CN104503452B - A kind of motor-drive circuit for robot capable of climbing trees - Google Patents
A kind of motor-drive circuit for robot capable of climbing trees Download PDFInfo
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- CN104503452B CN104503452B CN201410739661.6A CN201410739661A CN104503452B CN 104503452 B CN104503452 B CN 104503452B CN 201410739661 A CN201410739661 A CN 201410739661A CN 104503452 B CN104503452 B CN 104503452B
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Abstract
The present invention proposes a kind of motor-drive circuit for robot capable of climbing trees, including motor-drive circuit, group of motors, power supply, power output end connection motor-drive circuit power input and control circuit power input；Motor-drive circuit control end connection control circuit signal output end, embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor and be respectively provided with alignment sensor, the alignment sensor sends positional information, alignment sensor signal output part connects main control chip internal A/D converter by analog-to-digital conversion filter circuit, after main control chip internal A/D converter carries out digital conversion, it is transferred to motor-drive circuit, controlled motor operation.Manpower is substituted, industrial automation is realized, with wide market prospects, it is adaptable to electronic product industry.
Description
Technical field
The present invention relates to electronic circuit field, more particularly to a kind of motor-drive circuit for robot capable of climbing trees.
Background technology
Palmae bark is widely used in industrial production and people life, can manufacture tow, rope, sofa, carpet, hairbrush, broom
Deng.At present, still tapped using manpower mode, because palm trunk is hard, and tree need to be gone up, manually gather inconvenient.How
The traditional manpower collection of substitution, improves collecting efficiency, industrial automation is realized, as the technical barrier of this area one, and with wide
Wealthy market prospects, and its drive circuit works of existing electrical equipment are unstable.
The content of the invention
It is contemplated that at least solving technical problem present in prior art, especially innovatively propose a kind of for climbing
Set the motor-drive circuit of robot.
In order to realize above-mentioned purpose of the invention, electricity is driven the invention provides a kind of motor for robot capable of climbing trees
Road, it is critical that it is including 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, and the motor-drive circuit control end connects
Connection control circuit signal output part,
The group of motors includes：Embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, liter
Drop frame motor,
Described armful of tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor difference
Alignment sensor is set, and the alignment sensor sends positional information, and alignment sensor signal output part is filtered by analog-to-digital conversion
Wave circuit connects main control chip internal A/D converter, after main control chip internal A/D converter carries out digital conversion, is transferred to
Motor-drive circuit, controlled motor operation；
The motor-drive circuit includes：Main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th
Resistance, the tenth resistance, the 11st resistance, the 12nd resistance, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th electricity
Resistance, the 13rd electric capacity, the 14th electric capacity, the 15th electric capacity,
7th resistance one end connects power supply, the 7th resistance other end connection control chip Status Flag end, the 8th electricity
Resistance one end connects non-enable input, the 8th resistance other end ground connection, the 12nd resistance one of the 15th electric capacity one end connection
End, the 15th electric capacity other end ground connection, the 12nd resistance other end ground connection, the 13rd resistance one end connection master
Control chip pwm pulse signal output end, the 13rd resistance other end connection drive and control of electric machine chip logic enables input
End, the 9th resistance one end connects drive and control of electric machine chip input 1, the 9th resistance other end connection main control chip control
Motor drive ic signal output first end, the 11st resistance one end connects control chip input 2, and the 9th resistance is another
End the second end of connection main control chip controlled motor driving chip signal output, described 14th electric capacity one end connects charge pump capacitor
Device end, the 14th electric capacity other end connects power supply, the tenth resistance one end connection power supply, the tenth resistance other end connection
13rd electric capacity one end, the 13rd electric capacity other end ground connection, described 13rd electric capacity one end is also connected with main control chip reset
End, the 14th resistance one end connection main control chip backstage debugging end, the 14th resistance other end ground connection, the 15th resistance one
End connection main control chip IO output first ends, the 15th resistance other end connection drive and control of electric machine chip I/O input first
End, the 16th resistance one end connection main control chip IO exports the second end, and the 16th resistance other end connection motor drives control
Chip I/O processed is input into the second end.
Above-mentioned technical proposal has the beneficial effect that：Motor-drive circuit reasonable in design, circuit drives stabilization, it is ensured that climb
Tree robot normal work.
