CN106354101A - Derusting wall-climbing robot electrical control system - Google Patents
Derusting wall-climbing robot electrical control system Download PDFInfo
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- CN106354101A CN106354101A CN201611082063.1A CN201611082063A CN106354101A CN 106354101 A CN106354101 A CN 106354101A CN 201611082063 A CN201611082063 A CN 201611082063A CN 106354101 A CN106354101 A CN 106354101A
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- servo
- driver
- servomotor
- interface module
- control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31137—Sercos serial real time communications system between servo and cpu
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a derusting wall-climbing robot electrical control system, which belongs to the technical field of robots, and comprises a lower computer control circuit board, a direct-current power supply, a servo driver, a speed reducer, an encoder, a servo motor, a robot body, a servo driver interface module and an upper computer controller, wherein the lower computer control circuit board is connected with the upper computer controller; the lower computer control circuit board and the upper computer controller are mutually communicated through RS485; the lower computer control circuit board is connected with the direct-current power supply and the servo driver interface module; the servo driver interface module is connected with the servo driver; the servo driver is connected with the servo motor; the servo motor is connected with the speed reducer; the speed reducer is arranged on the robot body. The control system provided by the invention is convenient, high in reliability and flexible to operate, the multi-level movement speed of a robot can be set through function keys, the movement direction and the movement speed can be adjusted in real time, and the omni-directional movement of the robot on a hull surface is realized.
Description
Technical field
The present invention relates to a kind of wall-climbing robot for removing rust electric control system, belong to robotics.
Background technology
Control system is the important component part of wall-climbing robot for removing rust on wall surfaces of ships, and it is responsible for completing rust cleaning is climbed in wall machine
The walking of device people and the control of turning function, allow the robot to go work according to predetermined track, and therefore rust cleaning is climbed with wall machine
The following basic demand control system of device people's control system proposition is convenient, reliability is high, flexible operation, is easy to operator and uses,
The multipole translational speed of robot can be set by function button, and can the real-time adjustment direction of motion and movement velocity, realize
All-around mobile on hull surface for the robot, because ship rust cleaning site environment is severe, the work of wall-climbing robot for removing rust
Its control mode of environmental constraints.
The system adopts the wired remote control simple and practical, reliability is high, and its command range need to be more than 30 meters, control system energy
Realize the simple operation of wall-climbing robot for removing rust it is ensured that derusting in crawling process for the robot.
Content of the invention
The invention aims to solution above-mentioned technical problem, and then provide a kind of wall-climbing robot for removing rust electrical control
System, control system is convenient, reliability is high, flexible operation, is easy to operator and uses.
Technical scheme:
A kind of wall-climbing robot for removing rust electric control system, comprising: slave computer control board, DC source, left servo
Driver, left decelerator, left servomotor, robot body, right decelerator, right servomotor, right servo-driver, left servo
Driver interface module, encoder, No. two encoders, right servo-driver interface module and supervisory controller,
Described slave computer control board is connected with supervisory controller, slave computer control board and supervisory controller
Mutually communicated by rs485；
Described slave computer control board is connected with DC source；
Described slave computer control board respectively with left servo-driver interface module and right servo-driver interface module
It is connected；
Described left servo-driver interface module is connected with left servo-driver；
Described left servo-driver is connected with left servomotor, is provided with one between left servo-driver and left servomotor
Number encoder；
Described left servomotor is connected with left decelerator；
Described right servo-driver interface module is connected with right servo-driver；
Described right servo-driver is connected with right servomotor, is provided with two between right servo-driver and right servomotor
Number encoder；
Described right servomotor is connected with right decelerator；
Described left decelerator and right decelerator are installed on robot body.
Model e6b2-cwz6c of limitation of the invention further, described encoder and encoder.
Limitation of the invention further, described left servo-driver interface module and right servo-driver interface module are
8155h extends 1/0 interface module.
Limitation of the invention further, described slave computer circuit plate includes: at89c51 single-chip microcomputer, the extension of 8155fo mouth
Circuit, d/a conversion and operation amplifier unit, digital quantity input/output interface circuit, power-switching circuit and enter with host computer
Rs 1 standard interface circuit of row communication.
Limitation of the invention further is it is characterised in that described left servomotor and right servomotor are sgamh mono-
04aaa21 type AC servo motor, matched servo-driver model sgdm mono- 04ad.
The method have the advantages that
1st, control system of the present invention is convenient, reliability is high, flexible operation.
2nd, the present invention can set the multipole translational speed of robot by function button, and can the real-time adjustment direction of motion
And movement velocity, realize all-around mobile on hull surface for the robot.
