CN108098748A - Signal transmission system based on more steering engine snake-shaped robots - Google Patents
Signal transmission system based on more steering engine snake-shaped robots Download PDFInfo
- Publication number
- CN108098748A CN108098748A CN201711354122.0A CN201711354122A CN108098748A CN 108098748 A CN108098748 A CN 108098748A CN 201711354122 A CN201711354122 A CN 201711354122A CN 108098748 A CN108098748 A CN 108098748A
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- China
- Prior art keywords
- signal
- steering engine
- snake
- ffc
- transmission system
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of control signal transmission field of snake-shaped robot, it is a kind of signal transmission system based on more steering engine snake-shaped robots, the system includes the transmission node of number suitable with snake body joint number, each transmission node includes a signal management module, one steering engine interface unit and two FFC connectors, control signal by master unit transmissions to each transmission node, is managed signal by signal management module and the movement for controlling steering engine is made choice to every section snake body steering engine desired signal by FFC connectors.Transmission node in the present invention have many advantages, such as simplify, it is at low cost, small, light-weight, be easily installed, reliably, flexibility it is good, each transmission node is parallel with one another by FFC soft arranging wires by the FFC connectors each drawn, can in real time, stablize transmission signal, and each transmission node can flexibly and easily on each joint of snake-shaped robot, enable that snake-shaped robot is flexible, movement freely.
Description
Technical field
It is a kind of based on each of snake-shaped robot the present invention relates to the control signal transmission field of more steering engine snake-shaped robots
Signal transmission system between joint.
Background technology
Intelligentized bio-robot, especially snake-shaped robot have been possessed the robot of extensive use.It develops now
Most of snake-shaped robot be all to be formed by connecting by multiple joints, realize complicated three-dimensional motion and a variety of typical movement moulds
Formula.Since the joint number of snake-shaped robot is more, so main control unit needs to control multiple joints simultaneously, and mutually without dry
It relates to, it is highly difficult the movement that the simple and reliable each joint of guarantee can be steady, flexible, lasting.
The signal transmission form of traditional snake-shaped robot is CAN bus formula.There are two most for snake-shaped robot signal transmission
Basic requirement：First, data content is correct；Second is that real-time Transmission.To this 2 points, have involved in CAN bus, but still deposit
In loopholes such as inconsistency, unpredictability, channel error blockings.This CAN bus formula transmission mode be it is a kind of will be each
The transmission mode that scattered execution unit connects, it there are it is a series of apparent the shortcomings that：
First, inconsistency.There are one famous Last-But-One-Bit mistakes in CAN bus.If due to space
The reasons such as interference, power-supply fluctuation, for the penultimate of frame, a part of node A thinks error-free, and a part of node B thinks have
There are so-called Byzantine mistakes in mistake.At this moment, should be 7 recessive positions according to EOF, node B is it is thought that one kind
Form error, so will start erroneous frame, notice transmitter is retransmitted, while abandons the frame received.And think quite right node A
Due to only finding penultimate, this frame will be received.If the weight that B is notified before transmitter is routinely sent next time
It sends out successfully, A will receive repeating frame；If repeating transmission is unsuccessful, B just loses a frame.
Second, unpredictability.Node state is divided into ErrorActive, ErrorPassive and BusOff by CAN bus
Three kinds, these three states can be converted mutually under certain condition.The transmission of different conditions interior joint has different delays.
3rd, channel error blocks.Node is it is possible that be disturbed or other reasons temporarily or permanently fail, the host of error
Meeting order CAN transceiver constantly sends message, i.e., so-called BabblingIdiot mistakes.
Control unit diversification.Main control unit is connected each scattered execution unit by CAN bus, is each held
Row unit is required for a controller to control the movement of steering engine, and the number of execution unit is identical with the joint number of snake body, this
The number of the controller of sample snake-shaped robot just more than snake body joint number, causes control from being complicated, control unit diversification.
4th, production cost is high.How far changed by above-mentioned four control unit, this just brings greatly increasing for production cost.