The described motor-drive circuit for robot capable of climbing trees, it is preferred that also include, the 20th resistance, the 20th electricity
Appearance, the 21st electric capacity,
Tree motor alignment sensor signal output part is embraced in the connection of 20th resistance one end, and the 20th resistance other end connects
Main control chip analog-to-digital conversion first end is connect, tree motor alignment sensor signal output part is embraced in the connection of the 20th electric capacity one end, described
The 20th electric capacity other end is grounded, and described 21st electric capacity one end connects the 20th resistance one end, the 21st electric capacity
The other end is grounded；
Also include, the 30th resistance, the 30th electric capacity, the 31st electric capacity,
30th resistance one end connects motor alignment sensor signal output part of climbing tree, and the 30th resistance other end connects
The end of main control chip analog-to-digital conversion second is connect, tree motor alignment sensor signal output part is embraced in the connection of the 30th electric capacity one end, described
The 30th electric capacity other end is grounded, and described 31st electric capacity one end connects the 30th resistance one end, the 31st electric capacity
The other end is grounded；
Also include, the 40th resistance, the 40th electric capacity, the 41st electric capacity,
40th resistance one end connection ring cutter motor alignment sensor signal output part, the 40th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 3rd, the 40th electric capacity one end connection
The 40th electric capacity other end ground connection is stated, described 41st electric capacity one end connects the 40th resistance one end, the 41st electricity
Hold other end ground connection；
Also include, the 50th resistance, the 50th electric capacity, the 51st electric capacity,
The perpendicular cutter motor alignment sensor signal output part of 50th resistance one end connection, the 50th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 4th, the 50th electric capacity one end connection
The 50th electric capacity other end ground connection is stated, described 51st electric capacity one end connects the 50th resistance one end, the 51st electricity
Hold other end ground connection；
Also include, the 60th resistance, the 60th electric capacity, the 61st electric capacity,
60th resistance one end connects stem positioning motor alignment sensor signal output part, the 60th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 5th, the 60th electric capacity one end connection
The 60th electric capacity other end ground connection is stated, described 61st electric capacity one end connects the 60th resistance one end, the 61st electricity
Hold other end ground connection；
Also include, the 70th resistance, the 70th electric capacity, the 71st electric capacity,
70th resistance one end connects crane motor alignment sensor signal output part, the 70th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 6th, the 70th electric capacity one end connection
The 70th electric capacity other end ground connection is stated, described 71st electric capacity one end connects the 70th resistance one end, the 71st electricity
Hold other end ground connection.
Above-mentioned technical proposal has the beneficial effect that：Analog-to-digital conversion harvester is formed, when the corresponding electricity of alignment sensor positioning
During machine, for exporting digital information transmission work.
The described motor-drive circuit for robot capable of climbing trees, it is preferred that the power supply includes：It is second diode, steady
Pressure chip, the second electric capacity, the 3rd electric capacity, the 4th electric capacity, the 5th electric capacity,
Second diode cathode connects power supply, and second diode cathode connects the 4th electric capacity one end, the 4th electricity
Hold other end ground connection, described 4th electric capacity one end is also connected with the 5th electric capacity one end, the 5th electric capacity other end ground connection, described the
Five electric capacity one end are also connected with voltage stabilizing chip input, and the voltage stabilizing chip output end connects second electric capacity one end, second electricity
Hold one end and be also connected with the 3rd electric capacity one end, the second electric capacity other end and the 3rd electric capacity other end are grounded.
