CN108116527A - Motor telegram in reply flow control system, control method and robot - Google Patents
Motor telegram in reply flow control system, control method and robot Download PDFInfo
- Publication number
- CN108116527A CN108116527A CN201611061419.3A CN201611061419A CN108116527A CN 108116527 A CN108116527 A CN 108116527A CN 201611061419 A CN201611061419 A CN 201611061419A CN 108116527 A CN108116527 A CN 108116527A
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- fixinig plate
- electromagnet
- motor
- driving wheel
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of motor telegram in reply flow control systems, and including a motion platform, the bottom of motion platform is equipped with multiple driving wheels and universal wheel, and driving wheel passes through a spring suspension device and motion platform elastic connection；Driving motor is also fixed on motion platform, driving wheel is set there are one central rotating shaft, and driving motor is by driving central rotating shaft driving wheel to rotate；Lower-left fixinig plate and bottom right fixinig plate are also fixed with respectively in the both sides of central rotating shaft on spring suspension device, on the vertical direction of corresponding lower-left fixinig plate, upper left corresponding with lower-left fixinig plate fixinig plate is fixed on the moving platform, on the vertical direction of corresponding bottom right fixinig plate, upper right fixinig plate corresponding with bottom right fixinig plate is fixed on the moving platform；Upper left fixinig plate, lower-left fixinig plate, are respectively equipped with electromagnet on the fixinig plate of bottom right at upper right fixinig plate；This programme effectively controls the generation of motor reverse current, ensures that motor drive module is not burned during hand push.
Description
Technical field
The present invention relates to a kind of control fields of the linear moving mechanism with motor, wire back more particularly to a kind of motor
Flow control system, control method and the robot with the system.
Background technology
At present, in a variety of driving structures, electric-machine directly-driven or motor indirectly driving be widely used it is general
One kind, motor-driven technology also comparative maturity, in the drive control of linear moving mechanism, is run into when motor application
One problem is, when after electricity under motor or when driving motor does not have electricity, pushing directly on the platform with hand (has motor in platform
Driving mechanism directly or indirectly drives driving wheel to rotate) when, since the output shaft and drive train of motor are to be drivingly connected, drive
The rotation of driving wheel system drives motor shaft to rotate, and motor will export an electric current, is easy to cause motor and reverse current occurs and causes
There is fatefulue damage in motor drive module.
There is a kind of control that stream of wiring back motor can be realized by hardware setting at present, but such method requires hardware
An electromotive force limit value is given, application is immature, and application condition is big or can often burn out motor drive module.
The content of the invention
Present invention seek to address that it be easy to cause the skill that driving motor is burnt when electric hand pushes away driving platform under prior art motor
Art problem provides the motor telegram in reply flow control system that a kind of telegram in reply stream to motor control effectively.
The embodiment of the present invention provides a kind of motor telegram in reply flow control system, and including a motion platform, the movement is flat
The bottom of platform is equipped with multiple driving wheels and universal wheel, and the driving wheel is connected by a spring suspension device and motion platform elasticity
It connects；
Also it is fixed with driving motor on the motion platform, the driving wheel sets that there are one central rotating shaft, driving motors
By driving the central rotating shaft that the driving wheel is driven to rotate；
Lower-left fixinig plate is also fixed with respectively in the both sides of central rotating shaft on the spring suspension device and bottom right is fixed
Piece on the vertical direction of corresponding lower-left fixinig plate, is fixed with upper left corresponding with lower-left fixinig plate on the motion platform
Fixinig plate on the vertical direction of corresponding bottom right fixinig plate, is fixed with corresponding with bottom right fixinig plate on the motion platform
Upper right fixinig plate；
The upper left fixinig plate, lower-left fixinig plate, are respectively equipped with electromagnet on the fixinig plate of bottom right at upper right fixinig plate；
When the electromagnet is powered, the electromagnet on the fixinig plate of upper left attract each other with the electromagnet on the fixinig plate of lower-left and
Electromagnet on upper right fixinig plate and the electromagnet on the fixinig plate of the bottom right corresponding driving wheel of drive that attracts each other leave ground.
