CN106598004A - Robot control circuit - Google Patents
Robot control circuit Download PDFInfo
- Publication number
- CN106598004A CN106598004A CN201611102905.5A CN201611102905A CN106598004A CN 106598004 A CN106598004 A CN 106598004A CN 201611102905 A CN201611102905 A CN 201611102905A CN 106598004 A CN106598004 A CN 106598004A
- Authority
- CN
- China
- Prior art keywords
- circuit
- frequency
- actuator
- control
- wavelet filter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a robot control circuit comprising a central controller, a frequency conversion circuit, a frequency combination circuit, wavelet filters, and actuators. The output of the central controller is sequentially connected with the frequency conversion circuit and the frequency combination circuit, and the frequency combination circuit is connected with a control bus, and a plurality of branches of the control bus are respectively connected with a plurality of wavelet filters, and then each wavelet filter is connected with the actuators. The connection among the central controller, the frequency conversion circuit, and the frequency conversion circuit is multi-channel connection, and the number of the connected channels is the same as the number of the wavelet filters. By adopting the arrangement of the frequency conversion circuit, the frequency combination circuit, and the wavelet filters, real-time complicated control over a plurality of branches of actuators is realized effectively by using one bus, and a signal interference problem is prevented, and therefore connection is simple, and expansion is easy.
Description
Technical field
The present invention relates to a kind of robot control circuit.
Background technology
For the control of robot in prior art, typically all master controller connects multiple drive circuits respectively, so
Afterwards by drive circuit connection control actuator, so as to realize overall control, this mode means for each unit
Actuator, is required for being connected individually to master controller, and when actuator is a fairly large number of, control circuit can be answered very much
It is miscellaneous, the bulky problem that master controller is brought for expansion interface quantity is on the one hand faced with, is on the other hand also faced
The problem for causing control accuracy to reduce is interfered in control signal transmitting procedure.
And if control circuit is merged into bus simply, then bus is connected to nearby by each actuator, due to letter
Number it is the linear transmission of single channel, therefore on the one hand faces danger or disaster on transmission bandwidth with the restriction for breaking through, on the other hand for multiple
The situation of actuator continuous control, necessarily causes serious delay, is thus difficult to real-time complex control.
The content of the invention
To solve above-mentioned technical problem, the invention provides a kind of robot control circuit, the robot control circuit leads to
Overfrequency change-over circuit, frequency consolidation circuit, the setting of wavelet filter, can effectively realize that a bus completes multiple branch circuit execution
The real-time complex control of mechanism, and there is no signal interference, connection is simple, extension is easy.
The present invention is achieved by the following technical programs.
A kind of robot control circuit that the present invention is provided, including master controller, freq converting circuit, frequency merging electricity
Road, wavelet filter, actuator；The master controller output is sequentially connected freq converting circuit, frequency consolidation circuit, frequency
Rate consolidation circuit rear class connects controlling bus, and in controlling bus, multiple branch circuit connects multiple wavelet filters, each wavelet filtering respectively
Device rear class connects actuator；Connection between the master controller, freq converting circuit, frequency consolidation circuit connects for multichannel
Connect, connection way is identical with wavelet filter quantity；The master controller by for multiple actuators control signal simultaneously
Row is sent to freq converting circuit, and multi-way control signals are represented by freq converting circuit respectively according to the digital signal of different frequency
And multichannel is sent to frequency consolidation circuit, after the digital signal of the multichannel different frequency for receiving is merged by frequency consolidation circuit
Imitative analogue signal is formed, is sent to controlling bus；The wavelet filter reads imitative analogue signal from controlling bus, and will read
The imitative analogue signal for taking is extracted according to preset frequency frequency dividing, and the unifrequency digital signal for extracting is exported to rear class and completes control.
Drive circuit is also associated between the wavelet filter and actuator, wavelet filter is exported by drive circuit
Digital signal be decoded as the corresponding control signal of actuator, and connection control actuator according to this.
The wavelet filter quantity is more than seven.
The actuator is servomotor, hydraulic means or pneumatic shuttle.
The controlling bus are audio transmission line.
The beneficial effects of the present invention is：By freq converting circuit, frequency consolidation circuit, wavelet filter setting,
Can effectively realize that a bus completes the real-time complex control of multiple branch circuit actuator, and there is no signal interference,
Connection is simple, extension is easy.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
In figure：101- master controllers, 102- freq converting circuits, 103- frequency consolidation circuits, 201- wavelet filters,
202- drive circuits, 203- actuators.
Specific embodiment
Be described further below technical scheme, but claimed scope be not limited to it is described.
A kind of robot control circuit as shown in Figure 1, including master controller 101, freq converting circuit 102, frequency
Consolidation circuit 103, wavelet filter 201, actuator 203；The output of the master controller 101 is sequentially connected frequency conversion electricity
Road 102, frequency consolidation circuit 103,103 rear class of frequency consolidation circuit connect controlling bus, and in controlling bus, multiple branch circuit connects respectively
Multiple wavelet filters 201, the connection actuator 203 of 201 rear class of each wavelet filter；The master controller 101, frequency
Connection between change-over circuit 102, frequency consolidation circuit 103 is multi-wad join, connection way and 201 quantity phase of wavelet filter
Together；The master controller 101 will be directed to the control signal transmitted in parallel of multiple actuators 203 to freq converting circuit 102,
Multi-way control signals are represented by freq converting circuit 102 respectively according to the digital signal of different frequency and multichannel sends to frequency and closes
And circuit 103, frequency consolidation circuit 103 forms paranorm plan after the digital signal of the multichannel different frequency for receiving is merged believes
Number, send to controlling bus；The wavelet filter 201 reads imitative analogue signal, and the paranorm that will be read from controlling bus
Intend signal to extract according to preset frequency frequency dividing, the unifrequency digital signal for extracting is exported to rear class and completes control.