Above-mentioned technical proposal has the beneficial effect that：The power supply is used to enter the motor-drive circuit for robot capable of climbing trees
Row stabilized power source is powered.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Manpower is substituted, industrial automation is realized, with wide market prospects, it is adaptable to electronic product industry.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is motor-drive circuit general illustration of the present invention for robot capable of climbing trees；
Fig. 2 is motor-drive circuit motor-drive circuit schematic diagram of the present invention for robot capable of climbing trees；
Fig. 3 is motor-drive circuit main control chip circuit diagram of the present invention for robot capable of climbing trees；
Fig. 4 is motor-drive circuit analog-to-digital conversion filter circuit schematic diagram of the present invention for robot capable of climbing trees；
Fig. 5 is motor-drive circuit power circuit schematic diagram of the present invention for robot capable of climbing trees；
Fig. 6 is motor-drive circuit CAN controller circuit diagram of the present invention for robot capable of climbing trees；
Fig. 7 is motor-drive circuit matrix press-key schematic diagram of the present invention for robot capable of climbing trees；
Fig. 8 is motor-drive circuit Transducer Signal Detecting Circuit schematic diagram of the present invention for robot capable of climbing trees；
Fig. 9 is the present invention for remote-control box control circuit diagram in the motor-drive circuit of robot capable of climbing trees.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", D score, "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " are based on accompanying drawing institute
The orientation or position relationship for showing, are for only for ease of the description present invention and simplify description, rather than the dress for indicating or implying meaning
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection, or two connections of element internal, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
As shown in figure 1, the invention provides a kind of motor-drive circuit for robot capable of climbing trees, it is it is critical that bag
Motor-drive circuit, control circuit, group of motors, power supply are included,
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, and the motor-drive circuit control end connects
Connection control circuit signal output part,
The control circuit signal input is connected with external control devices；
The group of motors includes：Embrace tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, liter
Drop frame motor,
Described armful of tree motor, motor of climbing tree, circular cutter motor, perpendicular cutter motor, stem positioning motor, crane motor difference
Alignment sensor is set, and the alignment sensor sends positional information, and alignment sensor signal output part is filtered by analog-to-digital conversion
Wave circuit connects main control chip internal A/D converter, after main control chip internal A/D converter carries out digital conversion, is transferred to
Motor-drive circuit, controlled motor operation.
Above-mentioned technical proposal has the beneficial effect that：By motor-drive circuit, control circuit, group of motors coordinated reality
The circuit control function of existing robot capable of climbing trees, substitutes manual operation.
As shown in Figure 2,3, the described motor-drive circuit for robot capable of climbing trees, it is preferred that the motor drives electricity
Road includes：Main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th resistance, the tenth resistance, the 11st electricity
Resistance, the 12nd resistance, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th resistance, the 13rd electric capacity, the 14th electricity
Appearance, the 15th electric capacity,
7th resistance one end connects power supply, the 7th resistance other end connection control chip Status Flag end, the 8th electricity
Resistance one end connects non-enable input, the 8th resistance other end ground connection, the 12nd resistance one of the 15th electric capacity one end connection
End, the 15th electric capacity other end ground connection, the 12nd resistance other end ground connection, the 13rd resistance one end connection master
Control chip pwm pulse signal output end, the 13rd resistance other end connection drive and control of electric machine chip logic enables input
End, the 9th resistance one end connects drive and control of electric machine chip input 1, the 9th resistance other end connection main control chip control
Motor drive ic signal output first end, the 11st resistance one end connects control chip input 2, and the 9th resistance is another
End the second end of connection main control chip controlled motor driving chip signal output, described 14th electric capacity one end connects charge pump capacitor
Device end, the 14th electric capacity other end connects power supply, the tenth resistance one end connection power supply, the tenth resistance other end connection
13rd electric capacity one end, the 13rd electric capacity other end ground connection, described 13rd electric capacity one end is also connected with main control chip reset
End, the 14th resistance one end connection main control chip backstage debugging end, the 14th resistance other end ground connection, the 15th resistance one
End connection main control chip IO output first ends, the 15th resistance other end connection drive and control of electric machine chip I/O input first
End, the 16th resistance one end connection main control chip IO exports the second end, and the 16th resistance other end connection motor drives control
Chip I/O processed is input into the second end.
The drive and control of electric machine chip is preferably MC33931.Main control chip is preferably MC9S12G48.
Above-mentioned technical proposal has the beneficial effect that：Motor-drive circuit reasonable in design, circuit drives stabilization, it is ensured that climb
Tree robot normal work.