The content of the invention
Primary and foremost purpose the defects of being to overcome the above-mentioned prior art of the present invention and deficiency, provide it is a kind of it is simple, at low cost,
It is small, easy to disassemble, reliable, flexibility is good, can effectively weaken because signal voltage change caused by signal fluctuation, make snakelike
Robot can stablize, the snake-shaped robot signal transmission system of flexible motion.
In order to achieve the above object, the present invention uses following scheme：
Based on the signal transmission system of more steering engine snake-shaped robots, which includes number suitable with snake body joint number
Transmission node, each transmission node can select corresponding control signal for used in steering engine, and by being drawn from transmission node
FFC connectors can be parallel with one another, forms signal transmission system.
Specifically, each transmission node includes a signal management module, and a steering engine connector and two FFC connect
Connect device, each pin of described two FFC connectors is parallel with one another, formed Transmission system, then with the letter of signal management module
Number control terminal is respectively connected with, and manages the control signal with distribution steering engine.
Specifically, the signal management module includes signal behavior device and signal performer, the signal selector
Part is toggle switch, and the signal performer performs control command, and steering engine is made normally to move.
Specifically, the toggle switch dials type, 1.27mm spacing, SMD packing forms, digit and control signal road to be flat
Number is identical, each is corresponding there are one button, and there are two rows of pins at the back side of button, and row's pin connects all control signals,
All series connection is connected with the signal end of steering engine interface unit for another row's pin, when certain button is allocated to ON one sides, below this button
Two pins connect；It is on the contrary then disconnect.All buttons are independent, are not associated mutually.By stirring button selection control
Signal is transmitted to signal performer, performs control command, is supplied to steering engine by steering engine connector, steering engine is made normally to transport
It is dynamic.
Specifically, the FFC connectors include FFC connectors 1 and FFC connectors 2, control signal from main control unit by
FFC connectors 1 are passed to transmission node, then carry out intra-node and are performed and transmitted, and transmission section is spread out of by FFC connectors 2
Point is transmitted to next transmission node.
Specifically, FFC connectors 1 are identical with 2 interface of FFC connectors and component, and are 0.5mm spacing, SMD
Packing forms.
Specifically, FFC soft arranging wires are in the same direction.
Description of the drawings
Fig. 1：Signal transmission system schematic diagram based on more steering engine snake-shaped robots
Fig. 2：Signal transmission system transmission node schematic diagram based on more steering engine snake-shaped robots
Fig. 3：Signal transmission system transmission node functional schematic based on more steering engine snake-shaped robots
Specific embodiment
The specific embodiment of the present invention is described in further detail in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, 3：
As shown in Figure 1, the signal transmission system based on more steering engine snake-shaped robots, including the same number of with snake body joint
Transmission node, control signal are sequentially transmitted each transmission node by main control unit, and each transmission node has identical composition
Module when a certain joint is broken down, can be convenient for changing, gradually be drawn close to economical snake-shaped robot.
As shown in Fig. 2, the signal transmission system based on more steering engine snake-shaped robots, each transmission node includes letter
Number management module, FFC connectors 1, steering engine connector and FFC connectors 2.
The signal management module includes signal behavior device and signal performer, and the signal behavior device, which is selected, to be dialled
Code switch, the toggle switch as shown in figure 3, be connected including two rows of pins and row's button, row's pin with FFC connectors 1,
Another row's pin all connects and is connected with steering engine signal end, and selection signal and steering engine are stirred by a certain position button of toggle switch
The signal end of connector is connected, and makes that steering engine is accurate, real-time reception to control signal；The signal performer selects steering engine connection
Device, as shown in figure 3, port there are three steering engine connectors, be respectively-,+and S ,-represent that steering engine power supply is born ,+expression steering engine power supply
Just, S represents steering engine signal end.
As shown in figure 3, the 1 of FFC connectors 1,2,3,4 ... represent signal stream, 1,2,3, the 4 ... of toggle switch represents
Signal stream, 1,2,3, the 4 ... of FFC connectors 2 represents signal stream, and same numbers represent that signal is identical and connected.
Control signal is passed to transmission node from main control unit by FFC connectors 1, after the processing of signal management module analysis,
Specific control signal is transmitted to steering engine connector, control steering engine movement, while all signals spread out of transmission section through FFC connectors 2
Point, FFC connectors 2 are connected by soft arranging wire with the FFC connectors 1 of next transmission node, form Transmission system.
Claims (7)
1. the signal transmission system based on more steering engine snake-shaped robots, it is characterised in that：Including with snake body joint number quite it is a
Several transmission nodes, each transmission node can provide control signal for steering engine, and neighboring transmission node passes through FFC soft arranging wires
Connection forms Transmission system.
2. the signal transmission system according to claim 1 based on more steering engine snake-shaped robots, it is characterised in that：It is described every
A transmission node includes a signal management module, a steering engine connector and two FFC connectors, described two FFC connections
Each pin of device is parallel with one another, forms Transmission system, and then the signal control terminal with signal management module is respectively connected with, and manages
Control signal with distributing steering engine.
3. the signal transmission system according to claim 2 based on more steering engine snake-shaped robots, it is characterised in that：The letter
Number management module includes signal behavior device and signal performer, and the signal behavior device is toggle switch, the signal
Performer performs control command, and steering engine is made normally to move.
4. the signal transmission system according to claim 3 based on more steering engine snake-shaped robots, it is characterised in that：Described group
Code switch dials type, 1.27mm spacing, SMD packing forms to be flat, and digit is identical with control signal way, each should have relatively
There are two rows of pins at one button, the back side of button, and row's pin connects all control signals, and another row's pin is all connected and rudder
The signal end connection of machine interface unit, when certain button is allocated to ON one sides, two below this button pin is connected；It is on the contrary then break
It opens.All buttons are independent, are not associated mutually.By stirring button control signal is selected to be transmitted to signal performer,
Control command is performed, steering engine is supplied to by steering engine connector, steering engine is made normally to move.
5. the signal transmission system according to claim 2 based on more steering engine snake-shaped robots, it is characterised in that：Described two
A FFC connectors include FFC connectors 1 and FFC connectors 2, and control signal is from main control unit by the incoming transmission of FFC connectors 1
Then node carries out intra-node and is performed and transmitted, spreads out of transmission node by FFC connectors 2, be transmitted to next transmission
Node.
6. the signal transmission system according to claim 5 based on more steering engine snake-shaped robots, it is characterised in that：It is described
FFC connectors 1 and the interface of FFC connectors 2 are identical with component, and are 0.5mm spacing, SMD packing forms.
7. the signal transmission system according to claim 1 based on more steering engine snake-shaped robots, it is characterised in that：It is each to pass
The FFC soft arranging wires that defeated node carries out signal transmission are in the same direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354122.0A CN108098748A (en) | 2017-12-15 | 2017-12-15 | Signal transmission system based on more steering engine snake-shaped robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711354122.0A CN108098748A (en) | 2017-12-15 | 2017-12-15 | Signal transmission system based on more steering engine snake-shaped robots |
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| Publication Number | Publication Date |
|---|---|
| CN108098748A true CN108098748A (en) | 2018-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711354122.0A Pending CN108098748A (en) | 2017-12-15 | 2017-12-15 | Signal transmission system based on more steering engine snake-shaped robots |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204935654U (en) * | 2015-05-18 | 2016-01-06 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Based on the signal transmission system of many steering wheels snake-shaped robot |
| CN206574375U (en) * | 2017-02-21 | 2017-10-20 | 天津大学 | Digital rudder controller communication board with tutorial function |
-
2017
- 2017-12-15 CN CN201711354122.0A patent/CN108098748A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204935654U (en) * | 2015-05-18 | 2016-01-06 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Based on the signal transmission system of many steering wheels snake-shaped robot |
| CN206574375U (en) * | 2017-02-21 | 2017-10-20 | 天津大学 | Digital rudder controller communication board with tutorial function |
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Application publication date: 20180601 |