CN106371379A - Motion control module of robot - Google Patents
Motion control module of robot Download PDFInfo
- Publication number
- CN106371379A CN106371379A CN201611112899.1A CN201611112899A CN106371379A CN 106371379 A CN106371379 A CN 106371379A CN 201611112899 A CN201611112899 A CN 201611112899A CN 106371379 A CN106371379 A CN 106371379A
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- control module
- detector
- control unit
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- robot
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- 230000033001 locomotion Effects 0.000 title abstract description 10
- 239000000725 suspension Substances 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 35
- 230000005611 electricity Effects 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 3
- 235000007237 Aegopodium podagraria Nutrition 0.000 description 1
- 244000045410 Aegopodium podagraria Species 0.000 description 1
- 235000014429 Angelica sylvestris Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a motion control module of a robot. The motion control module comprises a driving motor, an H-bridge driving circuit, a microcontrol unit, a suspension detector, a sharp edge detector, a ground gray detector, an encoder and a 485 bus, wherein the driving motor is connected with the microcontrol unit through the H-bridge driving circuit; the microcontrol unit is connected with the suspension detector, the sharp edge detector, the ground gray detector and the encoder; the microcontrol unit is in communication with a main control module through the 485 bus. The motion control module of the robot has the advantages that the driving capacity is improved, the speed closed-loop control function is realized, the self anti-falling protection function is realized, and the safety motion of the robot is realized.
Description
Technical field
The present invention relates to a kind of motion-control module of robot.
Background technology
Robot integrally adopts modular construction, all establishes one's own system, by highlighted lcd in head, both arms, body and driving chassis
Touch screen and voice mode are interacted with user.
Robot body is assembled together by general-purpose interface with both arms, head and driving chassis, will by communication cable
The controlling bus port of each module control mainboard is connected with the controlling bus port of body control mainboard, and control instruction passes through communication
Cable is sent to each module control mainboard, and each module control mainboard executes the control instruction that body control mainboard sends, whole machine
Device people is cooperated under body control mainboard is uniformly controlled, and completes various motions and action, this is accomplished by designing a kind of machine
The motion-control module of people, ensures robot security's motion.
Content of the invention
The purpose of the present invention is the defect overcoming prior art, provides a kind of motion-control module of robot, Neng Gouti
High driving ability, possesses velocity close-loop control function, and possesses self and prevent falling defencive function, ensures robot security's motion.
The technical scheme realizing above-mentioned purpose is: a kind of motion-control module of robot, external main control module, described fortune
Dynamic control module includes motor, h bridge drive circuit, micro-control unit (mcu), hangs detector, sharp edge detector, ground
Gray scale detection device, encoder and 485 buses, wherein:
Described motor is connected with described micro-control unit by described h bridge drive circuit；
Described micro-control unit hangs detector, sharp edge detector, ground gray scale detection device and encoder with described respectively
It is connected；
Described micro-control unit is communicated by described 485 buses and described main control module；
Described main control module sends control instruction, and this control instruction gives described microcontroller list by described 485 bus transfer
Unit；
Described micro-control unit sends drive signal according to the control instruction receiving, and this drive signal passes through described h bridge and drives
Galvanic electricity road is transferred to described motor；
The detection letter of the described detection signal, the detection signal of sharp edge detector and ground gray scale detection device hanging detector
Number it is transferred to described micro-control unit respectively, described micro-control unit is by the detection signal of the suspension receiving detector, sharp edge inspection
The detection signal of the detection signal of survey device and ground gray scale detection device gives described master control mould by described 485 bus transfer respectively
Block；
Described encoder is sampled to the speed of robot, and gives described microcontroller list speed sampling information transfer
Unit, the speed sampling information of reception is given described main control module by described 485 bus transfer by described micro-control unit.
A kind of motion-control module of above-mentioned robot, wherein, described enter h bridge drive circuit adopt the double direct current of l298n
Motor drive ic, the double DC motor Driver integrated chip of described l298n has current sample port.
A kind of motion-control module of above-mentioned robot, wherein, described encoder is using extra large moral 256 line standard coding
Device, the interface of this encoder comprises power supply signal, earth signal, a phase signals and b phase signals.
A kind of motion-control module of above-mentioned robot, wherein, described suspension detector, sharp edge detector and ground ash
Degree detector is respectively adopted infrared transceiver device.
The motion-control module of the robot of the present invention, it is possible to increase driving force, possesses velocity close-loop control function, and
And possess self anti-fall defencive function, ensure robot security's motion.
Brief description
Fig. 1 is the structure chart of the motion-control module of robot of the present invention.
Specific embodiment
In order that those skilled in the art are better understood when technical scheme, right below in conjunction with the accompanying drawings
Its specific embodiment is described in detail:
Refer to Fig. 1, highly preferred embodiment of the present invention, a kind of motion-control module of robot, including motor 1, h
Bridge drive circuit 2, micro-control unit 3, suspension detector 4, sharp edge detector 5, ground gray scale detection device 6, encoder 7 and 485
Bus 8, motion-control module and main control module 100 phase.
Motor 1 is connected with micro-control unit 3 by h bridge drive circuit 2；Micro-control unit 3 detects with hanging respectively
Device 4, sharp edge detector 5, ground gray scale detection device 6 are connected with encoder 7；Micro-control unit 3 passes through 485 buses 8 and master control mould
Block 100 is communicated.
Main control module 100 sends control instruction, and this control instruction is transferred to micro-control unit 3 by 485 buses 8；Micro-control
Unit 3 processed sends drive signal according to the control instruction receiving, and this drive signal is transferred to driving electricity by h bridge drive circuit 2
Machine 1；The detection signal hanging the detection signal, the detection signal of sharp edge detector 5 and ground gray scale detection device 6 of detector 4 divides
Micro-control unit 3 is defeated by by supplementary biography, and micro-control unit 3 hangs the detection signal of detector 4, the inspection of sharp edge detector 5 by receive
Survey signal and the detection signal of ground gray scale detection device 6 is transferred to main control module 100 by 485 buses 8 respectively；Encoder 7 is right
The speed of robot is sampled, and the speed that speed sampling information transfer will be received to micro-control unit 3, micro-control unit 3
Degree sample information is transferred to main control module 100 by 485 buses 8.
The type of drive of the motion-control module of the robot of the present invention adopts h bridge drive circuit, and h bridge drive circuit is general
There are twin-stage type twin-stage transistor npn npn, mos pipe or h bridge is constituted using Motor drive ic it is considered to system stability is reliable, using ic side
Formula.The double DC motor Driver chip of l298n that st company produces constitutes h bridge drive circuit, single channel current Continuous Drive ability
Reach 2a, peak point current can arrive 40v up to 3a, maximum operating voltage, and provides current feedback interface, in the input feelings of 24vdc
Under condition, can reliably drive the direct current generator of 48w, in order to strengthen driving force it is considered to will be in parallel for two groups of l298n drivings, from
And driving force can be improved further.The double DC motor Driver integrated chip of l298n has current sample port.
Encoder 7 selects: motion-control module need to possess velocity close-loop control function, therefore needs to be equipped with for speed sampling
Sensor, because robot is less demanding to velocity accuracy, using extra large moral 256 line standard encoder, compiles encoder at this
In interface, contain power supply signal, earth signal, a phase signals and b phase signals.
The protection signal of the motion-control module of the robot of the present invention adopts current protection: motion-control module motor electricity
The current sample port that stream detection is provided using the double DC motor Driver chip of l298n, carries out electricity by low resistance power resistor
Stream detection, effective constitution current control closed-loop control system, simultaneously it can also be used to detect the overcurrent phenomenon of motor.
The main body protection of the motion-control module of the robot of the present invention: because robot has user's flow chart function,
In order to prevent in the case that user program malfunctions, robot body will not be destroyed, and the motion-control module of robot should possess
Self prevent falling defencive function, this protection has higher-rights and possesses certain independence, is equipped with over the ground in drive module for this
Detecting function, is not acted on by main control module, and detection sensor adopts infrared transceiver device over the ground.Detection sensor bag over the ground
Include suspension detector 4, sharp edge detector 5 and ground gray scale detection device 6, hang detector, sharp edge detector and the inspection of ground gray scale
Survey device and be respectively adopted infrared transceiver device.
The communication of the motion-control module of the robot of the present invention: in order to reach module design, motion-control module has
Independent mcu, mcu are communicated using 485 buses with main control module.
In sum, the motion-control module of the robot of the present invention, it is possible to increase driving force, possesses speed closed loop control
Function processed, and possess self and prevent falling defencive function, ensure robot security's motion.
Those of ordinary skill in the art it should be appreciated that above embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, the change as long as in the spirit of the present invention, to embodiment described above
Change, modification all will fall in the range of claims of the present invention.