As shown in figure 4, the described motor-drive circuit for robot capable of climbing trees, it is preferred that also include, the 20th electricity
Resistance, the 20th electric capacity, the 21st electric capacity,
Tree motor alignment sensor signal output part is embraced in the connection of 20th resistance one end, and the 20th resistance other end connects
Main control chip analog-to-digital conversion first end is connect, tree motor alignment sensor signal output part is embraced in the connection of the 20th electric capacity one end, described
The 20th electric capacity other end is grounded, and described 21st electric capacity one end connects the 20th resistance one end, the 21st electric capacity
The other end is grounded；
Also include, the 30th resistance, the 30th electric capacity, the 31st electric capacity,
30th resistance one end connects motor alignment sensor signal output part of climbing tree, and the 30th resistance other end connects
The end of main control chip analog-to-digital conversion second is connect, tree motor alignment sensor signal output part is embraced in the connection of the 30th electric capacity one end, described
The 30th electric capacity other end is grounded, and described 31st electric capacity one end connects the 30th resistance one end, the 31st electric capacity
The other end is grounded；
Also include, the 40th resistance, the 40th electric capacity, the 41st electric capacity,
40th resistance one end connection ring cutter motor alignment sensor signal output part, the 40th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 3rd, the 40th electric capacity one end connection
The 40th electric capacity other end ground connection is stated, described 41st electric capacity one end connects the 40th resistance one end, the 41st electricity
Hold other end ground connection；
Also include, the 50th resistance, the 50th electric capacity, the 51st electric capacity,
The perpendicular cutter motor alignment sensor signal output part of 50th resistance one end connection, the 50th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 4th, the 50th electric capacity one end connection
The 50th electric capacity other end ground connection is stated, described 51st electric capacity one end connects the 50th resistance one end, the 51st electricity
Hold other end ground connection；
Also include, the 60th resistance, the 60th electric capacity, the 61st electric capacity,
60th resistance one end connects stem positioning motor alignment sensor signal output part, the 60th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 5th, the 60th electric capacity one end connection
The 60th electric capacity other end ground connection is stated, described 61st electric capacity one end connects the 60th resistance one end, the 61st electricity
Hold other end ground connection；
Also include, the 70th resistance, the 70th electric capacity, the 71st electric capacity,
70th resistance one end connects crane motor alignment sensor signal output part, the 70th resistance other end
Tree motor alignment sensor signal output part, institute are embraced in the end of connection main control chip analog-to-digital conversion the 6th, the 70th electric capacity one end connection
The 70th electric capacity other end ground connection is stated, described 71st electric capacity one end connects the 70th resistance one end, the 71st electricity
Hold other end ground connection.
Above-mentioned technical proposal has the beneficial effect that：Analog-to-digital conversion harvester is formed, when the corresponding electricity of alignment sensor positioning
During machine, for exporting digital information transmission work.
As shown in figure 9, the described motor-drive circuit for robot capable of climbing trees, it is preferred that the control circuit includes：
17th resistance, the 18th resistance, the 19th resistance, the 21st resistance, the 25th resistance, the 27th resistance, the 3rd
12 resistance, the 33rd resistance, the 34th resistance, the 8th electric capacity, the 9th electric capacity, the tenth electric capacity, the 11st electric capacity, the tenth
Two electric capacity, the 16th electric capacity, the 17th electric capacity, the 18th electric capacity, the 23rd electric capacity, the 27th electric capacity, the 3rd luminous two
Pole pipe, the 4th light emitting diode, the 5th light emitting diode,
17th resistance one end connection simulation ground terminal, the digital ground terminal of the 17th resistance other end connection, the 21st
Resistance one end connects power supply, the 21st resistance other end connection main control chip external interrupt end 0, the 21st electricity
The resistance other end is also connected with the 15th resistance one end, the 15th resistance other end ground connection, the 8th electric capacity, the 9th electric capacity, the tenth
One end ground connection after electric capacity, the parallel connection of the 11st electric capacity, other end connection voltage input end, the 27th resistance one end connection electricity
Source, the 27th resistance other end connection resets end, and the 27th resistance other end is also connected with the 16th electric capacity one
End, the 16th electric capacity other end ground connection, the 17th electric capacity one end connection crystal oscillator one end, the crystal oscillator other end connection the tenth
Eight electric capacity one end, the 17th electric capacity other end ground connection, the 18th electric capacity other end ground connection, described crystal oscillator one end also connects
Crystal oscillator input is connect, the crystal oscillator other end connects crystal oscillator output end, the 18th resistance one end connection data transfer input, institute
State the 18th resistance other end ground connection, the 19th resistance one end connection data transfer input, the 19th resistance other end
Connection power supply, the 22nd resistance one end connection power supply, the 22nd resistance other end connects main control chip external interrupt
End 1, connects power supply, the 3rd hair after the 3rd light emitting diode, the 4th light emitting diode, the parallel connection of the 5th light emitting diode positive pole
Optical diode negative pole connects the 32nd resistance one end, and the 32nd resistance other end connects data receiver, and described the
Four light emitting diode negative poles connect the 33rd resistance one end, and the 33rd resistance other end connects data sending terminal, institute
State the 5th light emitting diode negative pole and connect the 34th resistance one end, the 34th resistance other end connection clock input
End, the 16th resistance one end connection modulus transmission output end, the 16th resistance other end connection modulus transmission input, institute
State the 16th resistance one end and be also connected with the 23rd electric capacity one end, the 23rd electric capacity other end ground connection, the 16th resistance is another
End is also connected with the 12nd electric capacity one end, the 12nd electric capacity other end ground connection.
