CN108081272A - Based on monolithic processor controlled synchronous robot - Google Patents
Based on monolithic processor controlled synchronous robot Download PDFInfo
- Publication number
- CN108081272A CN108081272A CN201711353954.0A CN201711353954A CN108081272A CN 108081272 A CN108081272 A CN 108081272A CN 201711353954 A CN201711353954 A CN 201711353954A CN 108081272 A CN108081272 A CN 108081272A
- Authority
- CN
- China
- Prior art keywords
- robot
- microcontroller
- steering engine
- monolithic processor
- processor controlled
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- 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
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of based on monolithic processor controlled synchronous robot, including robot body, it is provided on robot body by the motion arm of joint servo driving, the microcontroller that joint steering engine is controlled to act is additionally provided on robot body, the microcontroller is connected with joint servos control signal, which is also associated with perceiving the sensor of human body limb action.The present invention is by acquisition of the sensor to somatic data, microcontroller analysis data, and sends instruction so that corresponding joint steering engine to be controlled to act, and achievees the effect that synchronous with people, and simple and practical in structure, robot control is sensitive, and operation is accurately.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of monolithic processor controlled synchronous robot.
Background technology
With social constantly development, the intelligent epoch, human resources can also seem very valuable at hand, so, very
Eventful feelings are unable to employment and do, such as：Bomb is somewhere being mounted with there are one people, and at this time employment goes to tear the lattice that will seem open
Outer danger, so synchronous robot has just sent use, people can fall back on safety line accident, be torn open using synchronous robot
Except bomb, synchronous robot is exactly by the action of the sensor collection mankind, so as to make the action as people.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to it provides a kind of based on monolithic processor controlled synchronous machine
People by acquisition of the sensor to somatic data, microcontroller analysis data, and sends instruction to control corresponding joint steering engine
Action, achievees the effect that synchronous with people.
To solve the above problems, the present invention provides following technical scheme：
One kind, including robot body, is provided on robot body by closing based on monolithic processor controlled synchronous robot
The motion arm of servo driving is saved, is additionally provided with to control the microcontroller of joint steering engine action, the microcontroller on robot body
It is connected with joint servos control signal, which is also associated with perceiving the sensor of human body limb action.
Wherein, the sensor be potentiometer, when human body limb act change when, potentiometer by self-resistance change to
Microcontroller sends the analog signal of relevant voltage variation.The microcontroller receives the analog signal that the sensor is sent and should
Analog signal is converted into digital signal.The microcontroller sends pwm signal so that corresponding joint steering engine to be controlled to move to joint steering engine
Make.
The model HT66VU70A of the microcontroller.
The robot body includes skeleton made of aluminum pipe and the covering being coated on skeleton, and covering is by aluminium skin and rubber
Glue is made；The joint steering engine is fixed on the skeleton of robot body.
Beneficial effects of the present invention are compared with prior art：
The present invention sends instruction to control phase by acquisition of the sensor to somatic data, microcontroller analysis data
The joint steering engine action answered, achievees the effect that synchronous with people.The present invention is simple and practical, and robot control is sensitive, and operation is accurate.
Description of the drawings
Fig. 1 is the system frame structure schematic diagram of the present invention.
Fig. 2 is Synchronization Control circuit theory schematic diagram of the present invention.
Fig. 3 is the circuit theory schematic diagram that microcontroller of the present invention controls joint steering engine.
Reference sign：1. microcontroller；2. joint steering engine；3. motion arm；4. sensor.
Specific embodiment
With reference to Figure of description and embodiment, the specific embodiment of the present invention is described in further detail：
Referring to figs. 1 to one kind shown in Fig. 3 based on monolithic processor controlled synchronous robot, including robot body, machine
The motion arm 3 driven by joint steering engine 2 is provided on human body, is additionally provided with to control joint steering engine 2 on robot body
The microcontroller 1 of action, the model HT66VU70A of microcontroller 1.The microcontroller 1 is connected with 2 control signal of joint steering engine, the list
Piece machine 1 is also associated with perceiving the sensor 4 of human body limb action.
Wherein, the robot body includes skeleton made of aluminum pipe and the covering being coated on skeleton, and covering is by aluminium
Skin and rubber are made；The joint steering engine 2 is fixed on the skeleton of robot body.The sensor 4 is potentiometer, when
During human body limb action variation, potentiometer changes the analog signal for sending relevant voltage to microcontroller 1 and changing by self-resistance.
The microcontroller 1 receives the analog signal that the sensor 4 is sent and the analog signal is converted into digital signal.The monolithic
Machine 1 sends pwm signal so that corresponding joint steering engine 2 to be controlled to act to joint steering engine 2.
It is as follows based on monolithic processor controlled synchronous robot operation principle and process：
As shown in Figure 1, HT66VU70A microcontrollers 1 are Master control chip, by sensor 4 to human body limb action data
Acquisition, microcontroller 1 analyzes data, and sends corresponding control instruction.