3rd, the present invention adopts the wired remote control simple and practical, reliability is high, and its command range need to be more than 30 meters.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that AC servo drive system controls wiring schematic diagram；
Fig. 3 is the interface circuit principle schematic of at89c51 single-chip microcomputer and 8155h；
Fig. 4 is the communication interface circuit of max 485；
Fig. 5 is upper and lower computer control system communication interface circuit catenation principle figure；
Fig. 6 is 4*4 determinant nonencoded keyboard structure.
Specific embodiment
Below with reference to accompanying drawing, the present invention is described in detail.
A kind of wall-climbing robot for removing rust electric control system, comprising: slave computer control board 1, DC source 2, a left side are watched
Take driver 3, left decelerator 5, left servomotor 4, robot body 6, right decelerator 7, right servomotor 8, right servo-drive
Device 9, left servo-driver interface module 13, No. two encoders 14 of 10, encoder, right servo-driver interface module 11 and
Supervisory controller 12 it is characterised in that
Described slave computer control board 1 is connected with supervisory controller 12, slave computer control board 1 and host computer control
Device 12 processed is mutually communicated by rs485；
Described slave computer control board 1 is connected with DC source 2；
Described slave computer control board 1 respectively with left servo-driver interface module 10 and right servo-driver interface mould
Block 11 is connected；
Described left servo-driver interface module 10 is connected with left servo-driver 3；
Described left servo-driver 3 is connected with left servomotor 4, installs between left servo-driver 3 and left servomotor 4
There is an encoder 13；
Described left servomotor 4 is connected with left decelerator 5；
Described right servo-driver interface module 11 is connected with right servo-driver 9；
Described right servo-driver 9 is connected with right servomotor 8, installs between right servo-driver 9 and right servomotor 8
There are No. two encoders 14；
Described right servomotor 8 is connected with right decelerator 7；
Described left decelerator 5 and right decelerator 7 are installed on robot body 6.
The control system of climbing robot adopts two grades of distributed control modes of upper and lower computer, even if to ensure no operating
In the case that personnel participate in, slave computer can also pass through the previously given instruction of serial ports according to host computer and parameter realizes autonomous work
Industry, so that wall surfaces of ships rust cleaning, climbing robot has high-efficient rust-removing, automatization level is high and reduces operator's operation by force
Degree capability operation personnel also with by observe hull surface actual corrosion situation, according to the actual work of wall-climbing robot for removing rust
Industry situation, is switched to artificial mode of operation at any time, to improve real-time, practicality and the high efficiency of robot.
In this control system, supervisory controller 12 and slave computer are all based on single-chip microcomputer and design.
Supervisory controller 12 is the control system with at89c51 Single Chip Microcomputer (SCM) system as core, mainly by at89c51 monolithic
Rs 1 interface of machine, matrix keyboard and standard is constituted, and its effect is to send instruction by each function button to slave computer,
To realize the remotely control to climbing robot servomotor.
Equipped with servomotor 4 and right servomotor 8 driver, DC source 2 and slave computer control circuit inside controller
Plate 1.
Slave computer control board 1 is the core of climbing robot control system, and its major function is to realize to a left side
The motor control of servomotor 4 and right servomotor 8 and being communicated, to complete to machine and supervisory controller 12 between
The control of people's operation, whole slave computer controls hardware mainly by right servo-driver 9 and left servo-driver 3 and the next single-chip microcomputer
Control board is constituted.
The next single chip machine controlling circuit plate mainly exports analog quantity voltage signal to control right servo-driver 9 and left servo
Driver 3, and then control the operating of left servomotor 4 and right servomotor 8, thus reaching control wall-climbing robot for removing rust walking
With the purpose turning to, it is responsible for the communication task and supervisory controller between again simultaneously, the control that host computer is sent
After instruction processed is processed, more corresponding voltage signal is passed to servo-driver, thus realizing the function of remote manipulation.Under whole
Position mounted circuit board is defeated with operation amplifier unit, digital quantity input by at89c51 single-chip microcomputer, 8155fo port expansion circuit, d/a conversion
Outgoing interface circuit, power-switching circuit and rs 1 standard interface circuit being communicated with host computer are constituted.
Slave computer control board 1 is also with at89c51 Single Chip Microcomputer (SCM) system as core, mainly by at89c51 single-chip microcomputer,
8155 extension i/0 interface circuits, conversion with operational amplification circuit, digital quantity input/output interface circuit, power-switching circuit with
And rs 1 standard interface being communicated with supervisory controller 12 is constituted, its effect is to be passed according to supervisory controller 12
The initiation parameter sending and action command carry out action, control right servo-driver 9 and left servo-driver 3, drive left servo
Motor 4 is moved with right servomotor 8, thus controlling walking and the steering of wall-climbing robot for removing rust.