Above-mentioned technical proposal has the beneficial effect that：Control circuit is controlled behaviour to motor for remote-control motor drive circuit
Make, configuration work information.
As shown in figure 5, the described motor-drive circuit for robot capable of climbing trees, it is preferred that the power supply includes：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, and second diode cathode connects the 4th electric capacity one end, the 4th electricity
Hold other end ground connection, described 4th electric capacity one end is also connected with the 5th electric capacity one end, the 5th electric capacity other end ground connection, described the
Five electric capacity one end are also connected with voltage stabilizing chip input, and the voltage stabilizing chip output end connects second electric capacity one end, second electricity
Hold one end and be also connected with the 3rd electric capacity one end, the second electric capacity other end and the 3rd electric capacity other end are grounded.
Above-mentioned technical proposal has the beneficial effect that：The power supply is used to enter the motor-drive circuit for robot capable of climbing trees
Row stabilized power source is powered.
As shown in fig. 6, the described motor-drive circuit for robot capable of climbing trees, it is preferred that also including CAN electricity
Road, second resistance, 3rd resistor, the 5th resistance, the first electric capacity, the 6th electric capacity, the 7th electric capacity,
Second resistance one end connects power supply, and the second resistance other end connects first electric capacity one end, first electric capacity
The other end is grounded, and described first electric capacity one end is also connected with CAN bus circuit and sends data terminal, and the 5th resistance one end connects power supply,
The 5th resistance other end connects the 6th electric capacity one end, and the 6th electric capacity other end is grounded, and described 6th electric capacity one end is also
Connection CAN bus circuit receives data terminal, the connection of the 7th electric capacity one end power supply and CAN bus circuit power input, described the
The seven electric capacity other ends are grounded, and 3rd resistor one end connection CAN high level end, the 3rd resistor other end connects low level
End.
Above-mentioned technical proposal has the beneficial effect that：Carried out data transmission by CAN bus circuit.
As shown in fig. 7, the described motor-drive circuit for robot capable of climbing trees, it is preferred that the control circuit is also wrapped
Matrix press-key is included, the matrix press-key two ends are respectively connected to main control chip O mouthfuls.
Fig. 8 is motor-drive circuit Transducer Signal Detecting Circuit schematic diagram of the present invention for robot capable of climbing trees；
The technical scheme is that：The robot capable of climbing trees of electronic product, its structure include embrace a tree device, swivel mount,
Crane, perpendicular cutting frame, stem positioner, circular cutter, video acquisition display device, remote control, electric machine of climbing tree etc..It is special
Levying is：Tree device constitution equipment main body is embraced, it is retractable, embrace tree device and embrace tree motor and motor of climbing tree built with six；Embrace
Tree device top is swivel mount, perpendicular cutting frame, ring cutting knife system and stem positioner；Crane is in swivel mount；Circular cutter is filled
Put and be respectively provided with a camera completion video acquisition with stem positioner top；Embracing tree device, stem positioner and ring cutting
Sensor is equipped with knife system.