Claims (4)
1. a kind of motion-control module of robot, external main control module is it is characterised in that described motion-control module includes driving
Galvanic electricity machine, h bridge drive circuit, micro-control unit, hang detector, sharp edge detector, ground gray scale detection device, encoder and
485 buses, wherein:
Described motor is connected with described micro-control unit by described h bridge drive circuit；
Described micro-control unit is connected with described suspension detector, sharp edge detector, ground gray scale detection device and encoder respectively；
Described micro-control unit is communicated by described 485 buses and described main control module；
Described main control module sends control instruction, and this control instruction gives described micro-control unit by described 485 bus transfer；
Described micro-control unit sends drive signal according to the control instruction receiving, and this drive signal passes through described h bridge and drives electricity
Road is transferred to described motor；
The detection signal of the described detection signal, the detection signal of sharp edge detector and ground gray scale detection device hanging detector divides
Described micro-control unit is defeated by by supplementary biography, and described micro-control unit is by the suspension the receiving detection signal of detector, sharp edge detector
Detection signal and ground gray scale detection device detection signal respectively by described 485 bus transfer give described main control module；
Described encoder is sampled to the speed of robot, and gives described micro-control unit, institute speed sampling information transfer
State micro-control unit and the speed sampling information receiving is passed through described 485 bus transfer to described main control module.
2. a kind of robot according to claim 1 motion-control module it is characterised in that described enter h bridge drive electricity
Road adopts the double DC motor Driver chip of l298n, and the double DC motor Driver integrated chip of described l298n has current sample port.
3. a kind of motion-control module of robot according to claim 1 is it is characterised in that described encoder is using sea
Moral 256 line standard encoder, the interface of this encoder comprises power supply signal, earth signal, a phase signals and b phase signals.
4. a kind of robot according to claim 1 motion-control module it is characterised in that described suspension detector,
Sharp edge detector and ground gray scale detection device are respectively adopted infrared transceiver device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611112899.1A CN106371379A (en) | 2016-12-07 | 2016-12-07 | Motion control module of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611112899.1A CN106371379A (en) | 2016-12-07 | 2016-12-07 | Motion control module of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106371379A true CN106371379A (en) | 2017-02-01 |
Family
ID=57891777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611112899.1A Pending CN106371379A (en) | 2016-12-07 | 2016-12-07 | Motion control module of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106371379A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581222A (en) * | 2018-04-13 | 2018-09-28 | 李宗祺 | Electrodeless laser cutting system |
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| CA2451361A1 (en) * | 2002-11-27 | 2004-05-27 | Universite De Sherbrooke | Modular robotic platform |
| JP2004167666A (en) * | 2002-08-30 | 2004-06-17 | Sony Corp | Robot device and action control method used for the same |
| US20060177295A1 (en) * | 2001-04-22 | 2006-08-10 | Hansrued Frueh | Buckling arm robot |
| CN101045299A (en) * | 2007-04-12 | 2007-10-03 | 武汉科技大学 | Independent joint control device for modularized robot based on DSP |
| CN101200064A (en) * | 2007-10-26 | 2008-06-18 | 昆山华恒工程技术中心有限公司 | Open robotic system |
| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
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| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
| CN105281619A (en) * | 2015-04-20 | 2016-01-27 | 重庆有法数控设备有限责任公司 | Servo driver |
| CN105553341A (en) * | 2014-10-30 | 2016-05-04 | 常州轻工职业技术学院 | Elevating equipment multi-direct current motor synchronous controller and method based on CAN bus |
-
2016
- 2016-12-07 CN CN201611112899.1A patent/CN106371379A/en active Pending
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| US20060177295A1 (en) * | 2001-04-22 | 2006-08-10 | Hansrued Frueh | Buckling arm robot |
| JP2003211380A (en) * | 2002-01-18 | 2003-07-29 | Honda Motor Co Ltd | Abnormality detector for mobile robot |
| JP2004167666A (en) * | 2002-08-30 | 2004-06-17 | Sony Corp | Robot device and action control method used for the same |
| CA2451361A1 (en) * | 2002-11-27 | 2004-05-27 | Universite De Sherbrooke | Modular robotic platform |
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| CN101770221A (en) * | 2008-12-30 | 2010-07-07 | 中国科学院自动化研究所 | Two-arm inspection robot control system based on field bus |
| CN102437800A (en) * | 2011-12-23 | 2012-05-02 | 中国科学院自动化研究所 | Direct current motor servo driver |
| CN102837752A (en) * | 2012-09-20 | 2012-12-26 | 吉林大学 | Six-foot obstacle crossing robot with limb self-cutting function and control system thereof |
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Cited By (1)
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| CN108581222A (en) * | 2018-04-13 | 2018-09-28 | 李宗祺 | Electrodeless laser cutting system |
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Application publication date: 20170201 |
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