Sensor 4 is changed the principle of voltage using resistance variations, gathers the action of human body mainly using potentiometer, when
During people raises one's hand and lets go, resistance can change, and whenever resistance changes, voltage can also change therewith, and microcontroller 1 is logical
It crosses and collects these variations so as to send corresponding order, so as to which robot be driven to realize synchronous purpose, specific control such as Fig. 2
Shown, sensor 4 mainly using potentiometer, is changed the principle of voltage using resistance variations, gathers the action of human body, lifted when in people
Hand and during letting go, resistance can change, and whenever resistance changes, voltage can also change therewith, and microcontroller 1 is by adopting
Collect these variations so as to send corresponding order, so as to which robot be driven to realize synchronous purpose.
Microcontroller 1 is the core component of the system, plays a part of to detect signal, signal Analysis and sends order, microcontroller 1
Changed by the voltage for receiving sensor 4, analog signal is converted into digital signal, what action judges people is, so as to send out
Go out to control the pwm signal of joint action, as shown in figure 3, by joint steering engine 2 action of motion arm 3 is driven to reach the effect synchronous with people
Fruit.
The above is only presently preferred embodiments of the present invention, not makes any restrictions to the technical scope of the present invention, therefore
Any subtle modifications, equivalent variations and modifications that every technical spirit according to the invention makees above example, still belong to
In the range of technical scheme.
Claims (6)
1. one kind, including robot body, is provided on robot body by joint based on monolithic processor controlled synchronous robot
The motion arm (3) of steering engine (2) driving, it is characterised in that：It is additionally provided with that joint steering engine (2) is controlled to act on robot body
Microcontroller (1), which is connected with joint steering engine (2) control signal, which is also associated with perceiving
The sensor (4) of human body limb action.
2. according to claim 1 be based on monolithic processor controlled synchronous robot, it is characterised in that：The sensor (4)
For potentiometer, when human body limb, which acts, to be changed, potentiometer, which is changed by self-resistance to microcontroller (1), sends relevant voltage change
The analog signal of change.
3. according to claim 2 be based on monolithic processor controlled synchronous robot, it is characterised in that：The microcontroller (1)
It receives the analog signal of the sensor (4) transmission and the analog signal is converted into digital signal.
4. according to claim 3 be based on monolithic processor controlled synchronous robot, it is characterised in that：The microcontroller (1)
Pwm signal is sent to joint steering engine (2) so that corresponding joint steering engine (2) to be controlled to act.
5. according to claim 1 be based on monolithic processor controlled synchronous robot, it is characterised in that：The microcontroller (1)
Model HT66VU70A.
6. according to claim 1 be based on monolithic processor controlled synchronous robot, it is characterised in that：The robot body
Including skeleton made of aluminum pipe and the covering being coated on skeleton, covering is made of aluminium skin and rubber；The joint steering engine (2)
It is fixed on the skeleton of robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353954.0A CN108081272A (en) | 2017-12-15 | 2017-12-15 | Based on monolithic processor controlled synchronous robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353954.0A CN108081272A (en) | 2017-12-15 | 2017-12-15 | Based on monolithic processor controlled synchronous robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081272A true CN108081272A (en) | 2018-05-29 |
Family
ID=62176093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711353954.0A Pending CN108081272A (en) | 2017-12-15 | 2017-12-15 | Based on monolithic processor controlled synchronous robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081272A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858145A (en) * | 2018-07-12 | 2018-11-23 | 华南理工大学 | A kind of double-flexibility robot Synchronous motion control apparatus and method |
| CN110340872A (en) * | 2019-07-15 | 2019-10-18 | 赵智泉 | Wearable remote-controlled robot and control method |
| WO2020151044A1 (en) * | 2019-01-24 | 2020-07-30 | 深圳市工匠社科技有限公司 | Robot control system, and related product |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204844192U (en) * | 2015-08-28 | 2015-12-09 | 重庆科创职业学院 | Synchronous machine people based on single chip microcomputer control |
-
2017
- 2017-12-15 CN CN201711353954.0A patent/CN108081272A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204844192U (en) * | 2015-08-28 | 2015-12-09 | 重庆科创职业学院 | Synchronous machine people based on single chip microcomputer control |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858145A (en) * | 2018-07-12 | 2018-11-23 | 华南理工大学 | A kind of double-flexibility robot Synchronous motion control apparatus and method |
| CN108858145B (en) * | 2018-07-12 | 2023-09-26 | 华南理工大学 | Synchronous motion control device and method for double-flexible robot |
| WO2020151044A1 (en) * | 2019-01-24 | 2020-07-30 | 深圳市工匠社科技有限公司 | Robot control system, and related product |
| CN110340872A (en) * | 2019-07-15 | 2019-10-18 | 赵智泉 | Wearable remote-controlled robot and control method |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |
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