Embrace tree device and open holding trunk, motor driver control down trees movement, swivel mount drives ring cutting knife system
Cutting palmae bark, stem positioner catches on tree stem, and crane drives perpendicular cutting frame to cut up and down.
Open an armful tree device to be set on trunk and close, operation remote-control box carries out an armful tree action and holds trunk, six armfuls of trees tightly
Motor forward motion, to ensure that equipment is not inclined after the completion of embracing tree, six motors are controlled by six motor master control borads by CAN communication
Real-time Communication for Power, it is ensured that the number of turns for rotating at any one time is consistent.As shown in figure 1, the communication is by high-speed CAN communication receiving/transmission chip
TLE6250 is realized.Embrace tree device contact trunk part and sensor is housed, to detect whether to hold tightly.Embrace after the completion of tree, operate remote control
Box control climb tree electric machine move up and down to be intended to cutting position.Circular cutter displacement motor advances, and completes to compress trunk action, ring
Sensor detection compression degree is filled at cutter, transmission analogue data to MCU is AD converted, after controlled motor is advanced
Move back.Operation remote-control box control swivel mount motor is rotated and carries out cutting action, and swivel mount is rotated, and drives ring cutting knife system to rotate, complete
Into cutting action.Operation remote-control box carries out lifting action, and crane is risen or fallen to correct position, and stem positioner is opened,
Stem positioning motor advances to correct position closing, now catches on branch, and control crane is moved down, and pulls branch and realizes stripping
From.During this, the sensor detection installed at stem positioner hooks clamp force degree, and transmission analogue data to MCU is AD converted,
Control stem positioning displacement motor advances or retreats, and coordinates crane to move down the stripping that action completes branch.Ring cutting knife system and stem
Positioner top is respectively provided with a camera, and whole process shoots cutting overall process, and the display screen on remote-control box shows this image,
The movement of auxiliary operator control ring cutter, swivel mount and perpendicular cutting frame.As shown in figure 1, motor is driven by power chip
MC33931 is controlled.Color light-emitting diode is converted between the color of red, green, blue three, the different working condition of instruction equipment.
So as to realize substituting manpower, industrial automation is realized, with wide market prospects, it is adaptable to electronic product row
Industry.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (7)
1. a kind of motor-drive circuit for robot capable of climbing trees, it is characterised in that including motor-drive circuit, group of motors, electricity
Source,
Power output end connects motor-drive circuit power input；
Group of motors signal control end is connected with motor-drive circuit signal output part, the motor-drive circuit control end connection control
Circuit signal output end processed,
The group of motors includes：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 are respectively provided with
Alignment sensor, the alignment sensor sends positional information, and alignment sensor signal output part passes through analog-to-digital conversion filtered electrical
Road connects main control chip internal A/D converter, after main control chip internal A/D converter carries out digital conversion, is transferred to motor
Drive circuit, controlled motor operation；
The motor-drive circuit includes：Main control chip, drive and control of electric machine chip, the 7th resistance, the 8th resistance, the 9th electricity
Resistance, the tenth resistance, the 11st resistance, the 12nd resistance, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th electricity
Resistance, the 13rd electric capacity, the 14th electric capacity, the 15th electric capacity,
7th resistance one end connects power supply, the 7th resistance other end connection control chip Status Flag end, the 8th resistance one
The non-enable input of end connection, the 8th resistance other end ground connection, the 15th electric capacity one end connects the 12nd resistance one end, institute
State the 15th electric capacity other end ground connection, the 12nd resistance other end ground connection, the 13rd resistance one end connection master control core
Piece pwm pulse signal output end, the 13rd resistance other end connection drive and control of electric machine chip logic enables input, the
Nine resistance one end connect drive and control of electric machine chip input 1, and the 9th resistance other end connects main control chip controlled motor
Driving chip signal output first end, the 11st resistance one end connects control chip input 2, and the 9th resistance other end connects
The second end of main control chip controlled motor driving chip signal output is connect, described 14th electric capacity one end connects charge pump capacitor
End, the 14th electric capacity other end connects power supply, the tenth resistance one end connection power supply, the tenth resistance other end connection the
13 electric capacity one end, the 13rd electric capacity other end ground connection, described 13rd electric capacity one end is also connected with main control chip reset terminal,
14th resistance one end connection main control chip backstage debugging end, the 14th resistance other end ground connection, the 15th resistance one end
Connection main control chip IO output first ends, the 15th resistance other end connection drive and control of electric machine chip I/O input first
End, the 16th resistance one end connection main control chip IO exports the second end, and the 16th resistance other end connection motor drives control
Chip I/O processed is input into the second end；
The power supply includes：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, and second diode cathode connects the 4th electric capacity one end, and the 4th electric capacity is another
One end is grounded, and described 4th electric capacity one end is also connected with the 5th electric capacity one end, the 5th electric capacity other end ground connection, the 5th electricity
Hold one end and be also connected with voltage stabilizing chip input, the voltage stabilizing chip output end connects second electric capacity one end, second electric capacity one
End is also connected with the 3rd electric capacity one end, and the second electric capacity other end and the 3rd electric capacity other end are grounded；
The drive and control of electric machine chip is MC33931, and main control chip is MC9S12G48.
2. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, second
Ten resistance, the 20th electric capacity, the 21st electric capacity,
Tree motor alignment sensor signal output part, the 20th resistance other end connection master are embraced in the connection of 20th resistance one end
Tree motor alignment sensor signal output part, described second are embraced in control chip analog-to-digital conversion first end, the 20th electric capacity one end connection
The ten electric capacity other ends are grounded, and described 21st electric capacity one end connects the 20th resistance one end, and the 21st electric capacity is another
End ground connection.
3. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, the 3rd
Ten resistance, the 30th electric capacity, the 31st electric capacity,
30th resistance one end connects motor alignment sensor signal output part of climbing tree, the 30th resistance other end connection master
Tree motor alignment sensor signal output part, the described 3rd are embraced in the second end of control chip analog-to-digital conversion, the 30th electric capacity one end connection
The ten electric capacity other ends are grounded, and described 31st electric capacity one end connects the 30th resistance one end, and the 31st electric capacity is another
End ground connection.
4. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, the 4th
Ten resistance, the 40th electric capacity, the 41st electric capacity,
40th resistance one end connection ring cutter motor alignment sensor signal output part, the 40th resistance other end connection
A tree motor alignment sensor signal output part, described the are embraced in the end of main control chip analog-to-digital conversion the 3rd, the 40th electric capacity one end connection
The 40 electric capacity other ends are grounded, and described 41st electric capacity one end connects the 40th resistance one end, and the 41st electric capacity is another
One end is grounded.
5. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, the 5th
Ten resistance, the 50th electric capacity, the 51st electric capacity,
The perpendicular cutter motor alignment sensor signal output part of 50th resistance one end connection, the 50th resistance other end connection
A tree motor alignment sensor signal output part, described the are embraced in the end of main control chip analog-to-digital conversion the 4th, the 50th electric capacity one end connection
The 50 electric capacity other ends are grounded, and described 51st electric capacity one end connects the 50th resistance one end, and the 51st electric capacity is another
One end is grounded.
6. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, the 6th
Ten resistance, the 60th electric capacity, the 61st electric capacity,
60th resistance one end connects stem positioning motor alignment sensor signal output part, the 60th resistance other end connection
A tree motor alignment sensor signal output part, described the are embraced in the end of main control chip analog-to-digital conversion the 5th, the 60th electric capacity one end connection
The 60 electric capacity other ends are grounded, and described 61st electric capacity one end connects the 60th resistance one end, and the 61st electric capacity is another
One end is grounded.
7. the motor-drive circuit for robot capable of climbing trees according to claim 1, it is characterised in that also include, the 7th
Ten resistance, the 70th electric capacity, the 71st electric capacity,
70th resistance one end connects crane motor alignment sensor signal output part, the 70th resistance other end connection
A tree motor alignment sensor signal output part, described the are embraced in the end of main control chip analog-to-digital conversion the 6th, the 70th electric capacity one end connection
The 70 electric capacity other ends are grounded, and described 71st electric capacity one end connects the 70th resistance one end, and the 71st electric capacity is another
One end is grounded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN104503452A CN104503452A (en) | 2015-04-08 |
| CN104503452B true 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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| CN (1) | CN104503452B (en) |
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| CN104503452A (en) | 2015-04-08 |
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