Preferably, when the electromagnet is powered, the driving wheel leaves ground, universal wheel contact ground；
During the electromagnet power-off, the driving wheel contacts ground, universal wheel contact ground.
Preferably, the driving motor is 4, and the driving wheel is also 4, the corresponding driving one respectively of each driving motor
A driving wheel.
Preferably, the driving motor is 2, and the driving wheel is also 2, the corresponding driving one respectively of each driving motor
A driving wheel.
Preferably, during electromagnet power-off, between upper left fixinig plate and lower-left fixinig plate, the electromagnet of upper left fixinig plate
Between the electromagnet of lower-left fixinig plate, between upper right fixinig plate and bottom right fixinig plate and the electromagnet of upper right fixinig plate with it is right
Pre-determined distance is kept respectively between the electromagnet of lower fixinig plate.
The embodiment of the present invention also provides a kind of controlling party of motor telegram in reply flow control system as described in claim 1
Method comprises the following steps：
Step S100：Judge whether driving motor works, if entering step S200, such as otherwise enter step S300；
Step S200, control electromagnet are in off-position, and driving motor driving driving wheel, which rotates, drives motion platform to move
It is dynamic；
Step S300 judges whether motion platform is hand push pattern, if entering step S400, if otherwise entering step
S500；
Step S400 controls electromagnet energization work, and driving wheel is liftoff, and motion platform is moved by universal wheel；
Step S500, control electromagnet are in off-position.
Preferably, the driving wheel is 4, and the driving motor is also 4, the corresponding driving one respectively of each driving motor
A driving wheel.
Preferably, the driving wheel is 2, and the driving motor is also 2, the corresponding driving one respectively of each driving motor
A driving wheel.
4 the embodiment of the present invention also provide a kind of robot, and the robot is returned equipped with motor described in claim 1
Current control system, wherein, the driving wheel and universal wheel are respectively positioned at the bottom of robot.
Preferably, the driving wheel is 2.
The embodiment of the present invention includes a motion platform, and the bottom of the motion platform is equipped with multiple driving wheels and universal
Wheel, by setting fixinig plate up and down and being correspondingly arranged corresponding electromagnet on fixinig plate, when hand push motion platform, electromagnet
Energization, which attracts each other, drives corresponding driving wheel to leave ground, depends on ground friction rotation so as to avoid driving wheel and generates phase
The telegram in reply stream answered, effectively controls the generation of motor reverse current, motor is protected not to be burned during hand push.
Description of the drawings
Fig. 1 is the structure diagram of the motor telegram in reply flow control system of an embodiment of the present invention；
Fig. 2 is a kind of driving wheel portion enlarged diagram of the motor telegram in reply flow control system of embodiment of material of the present invention；
Fig. 3 is the schematic diagram of a scenario of the motor telegram in reply flow control system of the application present invention；
Fig. 4 is the motor telegram in reply method of flow control flow chart of an embodiment of the present invention.
In figure, 1- motion platforms；2- upper lefts fixinig plate；3- electromagnet；4- lower-lefts fixinig plate；5- bottom rights fixinig plate；6-
Face；7- universal wheels；8- upper right fixinig plates；9- driving wheels；10- robots；11- packing cases.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings：
As shown in Figure 1, the embodiment of the present invention provides a kind of motor telegram in reply flow control system, including a motion platform 1,
The bottom of the motion platform 1 is equipped with multiple driving wheels 9 and universal wheel 7, and the driving wheel 9 passes through a spring suspension device and fortune
1 elastic connection of moving platform.By the spring suspension device, it on the one hand can realize the effect of damping, buffering, ensure that movement is flat
On the other hand robust motion of the platform on the road surface jolted can realize the primary object of the present invention.
