure 6, the described motor-drive circuit for robot capable of climbing trees, preferably, also comprises CAN circuit, the second resistance, the 3rd resistance, the 5th resistance, the first electric capacity, the 6th electric capacity, the 7th electric capacity,
Second resistance one end connects power supply, the described second resistance other end connects first electric capacity one end, described first electric capacity other end ground connection, described first electric capacity one end also connects CAN circuit and sends data terminal, 5th resistance one end connects power supply, the described 5th resistance other end connects the 6th electric capacity one end, described 6th electric capacity other end ground connection, described 6th electric capacity one end also connects CAN circuit and receives data terminal, 7th electric capacity one end connects power supply and CAN circuit power input end, described 7th electric capacity other end ground connection, 3rd resistance one end connects CAN high level end, the described 3rd resistance other end connects low level end.
The beneficial effect of technique scheme is: carry out data transmission by CAN circuit.
As shown in Figure 7, the described motor-drive circuit for robot capable of climbing trees, preferably, described control circuit also comprises matrix press-key, and described matrix press-key two ends are connected to main control chip O mouth respectively.
Fig. 8 is the motor-drive circuit Transducer Signal Detecting Circuit schematic diagram of the present invention for robot capable of climbing trees;
Technical scheme of the present invention is: the robot capable of climbing trees of electronic product, and its structure includes embraces tree device, swivel mount, crane, perpendicular cutting frame, stem locating device, circular cutter, video acquisition display device, telechiric device, electric machine etc. of climbing tree.It is characterized in that: embrace tree device constitution equipment main body, can folding, embrace tree device and embrace tree motor and drive motor of climbing tree built with six; Embrace above tree device is swivel mount, perpendicular cutting frame, circular cutter device and stem locating device; Crane is contained in swivel mount; Above circular cutter device and stem locating device, a camera is housed respectively and completes video acquisition; Armful tree device, stem locating device and circular cutter device are equipped with sensor.
Embrace tree device to open and hold trunk tightly, motor driver controls down trees and moves, and swivel mount drives circular cutter device cutting palmae bark, and stem locating device catches on tree stem, and crane drives perpendicular cutting frame to cut up and down.
Open and embrace a tree device and to be set on trunk and to close, operating and remote controlling box carries out embracing tree action and holds trunk tightly, embrace tree motor forward motion for six, for ensure embrace a tree complete after equipment not inclined, six motors are controlled by six motor master control borads by CAN communication real-time Communication for Power, ensure that the number of turns of rotating at any one time is consistent.As shown in Figure 1, this communication is realized by high-speed CAN communication receiving/transmission chip TLE6250.Embrace tree device contact trunk part and sensor is housed, whether hold tightly to detect.Embrace after tree completes, the operating and remote controlling box electric machine that controls to climb tree moves up and down to for cutting position.Circular cutter displacement motor advances, and completes and compresses trunk action, and circular cutter device sensor that place fills detects compression degree, transmits simulated data and carries out AD conversion to MCU, control motor forward-reverse.Operating and remote controlling box controls swivel mount electric machine rotation and carries out cutting action, and swivel mount rotates, and drives circular cutter device to rotate, completes cutting action.Operating and remote controlling box carries out lifting action, and crane rises or drops to correct position, and stem locating device is opened, and stem positioning motor advances to correct position and closes, and now catches on branch, controls crane and moves down, and pulls branch and realizes peeling off.In this process, the sensor that stem locating device place installs detects and hooks tight dynamics, transmits simulated data and carries out AD conversion to MCU, controls stem location displacement motor and advances or retreat, coordinate crane to move down the stripping that action completes branch.Above circular cutter device and stem locating device, a camera is housed respectively, omnidistance shooting cutting overall process, the display screen on remote-control box shows this image, the movement of assist operator control loop cutter, swivel mount and perpendicular cutting frame.As shown in Figure 1, motor drives and is controlled by power chip MC33931.Color light-emitting diode converts between red, green, blue three look, the different operating state of indicating equipment.
Thus can realize substituting manpower, realize industrial automation, there are wide market outlook, be applicable to electronic product industry.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalents thereof.
Claims (8)
1. for a motor-drive circuit for robot capable of climbing trees, it is characterized in that, comprise motor-drive circuit, group of motors, power supply,
Power output end connects motor-drive circuit power input;
Group of motors signal control end is connected with motor-drive circuit signal output part, described motor-drive circuit control end connection control circuit signal output terminal,
Described group of motors comprises: embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor,
Described armful of tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor arrange alignment sensor respectively, described alignment sensor sends positional information, alignment sensor signal output part connects main control chip internal A/D converter by analog to digital conversion filtering circuit, carry out after digital conversion through main control chip internal A/D converter, be transferred to motor-drive circuit, control motor and run;
Described motor-drive circuit comprises: main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11 resistance, the 12 resistance, the 13 resistance, the 14 resistance, the 15 resistance, the 16 resistance, the 13 electric capacity, the 14 electric capacity, the 15 electric capacity
7th resistance one end connects power supply, described 7th resistance other end connection control chip status flag terminal, 8th resistance one end connects disable input end, described 8th resistance other end ground connection, 15 electric capacity one end connects the 12 resistance one end, described 15 electric capacity other end ground connection, described 12 resistance other end ground connection, described 13 resistance one end connects main control chip pwm pulse signal output terminal, the described 13 resistance other end connects the enable input end of drive and control of electric machine chip logic, 9th resistance one end connects drive and control of electric machine chip input end 1, the described 9th resistance other end connects main control chip and controls motor drive ic signal output first end, 11 resistance one end connection control chip input end 2, the described 9th resistance other end connects main control chip control motor drive ic signal and exports the second end, described 14 electric capacity one end connects charge pump capacitor end, the described 14 electric capacity other end connects power supply, tenth resistance one end connects power supply, the described tenth resistance other end connects the 13 electric capacity one end, described 13 electric capacity other end ground connection, described 13 electric capacity one end also connects main control chip reset terminal, 14 resistance one end connects main control chip background debug end, described 14 resistance other end ground connection, 15 resistance one end connects main control chip IO and exports first end, the described 15 resistance other end connects drive and control of electric machine chip I/O input first end, 16 resistance one end connects main control chip IO and exports the second end, the described 16 resistance other end connects drive and control of electric machine chip I/O and inputs the second end.
2. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 20 resistance, the 20 electric capacity, the 21 electric capacity,
20 resistance one end connects embraces tree motor alignment sensor signal output part, the described 20 resistance other end connects main control chip analog to digital conversion first end, 20 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 20 electric capacity other end ground connection, described 21 electric capacity one end connects the 20 resistance one end, described 21 electric capacity other end ground connection.
3. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 30 resistance, the 30 electric capacity, the 31 electric capacity,
30 resistance one end connects motor alignment sensor signal output part of climbing tree, the described 30 resistance other end connects main control chip analog to digital conversion second end, 30 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 30 electric capacity other end ground connection, described 31 electric capacity one end connects the 30 resistance one end, described 31 electric capacity other end ground connection.
4. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 40 resistance, the 40 electric capacity, the 41 electric capacity,
40 resistance one end abutment ring cutter motor alignment sensor signal output part, the described 40 resistance other end connects main control chip analog to digital conversion the 3rd end, 40 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 40 electric capacity other end ground connection, described 41 electric capacity one end connects the 40 resistance one end, described 41 electric capacity other end ground connection.
5. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 50 resistance, the 50 electric capacity, the 51 electric capacity,
50 resistance one end connects perpendicular cutter motor alignment sensor signal output part, the described 50 resistance other end connects main control chip analog to digital conversion the 4th end, 50 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 50 electric capacity other end ground connection, described 51 electric capacity one end connects the 50 resistance one end, described 51 electric capacity other end ground connection.
6. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 60 resistance, the 60 electric capacity, the 61 electric capacity,
60 resistance one end connects stem positioning motor alignment sensor signal output part, the described 60 resistance other end connects main control chip analog to digital conversion five terminal, 60 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 60 electric capacity other end ground connection, described 61 electric capacity one end connects the 60 resistance one end, described 61 electric capacity other end ground connection.
7. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, also comprise, the 70 resistance, the 70 electric capacity, the 71 electric capacity,
70 resistance one end connects crane motor alignment sensor signal output part, the described 70 resistance other end connects main control chip analog to digital conversion the 6th end, 70 electric capacity one end connects embraces tree motor alignment sensor signal output part, described 70 electric capacity other end ground connection, described 71 electric capacity one end connects the 70 resistance one end, described 71 electric capacity other end ground connection.
8. the motor-drive circuit for robot capable of climbing trees according to claim 1, is characterized in that, described power supply comprises: the second diode, voltage stabilizing chip, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th electric capacity,
Second diode cathode connects power supply, described second diode cathode connects the 4th electric capacity one end, described 4th electric capacity other end ground connection, described 4th electric capacity one end also connects the 5th electric capacity one end, described 5th electric capacity other end ground connection, described 5th electric capacity one end also connects voltage stabilizing chip input end, and described voltage stabilizing chip output connects second electric capacity one end, described second electric capacity one end also connects the 3rd electric capacity one end, the described second electric capacity other end and the 3rd electric capacity other end ground connection.
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| CN201410739661.6A CN104503452B (en) | 2014-12-08 | 2014-12-08 | A kind of motor-drive circuit for robot capable of climbing trees |
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| CN201410739661.6A CN104503452B (en) | 2014-12-08 | 2014-12-08 | A kind of motor-drive circuit for robot capable of climbing trees |
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| CN104503452A true CN104503452A (en) | 2015-04-08 |
| CN104503452B CN104503452B (en) | 2017-06-16 |
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| CN201410739661.6A Expired - Fee Related CN104503452B (en) | 2014-12-08 | 2014-12-08 | A kind of motor-drive circuit for robot capable of climbing trees |
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| CN104503452B (en) | 2017-06-16 |
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