The switch matrix that keyboard is made up of some buttons, it is simplest single-chip microcomputer input equipment, by keyboard
Input data and order, can achieve simple human computer conversation.
Walking on hull surface for the wall-climbing robot for removing rust and steering are by right servo-driver 9 and left servo-drive
The driving of device 3 is realizing.When left servomotor 4 is identical with steering with the rotating speed of right servomotor 8, climb wall rust removing robot
Straight line moving is realized on hull surface.When motor rotates forward, robot advances；During motor reversal, robot retreats.When left servo
When motor 4 is contrary with the steering of right servomotor 8, wall-climbing robot for removing rust is realized turning on hull surface.
Claims (5)
1. a kind of wall-climbing robot for removing rust electric control system, comprising: slave computer control board (1), DC source (2), a left side
Servo-driver (3), left decelerator (5), left servomotor (4), robot body (6), right decelerator (7), right servomotor
(8), right servo-driver (9), left servo-driver interface module (10), encoder (13), No. two encoders (14), right sides
Servo-driver interface module (11) and supervisory controller (12) it is characterised in that
Described slave computer control board (1) is connected with supervisory controller (12), slave computer control board (1) and host computer
Controller (12) is mutually communicated by rs485；
Described slave computer control board (1) is connected with DC source (2)；
Described slave computer control board (1) respectively with left servo-driver interface module (10) and right servo-driver interface mould
Block (11) is connected；
Described left servo-driver interface module (10) is connected with left servo-driver (3)；
Described left servo-driver (3) is connected with left servomotor (4), between left servo-driver (3) and left servomotor (4)
A number encoder (13) is installed；
Described left servomotor (4) is connected with left decelerator (5)；
Described right servo-driver interface module (11) is connected with right servo-driver (9)；
Described right servo-driver (9) is connected with right servomotor (8), between right servo-driver (9) and right servomotor (8)
No. two encoders (14) are installed；
Described right servomotor (8) is connected with right decelerator (7)；
Described left decelerator (5) and right decelerator (7) are installed on robot body (6).
2. according to claim 1 a kind of wall-climbing robot for removing rust electric control system it is characterised in that described encoder
(13) model e6b2-cwz6c with encoder (14).
3. according to claim 1 a kind of wall-climbing robot for removing rust electric control system it is characterised in that described left servo is driven
Dynamic device interface module (10) and right servo-driver interface module (11) extend i/0 interface module for 8155h.
4. according to claim 1 a kind of wall-climbing robot for removing rust electric control system it is characterised in that described the next dynamo-electric
Road plate (1) includes: at89c51 single-chip microcomputer, 8155fo port expansion circuit, d/a conversion are defeated with operation amplifier unit, digital quantity input
Outgoing interface circuit, power-switching circuit and rs 1 standard interface circuit being communicated with host computer.
5. according to claim 2 a kind of wall-climbing robot for removing rust electric control system it is characterised in that described left servo electricity
Machine (4) and right servomotor (8) are sgamh mono- 04aaa21 type AC servo motor, matched servo-drive type
Number be sgdm mono- 04ad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082063.1A CN106354101A (en) | 2016-11-30 | 2016-11-30 | Derusting wall-climbing robot electrical control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082063.1A CN106354101A (en) | 2016-11-30 | 2016-11-30 | Derusting wall-climbing robot electrical control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106354101A true CN106354101A (en) | 2017-01-25 |
Family
ID=57863042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082063.1A Pending CN106354101A (en) | 2016-11-30 | 2016-11-30 | Derusting wall-climbing robot electrical control system |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107081771A (en) * | 2017-06-18 | 2017-08-22 | 中国船舶重工集团公司第七六研究所 | Ship paint-spray robot work system and method |
| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN112816743A (en) * | 2021-02-05 | 2021-05-18 | 南京首汇智能科技有限公司 | Duplex position BISS encoder communication circuit and device thereof |
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| CN107253147A (en) * | 2017-06-18 | 2017-10-17 | 中国船舶重工集团公司第七六研究所 | Ship Rust Removal Robot of Sand Blast work system |
| CN112816743A (en) * | 2021-02-05 | 2021-05-18 | 南京首汇智能科技有限公司 | Duplex position BISS encoder communication circuit and device thereof |
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Application publication date: 20170125 |