CN108919732A - A kind of control cabinet executing driving applied to robot - Google Patents
A kind of control cabinet executing driving applied to robot Download PDFInfo
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- CN108919732A CN108919732A CN201811214291.9A CN201811214291A CN108919732A CN 108919732 A CN108919732 A CN 108919732A CN 201811214291 A CN201811214291 A CN 201811214291A CN 108919732 A CN108919732 A CN 108919732A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 17
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 25
- 241000270295 Serpentes Species 0.000 claims description 15
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000011990 functional testing Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 238000012360 testing method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 239000010721 machine oil Substances 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000011022 operating instruction Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
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- 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
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- 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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Abstract
The present invention discloses a kind of control cabinet that driving is executed for robot, including cabinet, control mainboard, communication interface, execution unit, power module and power supply interface；The execution unit includes motor drive module, direct current generator, execution unit, angular transducer；Control mainboard interacts monitoring information with the control system of robot via communication interface, and driving is executed by the analog quantity of bracing wire or pull rod in execution unit realization engine, gear-box or clutch, control mainboard provides digital quantity to the power-equipment of robot by driving unit and relay and opens and closes driving signal, and forms feedback monitoring by sensor.The present invention can receive the control instruction of the control system of robot to realize long-range accurate driving and carry out functional test by human-computer interaction module and manipulate on the spot, and high degree of automation is easy to use.
Description
Technical field
The present invention relates to robot dynamical system control technology, predominantly engine throttle is controlled, gear-box or clutch
Gear control, especially a kind of control cabinet that driving is executed applied to robot.
Background technique
With the continuous development of robot technology, there are more and more intelligent unmanned equipments, existing robot is set
Standby that remote control is used as unmanned boat, unmanned plane or unmanned vehicle etc., autonomous driving power system completes appointed task.
The dynamical system of robot generally includes：The power-equipments such as engine, gear-box, clutch, diverter, these are dynamic
It is combined with each other between power equipment, realizes different power outputs.For the output real-time change demand for meeting power, power-equipment is needed
Mechanical course is carried out, operating method is manual control in conventional machines, carries out position or angle using modes such as bracing wire, pull rods
Adjustment, general robot then need that a driving unit is arranged to each manipulation object, cause driving unit complicated and disperse, no
Conducive to management service；Above method is not able to satisfy the integrated demand with thin device of robot.
It, can remote response robot it is therefore desirable to provide a kind of execution of integrated robot entirety of control cabinet to drive demand
Control signal, the driving function of analog quantity and digital quantity is provided.
In consideration of it, overcoming defect present in the above-mentioned prior art is the art urgent problem to be solved.
Summary of the invention
The technical problem to be solved in the invention is：Function is driven by the execution that control cabinet provides analog quantity and digital quantity
Can, solve the problems, such as that the driving of robot power-equipment is complicated and disperses.
The present invention reaches above-mentioned purpose by following technical solution.
It is a kind of applied to robot execute driving control cabinet, including cabinet, control mainboard, communication interface, execution unit,
Human-computer interaction module, power module and power supply interface.
The control mainboard, is set to cabinet inside, for receiving monitoring information and generating control instruction；The control master
Plate includes processing unit, feedback unit, decision package, driving unit and relay.
The communication interface is set on the outside of cabinet, for robot control system and control mainboard interactive information；It is described
Communication interface includes CAN interface, RS232/RS422 interface, ADC input interface, PWM input interface, relay output interface and door
Extreme position input interface.
Wherein output folding signal in relay output interface, for meeting the folding control in robot power-equipment circuit
System.
Wherein CAN network interface is connected to robot control system CAN net, obtains robot to the control command of power-equipment
And feedback control main board work state.
Wherein RS232/RS422 interface is connected to robot control system RS232/RS422 serial ports, obtains robot to dynamic
The control command and feedback control main board work state of power equipment.
Wherein ADC input interface receives the control signal such as voltage, electric current, potentiometer of robot control system.
The pwm pulse that wherein PWM input interface receives robot control system controls signal.
The execution unit includes motor drive module, direct current generator, execution unit and angular transducer；Wherein motor drives
Dynamic model block, is set to cabinet inside, is electrically connected with control mainboard, for driving direct current generator to act；The direct current generator, if
It is placed in cabinet inside, output shaft passes perpendicularly through enclosure top；The execution unit includes swing arm, driving snake and limit plate；
The swing arm tail end setting pin hole and fastener hole, swing arm is inserted perpendicularly at the top of the output shaft of direct current generator by pin hole, by tight
Solid hole adjusts the aperture of pin hole, and when aperture becomes smaller, the output shaft top that pin hole tightly clamps direct current generator keeps swing arm firm
It is connected on the output shaft of direct current generator；Connecting hole is arranged in the swing arm head end, for connecting the head end connecting rod of driving snake；
Card slot is set on the head end connecting rod of the driving snake；The limit plate is installed on cabinet outer tip end, the limit plate
Upside is provided with the limiting slot to match with card slot, the head end connecting rod of driving snake can be limited in limiting slot by limit film
On；
The angular transducer is mounted on the tail portion of direct current generator output shaft, for monitoring the rotation angle of swing arm；The swing arm
A spacer pin is respectively set in two sides, and swing arm rotating range is limited to 5 degree of -175 degree by spacer pin.
The processing unit is responsible for receiving the control signal instruction of communication interface, and is processed into what decision package can identify
Signal；Specifically, processing unit processes CAN interface, RS232/RS422 interface, ADC input interface, PWM interface, position thresholding
The monitoring information of input interface and human-machine exchange module.
The feedback unit is responsible for receiving the feedback signals such as power-equipment state, position, and being processed into decision package can
The signal of identification；Specifically, feedback unit handles the feedback information of the angular transducer and position thresholding input interface.
The decision package is responsible for carrying out processing unit and feedback unit signal parsing and integrated treatment, generates digital quantity
Driving signal generates analog quantity driving signal.Specifically, processing result of the decision package according to processing unit and feedback unit
Monitoring is generated to instruct and be transmitted to CAN interface, RS232/RS422 interface, PWM interface, driving unit, motor drive module or people
Machine Switching Module, specifically, relay digital quantity driving signal sends driving unit to, analog quantity driving signal sends motor to
Drive module.
The driving unit is responsible for executing instruction according to decision package, drives the actuating of relay, provides for power-equipment
Switching signal, meet power-equipment in robot opens or stops demand.
The motor drive module is executed instruction according to decision package, and driving direct current generator movement mentions for execution unit
For Analog control signal, meets throttle or pull rod in robot and linearly execute driving demand.
The human-machine exchange module includes key, light-emitting component and sounding component, the key of the human-computer interaction module and
Light-emitting component is attached in enclosure top, and sounding component is mounted on cabinet inside；The push button signalling sends processing unit to, and sends out
Optical element and sounding component are instructed according to decision package and are acted, and the light-emitting component is diode lights, and the sounding component is
Buzzer.
The power supply interface is set on the outside of cabinet, is connect with the input terminal of the power module, for power module
Access external power.
The power module is set to cabinet inside, the output end of the power module by conducting wire and control mainboard, hold
Electrical component connects in row component, human-computer interaction module, and the power module converts voltages into different brackets voltage, according to control
Mainboard processed, execution unit, the demand of electrical component provides working power in human-computer interaction module.
The present invention has the following advantages that compared with prior art：The technology of the present invention can make the driving of the power-equipment of robot
System close friend accesses in robot original control system, executes drive by the analog quantity that execution unit meets the equipment such as throttle or pull rod
It is dynamic, driving is executed by the digital quantity that relay meets the equipment such as engine, ignition switch or motor, without to original power
Equipment progress large-scale redevelopment can be achieved with robot manipulation and integrate, the handling, intelligent of significant increase robot, modularization
And automation.
The control signal kinds that the present invention has access to are abundant, compatible machine people's control system multiple control modes, communication
Interface realizes that remote control, human-computer interaction module are convenient for now testing.
The present invention combines flexibly the control mode and feedback signal of the execution driving of power-equipment, can be realized water
The control of the robots power-equipment such as domain, ground, aerial, application range are wider.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the stereoscopic-state figure for being applied to robot in the embodiment of the present invention and executing the control cabinet of driving.
Fig. 2 is to be applied to stand after the control cabinet that robot execution drives removes left side and rear side baffle in the embodiment of the present invention
Body state diagram.
Fig. 3 be the embodiment of the present invention in be applied to robot execute driving control cabinet in execution unit direct current generator and
The attachment structure schematic diagram of swing arm.
Fig. 4 is the swing arm and transmission for being applied to robot in the embodiment of the present invention and executing execution unit in the control cabinet of driving
The connection schematic diagram of flexible axle.
Fig. 5 is the control cabinet system communication connection schematic diagram for being applied to robot in the embodiment of the present invention and executing driving.
Fig. 6 is the control cabinet and robot load equipment communication link for being applied to robot in the embodiment of the present invention and executing driving
Connect schematic diagram.
In figure：1- cabinet；2- control mainboard；3- communication interface；4- power module；5- power supply interface；6- motor driven mould
Block；7- direct current generator；8- execution unit；9- human-computer interaction module；10- angular transducer；201- processing unit；202- feedback
Member；203- driving unit；204- decision package；205- relay；301-CAN interface；302-RS232/RS422 interface；303-
ADC input interface；304-PWM input interface；305- relay output interface；306- thresholding position input interface；801- swing arm；
802- driving snake；803- limit plate；804- connecting hole；805- head end connecting rod；806- card slot；807- limiting slot；808- limit
Piece；809- spacer pin；810- pin hole；811- fastener hole；901- key；902- light-emitting component；903- sounding component.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.Just with reference to drawings and examples, in conjunction with coming, the present invention will be described in detail below.
As shown in Figs. 1-5, a kind of control cabinet executing driving applied to robot, including cabinet 1, control mainboard 2, communication
Interface 3, execution unit, human-computer interaction module 9, power module 4 and power supply interface 5.
Wherein control mainboard 2 are set to inside cabinet 1, for receiving monitoring information and generating control instruction；Control mainboard
1 STM32F series CPU is provided in 2；Specifically, processing unit 201, feedback unit 202, decision package 204 are arranged in CPU
With driving unit 203,4 relays 205 are also equipped in control mainboard 2；Direct current generator 7 is saved in CPU rotates angle and hair
Motivation throttle or the corresponding parameter list of pull rod opening amount.
Wherein communication interface 3 is set to 1 outside of cabinet, is used for and 2 interactive information of control mainboard；Specifically, communication interface 3
Including 2 302,1, RS232/RS422 interface, 303,1 PWM input interfaces 304,1 of ADC input interface of CAN interface 301,1
A relay output interface 305 and 1 thresholding position input interface 306, wherein RS232/RS422 interface 302, ADC input interface
303, the stitch of PWM input interface 304 shares a port.
6 groups of folding signal outputs are wherein set in 205 output interface of relay, are carried out for meeting the multiple circuits of robot
Folding control.
Wherein CAN network interface is connected to robot control system CAN net, obtains robot to the control command of power-equipment
And 2 working condition of feedback control mainboard.
Wherein RS232/RS422 interface 302 is connected to robot control system RS232/RS422 serial ports, obtains robot
2 working condition of control command and feedback control mainboard to power-equipment.
Wherein ADC input interface 303 receives the control signal such as voltage, electric current, potentiometer of robot control system.
The pwm pulse that wherein PWM input interface 304 receives robot control system controls signal.
Specifically, execution unit includes motor drive module 6, direct current generator 7, execution unit 8 and angular transducer 10；
Wherein motor drive module 6, fastening are set to inside cabinet 1, as the controller of execution unit, with control mainboard 2
It is electrically connected, for driving direct current generator 7 to act；
Wherein direct current generator 7, fastening are fixed on inside cabinet 1, and output shaft passes perpendicularly through 1 top of cabinet；
Wherein execution unit 8 includes swing arm 801, driving snake 802 and limit plate 803；Specifically, 801 tail end of swing arm setting pin
Hole 810 and fastener hole 811, the output shaft top of direct current generator 7 are D type cylinder, are matched at the top of the shape and output shaft of pin hole 810
Set, swing arm 801 are inserted perpendicularly at the top of the output shaft of direct current generator 7 by pin hole 810, then adjust fastener hole 811 using bolt
Aperture, when aperture becomes smaller, pin hole 810, which is tightly clamped, covers swing arm 801 firmly straight at the top of the output shaft of direct current generator 7
On the output shaft of galvanic electricity machine 7；Connecting hole 804 is arranged in 801 head end of swing arm, and the head end connecting rod 805 of driving snake 802 is cut with scissors by bolt
It connects in connecting hole 804；
The limit plate 803 is installed on 1 outer tip end of cabinet, the head end connecting rod 805 for fixed conveyor flexible axle 802；The biography
Card slot 806 is set on the head end connecting rod 805 of dynamic flexible axle 802；It is provided on the upside of the limit plate 803 and matches with card slot 806
Limit film 808 is stuck in limiting slot 807 after setting card slot 806 is put into limiting slot 807 on head end connecting rod 805 by limiting slot 807
Indentation, there, be entirely limited the head end connecting rod 805 of driving snake 802 on limiting slot 807；
The angular transducer 10 is mounted on the tail portion of 7 output shaft of direct current generator, for monitoring the rotation of 7 output shaft of direct current generator
Turn, and then obtains the rotation angle of swing arm 801；
At the top of the cabinet 1 be located at 801 two sides of swing arm a spacer pin 809 is respectively set, for prevent swing arm 801 rotate after with
The head end connecting rod 805 of driving snake 802 connects in parallel, and 801 rotating range of swing arm is limited to 5 degree of -175 degree by spacer pin 809,
Wherein 5 degree of corresponding throttles or backward stick action minimum value, 175 degree of corresponding throttles or backward stick action maximum value.
In embodiment, the processing unit 201 is responsible for receiving the control signal instruction of communication interface 3, and is processed into decision
The signal that unit 204 can identify；Specifically, processing unit 201 handles CAN interface 301, RS232/RS422 interface 302, ADC
Input interface 303, PWM interface, position thresholding input interface and human-machine exchange module monitoring information.
In embodiment, the feedback unit 202 is responsible for receiving the feedback signals such as power-equipment state, position, and is processed into
The signal that decision package 204 can identify；Specifically, feedback unit 202 handles the angular transducer 10 and position thresholding is defeated
The feedback information of incoming interface.
In embodiment, the decision package 204 be responsible for processing unit 201 and 202 signal of feedback unit carry out parsing and
Integrated treatment generates digital quantity driving signal or generates analog quantity driving signal.Specifically, decision package 204 is single according to processing
Member 201 and the processing result of feedback unit 202 generate monitoring and instruct and be transmitted to CAN interface 301, RS232/RS422 interface
302, PWM interface, driving unit 203, motor drive module 6 or human-machine exchange module, specifically, 205 digital quantity of relay drives
Dynamic signal sends driving unit 203 to, and analog quantity driving signal sends motor drive module 6 to.
In embodiment, the driving unit 203 is responsible for executing instruction according to decision package 204, and driving relay 205 is dynamic
Make, provide switching signal for power-equipment, meet power-equipment in robot opens or stop demand, wherein No. 1 relay 205 work
For the external motor of robot, No. 1 relay 205 acts on the igniter of robot, and No. 1 relay 205 acts on machine
The engine of device people.
In embodiment, the executing instruction according to decision package 204 of motor drive module 6, driving direct current generator 7 is moved
Make, provides Analog control signal for execution unit 8, meet throttle or pull rod in robot and linearly execute driving demand.
In embodiment, the human-machine exchange module includes key 901, light-emitting component 902 and sounding component 903；Key 901
For inputting manual command, light-emitting component 902 is used to indicate control cabinet current working status, and sounding component 903 is for controlling event
Barrier alarm；The key 901 and light-emitting component 902 of the human-computer interaction module 9 are attached on 1 top of cabinet, and sounding component 903 is installed
Inside cabinet 1；901 signal of key sends processing unit 201 to, and light-emitting component 902 and sounding component 903 are according to certainly
Plan unit 204 is instructed and is acted, and the key 901 includes that "+", "-" and " SET ", the light-emitting component 902 are provided with 6 lists
The diode lights solely to work, the sounding component 903 are buzzer.
The power supply interface 5 is set to 1 outside of cabinet, connect with the input terminal of the power module 4, for giving power supply mould
The AC power source of the access of block 4 220V.
The power module 4 is set to inside cabinet 1, and the output end of the power module 4 passes through conducting wire and control mainboard
2, execution unit, electrical component connection in human-computer interaction module 9, the power module 4 convert voltages into different brackets voltage,
Including supplying 3.2V, 5V, 9V, 12V, 18V and 24V DC power supply, according to control mainboard 2, execution unit, human-computer interaction module 9
The demand of middle electrical component provides working power.
It is described below with reference to above structure, the process of the driving robot manipulating task of institute's control cabinet of the present invention is described.
As described in Figure 6, specially.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet act in robot engine throttle into
The operating process that row refuels is as follows.
S1, robot manipulation center send oiling operating instruction to control mainboard 2.
S2, the parsing of processing unit 201 are refueled and are instructed, and X need to be increased by obtaining throttle.
801 current angular of swing arm that S3,202 reading angular sensor 10 of feedback unit monitor, the inquiry of control mainboard 2 are started
Machine oil door numerical tabular corresponding with 801 angle of swing arm, decision package 204 obtain the target angle Y of swing arm 801, if Y is greater than 175
Spend then 175 degree of value.
In S4, this instruction of refueling, decision instruction is sent to motor drive module 6, motor drive module 6 by control mainboard 2
Control direct current generator 7 rotates clockwise；The output shaft of direct current generator 7 drives swing arm 801 to rotate clockwise, when feedback unit 202
When monitoring that swing arm 801 is rotated clockwise to Y and spends, control mainboard 2 controls 7 stopping of direct current generator movement.
S5, swing arm 801 persistently increase throttle when rotating clockwise, engine throttle amount increases X or in maximum.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet act in robot engine throttle into
The operating process that row subtracts oil is as follows.
S1, robot manipulation center subtract oily operating instruction to the transmission of control mainboard 2.
S2, the parsing of processing unit 201 subtract oily instruction, and X need to be reduced by obtaining throttle.
801 current angular of swing arm that S3,202 reading angular sensor 10 of feedback unit monitor, the inquiry of control mainboard 2 are started
Machine oil door numerical tabular corresponding with 801 angle of swing arm, decision package 204 obtains the target angle Y of swing arm 801, if Y is less than 5 degree
Then 5 degree of value.
S4, this subtract oil instruction in, decision instruction is sent to motor drive module 6, motor drive module 6 by control mainboard 2
Control direct current generator 7 rotates counterclockwise；The output shaft of direct current generator 7 drives swing arm 801 to rotate counterclockwise, when feedback unit 202
When monitoring that swing arm 801 rotates counterclockwise to Y and spends, control mainboard 2 controls 7 stopping of direct current generator movement.
S5, swing arm 801 persistently reduce throttle when rotating counterclockwise, engine throttle amount reduces X or in minimum.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet acts on robot middle gear case or clutch
The operating process that the pull rod of device increase opening amount is as follows.
The pull rod that S1, robot manipulation center send gear-box or clutch to control mainboard 2 increases opening amount instruction.
S2, the parsing of processing unit 201 increase opening amount instruction, and opening amount X need to be increased by obtaining pull rod.
801 current angular of swing arm that S3,202 reading angular sensor 10 of feedback unit monitor, control mainboard 2 inquire pull rod
Opening amount numerical tabular corresponding with 801 angle of swing arm, decision package 204 obtain the target angle Y of swing arm 801, if Y is greater than 175 degree
Then 175 degree of value.
In S4, this increase opening amount instruction, decision instruction is sent to motor drive module 6, motor driven mould by control mainboard 2
Block 6 controls direct current generator 7 and rotates clockwise；The output shaft of direct current generator 7 drives swing arm 801 to rotate clockwise, and works as feedback unit
202 when monitoring that swing arm 801 is rotated clockwise to Y and spends, and control mainboard 2 controls 7 stopping of direct current generator movement.
S5, swing arm 801 persistently increase pull rod opening amount when rotating clockwise, pull rod opening amount increases X or in maximum.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet acts on robot middle gear case or clutch
The operating process that the pull rod of device reduce opening amount is as follows.
The pull rod that S1, robot manipulation center send gear-box or clutch to control mainboard 2 reduces opening amount instruction.
S2, the parsing of processing unit 201 reduce opening amount instruction, and opening amount X need to be reduced by obtaining pull rod.
801 current angular of swing arm that S3,202 reading angular sensor 10 of feedback unit monitor, control mainboard 2 inquire pull rod
Opening amount numerical tabular corresponding with 801 angle of swing arm, decision package 204 obtains the target angle Y of swing arm 801, if Y is less than 5 degree
5 degree of value.
In S4, this reduction opening amount instruction, decision instruction is sent to motor drive module 6, motor driven mould by control mainboard 2
Block 6 controls direct current generator 7 and rotates counterclockwise；The output shaft of direct current generator 7 drives swing arm 801 to rotate counterclockwise, works as feedback unit
202 when monitoring that swing arm 801 rotates counterclockwise to Y and spends, and control mainboard 2 controls 7 stopping of direct current generator movement.
S5, swing arm 801 persistently reduce pull rod opening amount when rotating counterclockwise, pull rod opening amount reduces X or in maximum.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet acts on ignition switch or hair in robot
The operating process of motivation start stop switch is as follows.
S1, robot manipulation center sends igniting to control mainboard 2 or start and stop instruct.
S2, the parsing of processing unit 201 igniting or start and stop instruction, decision package 204 obtain corresponding 205 output order of relay
And give driving unit 203.
S3, driving unit 203 control relay 205 and act.
S4,205 action signal of relay send ignition switch or engine to.
When needing the execution driving function of remote-controlled test control cabinet, control cabinet acts on landing platform in remote-controlled robot
Or the operating process of electric controlled door aperture is as follows, wherein landing platform or electric controlled door are equipped with corresponding position sensor, and position passes
The signal of sensor is transferred to feedback unit 202 by position thresholding input interface.
S1, robot manipulation center sends landing platform to control mainboard 2 or electric controlled door is remotely controlled opening degree instruction.
S2, processing unit 201 parse landing platform or electric controlled door telecommand, obtain the target of landing platform or electric controlled door
Opening value.
Aperture monitor value in S3,202 reading position thresholding input interface of feedback unit.
S4, decision package 204 obtain corresponding 205 close command of relay and give driving unit 203.
S5, driving unit 203 control relay 205 and act, when feedback unit 202 monitors that landing platform or electric controlled door are distant
It controls aperture and reaches target value, then send corresponding 205 open command of relay to driving unit 203 by decision package 204.
When needing the execution driving function of on-the-spot test control cabinet, pass through the function of 9 testing and control case of human-computer interaction module
Can, act on engine throttle in robot refueled or subtract oil operating process it is as follows.
S1, click " SET " key 901, the click signal of this key 901 are transmitted to control mainboard 2, and control mainboard 2 is with this point
Brighten the hair optical element 902 stops clicking " SET " key 901 after the corresponding light-emitting component 902 of throttle is lighted.
S2, "+" or "-" key 901 are pressed, the signal of pressing of this key 901 is transmitted to control mainboard 2, and decision package 204
Signal, which sends to refuel to motor drive module 6, accordingly instructs or subtracts oily instruction.
S3, motor drive module 6 control direct current generator 7 and rotate clockwise or rotate counterclockwise；The output shaft of direct current generator 7
Swing arm 801 is driven to rotate clockwise or rotate counterclockwise.
S4, swing arm 801 persistently reduce throttle when persistently increasing throttle or counterclockwise rotation when rotating clockwise；If key
901 do not unclamp, but when feedback unit 202 monitors that swing arm 801 is rotated clockwise to 175 degree or rotates counterclockwise to 5 degree, control
Mainboard 2 processed controls 7 stopping of direct current generator movement；When driving snake 802 is stuck motionless, control mainboard 2 drives sounding component 903
Generate alarm signal.
S5, "+" or "-" key 901 are unclamped, the release signal of this key 901 is transmitted to control mainboard 2, and control mainboard 2 controls
7 stopping of direct current generator movement.
When needing the execution driving function of on-the-spot test control cabinet, pass through the function of 9 testing and control case of human-computer interaction module
Can, the operating process that the pull rod for acting on robot middle gear case or clutch reduce opening amount is as follows.
S1, click " SET " key 901, the click signal of this key 901 are transmitted to control mainboard 2, and control mainboard 2 is with this point
Brighten the hair optical element 902 stops clicking " SET " key 901 after the corresponding light-emitting component 902 of pull rod is lighted.
S2, "+" or "-" key 901 are pressed, the signal of pressing of this key 901 is transmitted to control mainboard 2, and decision package 204
Signal sends to increase opening amount instruction or reduce opening amount to motor drive module 6 and instruct accordingly.
S3, motor drive module 6 control direct current generator 7 and rotate clockwise or rotate counterclockwise；The output shaft of direct current generator 7
Swing arm 801 is driven to rotate clockwise or rotate counterclockwise.
S4, swing arm 801 persistently reduce opening amount when continuing to increase opening amount or counterclockwise rotation when rotating clockwise；If key
901 do not unclamp, but when feedback unit 202 monitors that swing arm 801 is rotated clockwise to 175 degree or rotates counterclockwise to 5 degree, control
Mainboard 2 processed controls 7 stopping of direct current generator movement；When driving snake 802 is stuck motionless, control mainboard 2 drives sounding component 903
Generate alarm signal.
S5, "+" or "-" key 901 are unclamped, the release signal of this key 901 is transmitted to control mainboard 2, and control mainboard 2 controls
7 stopping of direct current generator movement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of control cabinet for executing driving applied to robot, including cabinet（1）, control mainboard（2）, communication interface（3）, hold
Row component, power module（4）And power supply interface（5）；It is characterized in that,
The control mainboard（2）, it is set to cabinet（1）Inside, for receiving monitoring information and generating control instruction；
The communication interface（3）It is set to cabinet（1）Outside, is used for and control mainboard（2）Interactive information；
The execution unit includes motor drive module（6）, direct current generator（7）, execution unit（8）And angular transducer（10）；
The motor drive module（6）, it is set to cabinet（1）Inside, with control mainboard（2）It is electrically connected, for driving direct current
Motor（7）Movement；
The direct current generator（7）, it is fixed on cabinet（1）Inside, output shaft pass perpendicularly through cabinet（1）Top；
The execution unit（8）Including swing arm（801）, driving snake（802）And limit plate（803）；
The swing arm（801）Pin hole is arranged in tail end（810）And fastener hole（811）, swing arm（801）Pass through pin hole（810）It is connected to
Direct current generator（7）Output shaft at the top of, pass through fastener hole（811）Adjust pin hole（810）Aperture；The swing arm（801）Head end
Connecting hole is set（804）, for connecting driving snake（802）Head end connecting rod（805）；
The driving snake（802）Head end connecting rod（805）Upper setting card slot（806）；
The limit plate（803）It is installed on cabinet（1）Outer tip end, the limit plate（803）Upside is provided with and card slot（806）
The limiting slot to match（807）, limit film can be passed through（808）By driving snake（802）Head end connecting rod（805）It is limited in limit
Slot（807）In；
The angular transducer（10）It is mounted on direct current generator（7）The tail portion of output shaft, for monitoring swing arm（801）Rotation angle
Degree；
The power supply interface（5）It is set to cabinet（1）Outside, with the power module（4）Input terminal connection, for power supply
Module（4）Access external power；
The power module（4）It is set to cabinet（1）Inside provides working power to control cabinet.
2. control cabinet according to claim 1, which is characterized in that the communication interface（3）Including CAN interface（301）,
RS232/RS422 interface（302）, ADC input interface（303）, PWM input interface（304）, relay output interface（305）And door
Extreme position input interface（306）.
3. control cabinet according to claim 2, which is characterized in that further include human-computer interaction module（9）, the human-computer exchange
Module includes key（901）, light-emitting component（902）And sounding component（903）；The human-computer interaction module（9）Key（901）
And light-emitting component（902）It is attached in cabinet（1）Top, sounding component（903）It is mounted on cabinet（1）It is internal.
4. control cabinet according to claim 3, which is characterized in that the control mainboard（2）Including processing unit
（201）, feedback unit（202）, decision package（204）, driving unit（203）And relay（205）；
The driving unit（203）With the relay（205）Signal is connected, for driving relay（205）Folding；It is described after
Electric appliance（205）With relay output interface（305）It is connected；
The control mainboard（2）With the CAN interface（301）, RS232/RS422 interface（302）, ADC input interface（303）,
PWM interface, the connection of position thresholding input interface, angular transducer（10）It is electrically connected with human-machine exchange module；
The processing unit（201）Handle the CAN interface（301）, RS232/RS422 interface（302）, ADC input interface
（303）, PWM interface, position thresholding input interface and human-machine exchange module monitoring information；
The feedback unit（202）Handle the angular transducer（10）With the monitoring information of position thresholding input interface；
The decision package（204）According to processing unit（201）And feedback unit（202）Processing result generate monitoring instruction simultaneously
It is transmitted to CAN interface（301）, RS232/RS422 interface（302）, PWM interface, driving unit（203）, motor drive module（6）
Or human-machine exchange module.
5. control cabinet according to claim 4, which is characterized in that the power module（4）Output end pass through conducting wire
With control mainboard（2）, execution unit, human-computer interaction module（9）Middle electrical component connection, the power module（4）Voltage is turned
It is changed to different brackets voltage, according to control mainboard（2）, execution unit, human-computer interaction module（9）The demand of middle electrical component provides
Working power.
6. any control cabinet according to claim 1, which is characterized in that the direct current generator（7）Output shaft at the top of
For D type cylinder, the pin hole（810）Shape and output shaft at the top of match, the swing arm（801）Pass through pin hole（810）It hangs down
Straight cutting enters direct current generator（7）Output shaft at the top of, fastener hole is adjusted by bolt（811）Aperture, when aperture becomes smaller, pin hole
（810）Clamp direct current generator（7）Output shaft at the top of make swing arm（801）Firmly cover in direct current generator（7）Output shaft on.
7. according to claim 1, any control cabinet in 2,3,4,5 or 6, which is characterized in that the swing arm（801）Two sides
A spacer pin is respectively set（809）, spacer pin（809）By swing arm（801）Rotating range is limited to 5 degree of -175 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214291.9A CN108919732A (en) | 2018-10-18 | 2018-10-18 | A kind of control cabinet executing driving applied to robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811214291.9A CN108919732A (en) | 2018-10-18 | 2018-10-18 | A kind of control cabinet executing driving applied to robot |
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Family
ID=64409561
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|---|---|---|---|
| CN201811214291.9A Pending CN108919732A (en) | 2018-10-18 | 2018-10-18 | A kind of control cabinet executing driving applied to robot |
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Country or region after: China Address after: Room 01, 1st Floor, Building 12, Mobile Terminal Industrial Park, Comprehensive Bonded Zone, No. 777 Guanggu 3rd Road, Fozuling Street, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 437400 Applicant after: Wujiang (Wuhan) Technology Co.,Ltd. Address before: No. 104-1, 1st floor, Chuangye building, Wuhan University Science Park, Donghu Development Zone, Wuhan City, Hubei Province, 430074 Applicant before: DAPENG HIGH-TECH (WUHAN) INTELLIGENT EQUIPMENT CO.,LTD. Country or region before: China |