Driving motor (not shown) is fixed on the motion platform 1, the driving motor can be located at described
It inside motion platform 1, can also directly be fixed on the motion platform 1, each driving wheel 9 is respectively equipped with one
Central rotating shaft, the driving wheel can be rotated around respective central rotating shaft.Driving motor is by driving the central rotating shaft
The driving wheel 9 is driven to rotate, so as to which the motion platform is driven to move linearly.
With reference to shown in Fig. 2, also it is fixed with respectively on the spring suspension device, and in the both sides of each central rotating shaft
Lower-left fixinig plate 4 and bottom right fixinig plate 5, it is also fixed on the motion platform 1 on the vertical direction of corresponding lower-left fixinig plate 4
Equipped with 4 corresponding upper left fixinig plate 2 of lower-left fixinig plate, on the vertical direction of corresponding bottom right fixinig plate 5, in the motion platform
It is also fixed on 1 and 5 corresponding upper right fixinig plate 8 of bottom right fixinig plate.
The upper left fixinig plate 2, lower-left fixinig plate 4, are respectively equipped with electromagnet on bottom right fixinig plate 5 at upper right fixinig plate 8；
When the electromagnet is controlled to be powered, the electromagnet on upper left fixinig plate 2 and the electromagnetism iron phase on lower-left fixinig plate 4
Mutually attract, while the electromagnet on upper right fixinig plate 8 attracts each other with the electromagnet on bottom right fixinig plate 5, so as to drive correspondence
Driving wheel leaves ground 6.
Therefore by the above embodiment of the present invention, when the driving motor powers off, and motion platform 1 described in hand push
When, each electromagnet is controlled to be powered first, the driving wheel 9 of the drive part where motor is passed through electromagnet adsorption method
Driving wheel is allowed to leave ground, and universal wheel 7 is allowed to contact ground.This ensures that driving wheel 9 will not be with ground 6 during hand push
Friction, i.e., will not generate reverse current, the drive module so as to effectively protect driving motor will not be burned.
Specifically, upper left fixinig plate 2 and upper right fixinig plate 8 are fixedly mounted on by screw on motion platform 1, the lower-left
Fixinig plate 4 and bottom right fixinig plate 5 are mounted on by screw on the spring suspension device, and driving wheel is also by the resilient suspension
Device system is mounted on motion platform 1, and electromagnet 3 is fixedly mounted on by screw on each fixinig plate.
In the present embodiment, the driving motor drives the mode of the driving wheel as follows：The driving motor is 2, described
Driving wheel is also 2, and one driving wheel of corresponding driving, the mode of driving are to directly drive to each driving motor respectively.In above-mentioned drive
In flowing mode, when the electromagnet 3 is powered, the driving wheel 9 leaves ground, and universal wheel 7 contacts ground 6；When the electromagnetism
When iron 3 powers off, the driving wheel contacts ground 6, and universal wheel 7 contacts ground 6.
With reference to shown in Fig. 2, in above example, it is preferable that when the electromagnet 3 powers off, upper left fixinig plate 2 is consolidated with lower-left
Between fixed 4, between the electromagnet of the electromagnet of upper left fixinig plate 2 and lower-left fixinig plate 4, upper right fixinig plate 8 fixes with bottom right
A pre-determined distance is kept respectively between piece 5 and between the electromagnet of the electromagnet of upper right fixinig plate 8 and bottom right fixinig plate 5.It should
Pre-determined distance is set according to actual demand, it is necessary to ensure when electromagnet is powered, and can make drive by the attraction of electromagnet 3
Driving wheel 9 leaves ground 6.
With reference to shown in Fig. 4, the present invention also provides a kind of control methods of above-mentioned motor telegram in reply flow control system, specifically include
Following steps：
Step S100：Judge whether driving motor works, if entering step S200, such as otherwise enter step S300；
When driving motor works normally, driving motor is by driving the driving wheel 9 to rotate to drive motion platform 1
It moves linearly.
Step S200, control electromagnet are in off-position, and driving motor driving wheel, which rotates, drives motion platform movement；
Under such state, driving wheel 9 is contacted with ground, and universal wheel 7 is also contacted with ground, and driving motor will not generate telegram in reply
Stream.
Step S300 judges whether motion platform is hand push pattern, if entering step S400, if otherwise entering step
S500；
Step S400 controls electromagnet energization work, and driving wheel is liftoff, and motion platform is moved by universal wheel；
When the motion platform 1 is into hand push pattern, if during hand push excessive velocities, it is most likely that cause driving motor
It is subject to the effect of reverse current and makes motor damage, therefore at this time electromagnet is controlled to be powered, electromagnet 3 (up and down corresponding two)
It is charged and attract each other so that driving wheel 9 moves upwardly off ground 6, can quickly promote motion platform 1 manually at this time,
Motion platform 1 is moved linearly by universal wheel.
Step S500, control electromagnet are in off-position.
Above-described control method is also adapted to following drive scheme, i.e.,：The driving motor is 2, the driving wheel
Also it is 2, one driving wheel of corresponding driving, the mode of driving are to directly drive to each driving motor respectively.With reference to shown in Fig. 3,
The embodiment of the present invention also provides a kind of robot, and the robot is equipped with above-mentioned motor telegram in reply flow control system, wherein, institute
State the bottom that driving wheel and universal wheel are located at robot respectively.
In practical applications, such as when the robot 10 needs to carry out packing and binding, due to uniform packing robot
Position and robot produce position not in same operation interval, it is assumed that packing case 11 has certain distance with robot 10, this
In assume that the distance is even farther for 100 meters, and if robot is slow by the speed of drive wheel, examine simultaneously
It is that new machine cannot open electric use to consider robot, then will start hand push pattern.Control electromagnet 3 powers on, in electromagnet 3
Under attraction, drive train leaves ground, and the universal wheel 7 of robot contacts ground at this time.Robot 10 is pushed into packing case by hand push
Packing work is carried out at 11, then controls electricity under electromagnet again.And robot is during transporting on packing case
The situation of inclination is can be potentially encountered, hand push robot is also beneficial to the center of gravity of relatively good control robot.
In the above embodiment of the present invention, when the motion platform 1 for being equipped with driving motor is needed with hand propelled, control is driven
The driving wheel of drive part where dynamic motor leaves ground by electromagnet adsorption method, control driving wheel, and allows universal wheel
Ground is contacted, so as to which driving motor effectively be avoided reversely to wire back the generation of stream, improves the service life of driving motor.
The above embodiments and description only illustrate the principle of the present invention and most preferred embodiment, is not departing from this
On the premise of spirit and scope, various changes and modifications of the present invention are possible, these changes and improvements both fall within requirement and protect
In the scope of the invention of shield.
Claims (8)
1. a kind of motor telegram in reply flow control system, it is characterised in that：Including a motion platform, the bottom of the motion platform is set
There are multiple driving wheels and universal wheel, the driving wheel passes through a spring suspension device and motion platform elastic connection；
Driving motor is also fixed on the motion platform, the driving wheel is set there are one central rotating shaft, and driving motor passes through
Drive the central rotating shaft that the driving wheel is driven to rotate；
Lower-left fixinig plate and bottom right fixinig plate are also fixed with respectively in the both sides of central rotating shaft on the spring suspension device, it is right
On the vertical direction for answering lower-left fixinig plate, upper left corresponding with lower-left fixinig plate is fixed on the motion platform and is fixed
Piece on the vertical direction of corresponding bottom right fixinig plate, is fixed with upper right corresponding with bottom right fixinig plate on the motion platform
Fixinig plate；
The upper left fixinig plate, lower-left fixinig plate, are respectively equipped with electromagnet on the fixinig plate of bottom right at upper right fixinig plate；
When the electromagnet is powered, the electromagnet on the fixinig plate of upper left attracts each other with the electromagnet on the fixinig plate of lower-left and upper right
Electromagnet on fixinig plate and the electromagnet on the fixinig plate of the bottom right corresponding driving wheel of drive that attracts each other leave ground.
2. motor telegram in reply flow control system according to claim 1, it is characterised in that：It is described when the electromagnet is powered
Driving wheel leaves ground, universal wheel contact ground；
During the electromagnet power-off, the driving wheel contacts ground, universal wheel contact ground.
3. motor telegram in reply flow control system according to claim 2, it is characterised in that：The driving motor is 2, described
Driving wheel is also 2, and each driving motor is corresponding respectively to drive a driving wheel.
4. motor telegram in reply flow control system according to claim 3, it is characterised in that：During the electromagnet power-off, upper left
Between fixinig plate and lower-left fixinig plate, between the electromagnet of the electromagnet of upper left fixinig plate and lower-left fixinig plate, upper right fixinig plate
Kept respectively between the fixinig plate of bottom right and between the electromagnet of the electromagnet of upper right fixinig plate and bottom right fixinig plate it is default away from
From.
5. a kind of control method of motor telegram in reply flow control system as described in claim 1, it is characterised in that：Including following step
Suddenly：
Step S100, judges whether driving motor works, if entering step S200, such as otherwise enters step S300；
Step S200, control electromagnet are in off-position, and driving motor driving wheel, which rotates, drives motion platform movement；
Step S300 judges whether motion platform is hand push pattern, if entering step S400, if otherwise entering step S500；
Step S400 controls electromagnet energization work, and driving wheel is liftoff, and motion platform is moved by universal wheel；
Step S500, control electromagnet are in off-position.
6. control method according to claim 5, it is characterised in that：The driving wheel is 2, and the driving motor is also
2, each driving motor is corresponding respectively to drive a driving wheel.
7. a kind of robot, it is characterised in that：The robot is equipped with motor telegram in reply flow control system described in claim 1,
Wherein, the driving wheel and universal wheel are located at the bottom of robot respectively.
8. robot according to claim 7, it is characterised in that：The driving wheel is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061419.3A CN108116527A (en) | 2016-11-28 | 2016-11-28 | Motor telegram in reply flow control system, control method and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061419.3A CN108116527A (en) | 2016-11-28 | 2016-11-28 | Motor telegram in reply flow control system, control method and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108116527A true CN108116527A (en) | 2018-06-05 |
Family
ID=62225024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061419.3A Pending CN108116527A (en) | 2016-11-28 | 2016-11-28 | Motor telegram in reply flow control system, control method and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116527A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110009804A (en) * | 2019-03-26 | 2019-07-12 | 深兰科技（上海）有限公司 | A kind of vending machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0653341A1 (en) * | 1993-11-16 | 1995-05-17 | Jonathan Moore | Motordriven trolley |
| US6098732A (en) * | 1997-04-18 | 2000-08-08 | Medicart, L.L.C. | Apparatus for providing self-propelled motion to medication carts |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN205099302U (en) * | 2015-10-30 | 2016-03-23 | 郑州职业技术学院 | Electromagnetic type steel part transport machinery |
| CN205513210U (en) * | 2015-12-02 | 2016-08-31 | 吴文胜 | Desk with over -and -under type LED lamp |
-
2016
- 2016-11-28 CN CN201611061419.3A patent/CN108116527A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0653341A1 (en) * | 1993-11-16 | 1995-05-17 | Jonathan Moore | Motordriven trolley |
| US6098732A (en) * | 1997-04-18 | 2000-08-08 | Medicart, L.L.C. | Apparatus for providing self-propelled motion to medication carts |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN205099302U (en) * | 2015-10-30 | 2016-03-23 | 郑州职业技术学院 | Electromagnetic type steel part transport machinery |
| CN205513210U (en) * | 2015-12-02 | 2016-08-31 | 吴文胜 | Desk with over -and -under type LED lamp |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110009804A (en) * | 2019-03-26 | 2019-07-12 | 深兰科技（上海）有限公司 | A kind of vending machine |
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Application publication date: 20180605 |