Thus, the method based on wavelet analysises, a controlling bus can at least while carry up to a hundred branch road control controls
Whether signal processed, each branch road wavelet filter 201 have preset frequency during the imitative analogue signal of bus is judged in per a period of time window
Signal, you can obtain such as 0,1 digital signal for representing.
Further, although controlling bus signal transmission is transmitted in the way of analogue signal, but the representation of signal
It is the mode of digital signal, and most of actuators at present directly can not be controlled by digital signal, thus it is described
It is also associated with drive circuit 202 between wavelet filter 201 and actuator 203, drive circuit 202 is by wavelet filter 201
The digital signal of output is decoded as 203 corresponding control signal of actuator, and connection control actuator 203 according to this.
Obviously, in the case of actuator negligible amounts, it is clear that the mode cost of the direct-connected master controller of actuator
It is lower, therefore consider actual cost and technique effect, 201 quantity of the wavelet filter is more than seven.
Specifically, the actuator 203 is servomotor, hydraulic means or pneumatic shuttle.
In general, controlling bus are optimal using the laser propagation effect of optical fiber, but for the development of current optical fiber technology, light
Fine circuit is difficult to ensure that a large amount of repetition bendings and does not damage, therefore to ensure stability, the controlling bus are audio transmission line.
Claims (5)
1. a kind of robot control circuit, including master controller (101), freq converting circuit (102), frequency consolidation circuit
(103), wavelet filter (201), actuator (203), it is characterised in that：Master controller (101) output connects successively
Freq converting circuit (102), frequency consolidation circuit (103) are connect, frequency consolidation circuit (103) rear class connects controlling bus, and control is total
On line, multiple branch circuit connects multiple wavelet filters (201) respectively, and each wavelet filter (201) rear class connects actuator
(203)；The master controller (101), the connection between freq converting circuit (102), frequency consolidation circuit (103) are multichannel
Connection, connection way are identical with wavelet filter (201) quantity；The master controller (101) will be for multiple actuators
(203) multi-way control signals are divided by control signal transmitted in parallel to freq converting circuit (102), freq converting circuit (102)
Do not represent according to the digital signal of different frequency and multichannel is sent to frequency consolidation circuit (103), frequency consolidation circuit (103) will
The digital signal of the multichannel different frequency for receiving forms imitative analogue signal after merging, send to controlling bus；The small echo
Wave filter (201) reads imitative analogue signal from controlling bus, and the imitative analogue signal for reading is carried according to preset frequency frequency dividing
Take, the unifrequency digital signal for extracting is exported to rear class and completes control.
2. robot control circuit as claimed in claim 1, it is characterised in that：The wavelet filter (201) and execution machine
Drive circuit (202), the digital signal that wavelet filter (201) is exported by drive circuit (202) are also associated between structure (203)
It is decoded as the corresponding control signal of actuator (203), and connection control actuator (203) according to this.
3. robot control circuit as claimed in claim 1, it is characterised in that：Wavelet filter (201) quantity is seven
More than individual.
4. robot control circuit as claimed in claim 1, it is characterised in that：The actuator (203) is servomotor,
Hydraulic means or pneumatic shuttle.
5. robot control circuit as claimed in claim 1, it is characterised in that：The controlling bus are audio transmission line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102905.5A CN106598004A (en) | 2016-12-05 | 2016-12-05 | Robot control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102905.5A CN106598004A (en) | 2016-12-05 | 2016-12-05 | Robot control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106598004A true CN106598004A (en) | 2017-04-26 |
Family
ID=58595847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611102905.5A Pending CN106598004A (en) | 2016-12-05 | 2016-12-05 | Robot control circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106598004A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1288617A (en) * | 1998-11-18 | 2001-03-21 | 松下电器产业株式会社 | Radio communication device and transmission antenna switching method |
| US6588342B2 (en) * | 2001-09-20 | 2003-07-08 | Breed Automotive Technology, Inc. | Frequency addressable ignitor control device |
| CN1592263A (en) * | 2003-08-08 | 2005-03-09 | 株式会社东芝 | System for controlling multiple apparatus |
| CN104647389A (en) * | 2014-12-30 | 2015-05-27 | 北京欣奕华科技有限公司 | Robot control system and robot device |
| JP5868489B2 (en) * | 2012-03-23 | 2016-02-24 | 株式会社日立製作所 | Wireless communication system, elevator control system, and substation equipment control system |
-
2016
- 2016-12-05 CN CN201611102905.5A patent/CN106598004A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1288617A (en) * | 1998-11-18 | 2001-03-21 | 松下电器产业株式会社 | Radio communication device and transmission antenna switching method |
| US6588342B2 (en) * | 2001-09-20 | 2003-07-08 | Breed Automotive Technology, Inc. | Frequency addressable ignitor control device |
| CN1592263A (en) * | 2003-08-08 | 2005-03-09 | 株式会社东芝 | System for controlling multiple apparatus |
| JP5868489B2 (en) * | 2012-03-23 | 2016-02-24 | 株式会社日立製作所 | Wireless communication system, elevator control system, and substation equipment control system |
| CN104647389A (en) * | 2014-12-30 | 2015-05-27 | 北京欣奕华科技有限公司 | Robot control system and robot device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |