CN108994847A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN108994847A CN108994847A CN201810779195.2A CN201810779195A CN108994847A CN 108994847 A CN108994847 A CN 108994847A CN 201810779195 A CN201810779195 A CN 201810779195A CN 108994847 A CN108994847 A CN 108994847A
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- control unit
- control
- signal
- robot
- power supply
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot, which includes control system, mass center monitoring system, train system and pedestal；Train system includes multiple return pulleys, and multiple return pulleys pass through multiple telescopic rod pieces respectively and connect with pedestal；Control system includes first control unit and signal processing unit；First control unit is electrically connected with signal processing unit；It includes multiple force sensors that mass center, which monitors system, and multiple force sensors are mounted on multiple telescopic rod pieces, and force snesor is electrically connected with signal processing unit, for being to be transmitted to signal processing unit by force signal by the stress check calculation of rod piece；Signal processing unit is acquired by force signal, and the signal of acquisition is transmitted to first control unit, first control unit forms driving signal according to the signal of acquisition, for adjusting the length of multiple telescopic rod pieces, to reduce the possibility that robot is toppled over when caused mass center changes in climbing, the operation stability of robot is improved.
Description
Technical field
The present embodiments relate to intelligent robot technology field more particularly to a kind of robots.
Background technique
With the development of industrial technology with the raising of human cost, more and more industries are replaced using robot manually to be made
Or work compound works together with people, especially in workplace dull, that repeatability is high, risk is strong, the application of robot
More and more, with the intelligence of robot, robot also will slowly penetrate into every field.
Currently, most of robot be all it is fixed, immovable, working space is limited.And mobile machine labor market
It is seldom on field, and return pulley only has the variation on direction, does not account for climbing and loading changing caused robot mass center variation,
In the presence of toppling over possibility.
Summary of the invention
The present invention provides a kind of robot, is toppled over reducing robot when climbing and loading and change caused mass center variation
Possibility, to improve the operation stability of robot.
In a first aspect, the robot includes control system, mass center monitoring the embodiment of the invention provides a kind of robot
System, train system and pedestal；
The train system includes multiple return pulleys, and multiple return pulleys pass through multiple telescopic rod pieces and the bottom respectively
Seat connection；
The control system includes first control unit and signal processing unit；The first control unit and the signal
Processing unit electrical connection；
The mass center monitoring system includes multiple force sensors, and multiple force snesors are mounted on multiple described scalable
Rod piece on, the force snesor is electrically connected with the signal processing unit, for by the stress check calculation of the rod piece be stress
Signal is transmitted to the signal processing unit；The signal processing unit acquisition is described by force signal, and the signal of acquisition is passed
The first control unit is transported to, the first control unit forms driving signal according to the signal of the acquisition, for adjusting
The length of multiple telescopic rod pieces.
Specifically, the mass center monitoring system further includes multiple driving devices；Multiple driving devices and the signal
Processing unit electrical connection, multiple driving devices connect one to one with multiple telescopic rod pieces respectively, the drive
Dynamic device drives corresponding rod piece flexible according to the driving signal.
Specifically, the driving device is motor.
Specifically, the robot further includes navigation system and depth camera, and the control system further includes the second control
Unit；
The navigation system is mounted on the base；The navigation system includes radar cell and inertial navigation unit；It is described
Radar cell is for detecting ambient enviroment and carrying out map structuring, and the inertial navigation unit is for positioning the robot body position
Information；
Second control unit is electrically connected with the navigation system；Second control unit exports navigational control signals
To the navigation system, controls the navigation system and detect the ambient enviroment of the robot and form Map Data Transmission to described
Second control unit, described control unit carry out path planning according to the map datum；
The depth camera is electrically connected with second control unit, for detecting environment and the formation of extraneous vertical direction
The environmental signal of vertical direction is transmitted to second control unit.
Specifically, the robot further includes trunk, head and object locating system, and the control system further includes third
Control unit；
The trunk is fixedly connected with the base, and the head is mounted on the one end of trunk far from the pedestal, described
Object locating system includes binocular video camera and two steering engines, and the binocular video camera is connect with the steering engine, the rudder
Machine is linked with the trunk；
The third control unit is electrically connected with the object locating system, and the third control unit exports location control
Signal searches for the target for controlling the object locating system in detection range.
Specifically, the robot further includes power-supply system, and the power-supply system includes ATX power supply and Switching Power Supply；
The ATX power supply is electrically connected with the first control unit, is powered for the first control unit；
The Switching Power Supply includes first voltage output end and second voltage output end；The first voltage output end and institute
The power input electrical connection of train system is stated, the second voltage output end is passed by the first control switch and multiple power
Sensor and signal processing unit electrical connection, first control switch includes control terminal, and first control switch is used for
According to the voltage turn-on of its control terminal or shutdown, and the voltage for exporting the Switching Power Supply second voltage output end in conducting
It is transmitted to the multiple force snesor and the signal processing unit.
Specifically, the robot further includes hard disk, and the power-supply system further includes first switch, the first switch with
The first control unit electrical connection；
The first switch closure, the first control unit feedback trigger signal give the ATX power supply, the ATX electricity
Source powers to the first control unit and the hard disk.
Specifically, the Switching Power Supply further includes tertiary voltage output end；
The tertiary voltage output end is electrically connected with second control unit, for supplying to second control unit
Electricity.
Specifically, the power-supply system further includes relay, and the relay includes control terminal and a pair of of normally opened contact, institute
Stating ATX power supply includes tertiary voltage output end, and the Switching Power Supply further includes the 4th voltage output end；
The control terminal of the relay is electrically connected with the tertiary voltage output end of the ATX power supply；The pair of normally opened touching
One of point is electrically connected with the 4th voltage output end of the Switching Power Supply, and another of the pair of normally opened contact is with described the
The control terminal of one control switch is electrically connected.
Specifically, the robot further includes security system；
The security system includes wired emergency stop unit and wireless emergency stop unit, wired emergency stop unit and described wireless
Emergency stop unit is connect with the first control unit respectively, and wired emergency stop unit exports wired emergent stop signal or described wireless
Emergency stop unit exports wireless emergent stop signal to the first control unit, and the first control unit cuts off the power-supply system
Power supply.
The present invention monitors system by the way that mass center is arranged in robot, and it includes multiple force sensors that mass center, which monitors system, often
A force snesor is mounted on different telescopic rod pieces, and is electrically connected with signal processing unit.Force snesor is by rod piece
Stress check calculation is to be transmitted to signal processing unit by force signal, and signal processing unit is acquired by force signal, and by the signal of acquisition
It is transmitted to first control unit, first control unit forms driving signal according to the signal of acquisition, multiple scalable for adjusting
Rod piece length, so that the possibility toppled over when reducing robot caused mass center changing in climbing, improves robot
Operation stability.
Detailed description of the invention
Fig. 1 is a kind of partial structure diagram of robot provided in an embodiment of the present invention；
The partial enlargement diagram that Fig. 2 is in Fig. 1 10；
Fig. 3 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 4 is a kind of power supply flow chart of power-supply system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of partial structure diagram of robot provided in an embodiment of the present invention, the part that Fig. 2 is in Fig. 1 10
Enlarged diagram.As depicted in figs. 1 and 2, which includes control system 110, mass center monitoring system, train system and pedestal
130；Train system includes multiple return pulleys 120, and multiple return pulleys 120 are connected by multiple telescopic rod pieces 121 with pedestal 130 respectively
It connects；Control system 110 includes first control unit 111 and signal processing unit 112；First control unit 111 and signal processing
Unit 112 is electrically connected；It includes multiple force sensors 141 that mass center, which monitors system, and multiple force sensors 141 are mounted on multiple scalable
Rod piece 121 on, force snesor 141 is electrically connected with signal processing unit 112, for by the stress check calculation of rod piece 121 be stress
Signal is transmitted to signal processing unit 112；Signal processing unit 112 is acquired by force signal, and the signal of acquisition is transmitted to the
One control unit 111, first control unit 111 forms driving signal according to the signal of acquisition, multiple telescopic for adjusting
The length of rod piece 121.
Specifically, the train system of robot generally comprises four return pulleys 120 (being not fully shown in Fig. 1 and Fig. 2), each bottom
Motor, speed reducer, encoder, band-type brake and driver are provided on wheel 120.Driver is communicated with the realization of signal processing unit 112
Connection, illustratively, can pass through Ethernet auto-control technology (Ether Control Automation
Technology, EtherCAT) bus realization communication connection.Signal processing unit 112 can pass through with first control unit 111
EtherCAT bus realizes communication connection.Signal processing unit 112 may include that analog quantity digital input and output modules, digital quantity are defeated
Enter output module, Ethercat module, RS485 module and synchronous serial interface module, mainly completes each sensing data
It acquires and exports the signal that first control unit exports to each executing agency.Therefore 112 output driving bottom of signal processing unit
The signal of wheel 120 is to driver, and driver drives the motor on return pulley 120 to rotate and reverse according to the signal, so as to control
The movement of robot processed.
Each telescopic rod piece 121 includes pars contractilis 1211 and forced section 1212, is equipped with stress on forced section 1212
Part, such as spring.Force snesor 141 is contacted with the stressed member on forced section 1212, can by the stress check calculation of stressed member be by
Force signal is sent to signal processing unit 112, and signal processing unit 112 will be sent to first control unit after stress signal processing
111.First control unit 111 according to signal processing unit 112 treated by force signal formed driving signal export to signal
Processing unit 112.Driving device 1214 is installed, driving device 1214 is electrically connected with signal processing unit 112 on pars contractilis 1211
It connects, 112 output drive signal of signal processing unit to driving device 1214, driving device 1214 is according to signal processing unit 112
The driving signal of output is moved, so that pars contractilis 1211 be driven to move.For example, driving device 1214 can be motor, electricity
Machine rotates and reverse the elongation or shortening that can drive pars contractilis 1211.
In addition, telescopic rod piece 121 can also include encoder 1213, pars contractilis 1211 is driven in driving device 1214
During elongating or shortening, it can pass through between the movement of driving device 1214 and the length of pars contractilis 1211 elongated or shortened
Encoder 1213 establishes mapping relations, to realize the control to the length of pars contractilis 1211 elongated or shortened.Illustratively,
Driving device 1214 can be motor, and motor circles and can correspond to pars contractilis 1211 and elongate or shorten 1cm, therefore can control
The length that the direction of motor rotation and all number control pars contractilis 1211 elongate or shorten.
It follows that multiple force sensors 141 detect the stress of telescopic rod piece 121 during robot manipulating task
Situation.When the robot mass center variation caused by the change or load that encounter road conditions change, the stress of different force snesors 141
Situation variation is different, and each force snesor 141 is sent to the different by force signal of signal processing unit 112, signal processing unit
112 are sent to first control unit 111 by force signal for different, and first control unit 111 is sent out according to different by force signal
Different driving signals is sent out by signal processing unit 112 to the driving device 1214 of telescopic rod piece 121, can each be stretched
The driving device 1214 of the rod piece 121 of contracting carries out the different adjustings elongated or shortened according to driving signal.
Illustratively, road conditions become to go up a slope from level road during robot manipulating task, and four return pulleys 120 of robot are corresponding
Telescopic rod piece 121 on force snesor 141 be less than from equal 120 stress of the first two return pulley for becoming robot of stress after
The stress of two return pulleys 120, the force snesor 141 on the corresponding telescopic rod piece 121 of the first two return pulley 120 is sent at this time
By force signal be less than that the force snesor 141 on the corresponding telescopic rod piece 121 of latter two return pulley 120 sends by force signal,
First control unit 111, which can control the corresponding telescopic shortening of rod piece 121 of the first two return pulley 120, at this time makes the matter of robot
The heart turns forward, to increase the stress of the corresponding telescopic rod piece 121 of the first two return pulley 120, or control controls latter two
The corresponding telescopic elongation of rod piece 121 of return pulley 120 makes the mass center of robot turn forward, so that it is right to reduce latter two return pulley 120
The stress for the telescopic rod piece 121 answered can also control the corresponding telescopic rod piece 121 of the first two return pulley 120 simultaneously and contract
The corresponding telescopic rod piece 121 of short and latter two return pulley 120 extends, until the corresponding telescopic rod piece of four return pulleys 120
The stress condition of force snesor 141 on 121 is identical.Mass center and robot of the robot on upward slope can be guaranteed flat at this time
The mass center of road is co-located, to reduce the possibility that robot is toppled over when caused mass center changes in climbing, mentions
The operation stability of Gao Liao robot.
Similarly, it when the load variation of robot causes the mass center of robot to change, again may be by adjusting each bottom
The length for taking turns 120 corresponding telescopic rod pieces 121 reduces the possibility toppled over when mass center variation caused by robot load changes,
To improve the operation stability of robot.
The technical solution of the present embodiment monitors system by the way that mass center is arranged in robot, and it includes more that mass center, which monitors system,
A force snesor, each force snesor is mounted on different telescopic rod pieces, and is electrically connected with signal processing unit.Power passes
The stress check calculation of rod piece is that signal processing unit is transmitted to by force signal by sensor, and signal processing unit is acquired by force signal, and
The signal of acquisition is transmitted to first control unit, first control unit forms driving signal according to the signal of acquisition, for adjusting
The length of multiple telescopic rod pieces is saved, so that the possibility that robot is toppled over when caused mass center changes in climbing is reduced,
Improve the operation stability of robot.
Based on the above technical solution, Fig. 3 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention,
As shown in figure 3, the robot further includes navigation system and depth camera (not shown), control system further includes the second control
Unit (not shown).Navigation system and depth camera are installed on pedestal；Navigation system includes radar cell 161 and is used to
Lead unit 162；For radar cell 161 for detecting ambient enviroment and carrying out map structuring, inertial navigation unit 161 is used for positioning robot
Body position information；Second control unit is electrically connected with navigation system；Second control unit exports navigational control signals to navigation
The ambient enviroment of system, control navigation system detection robot forms Map Data Transmission to the second control unit, control unit
Data carry out path planning according to the map；Depth camera is electrically connected with the second control unit, for detecting extraneous vertical direction
Environment and the environmental signal for forming vertical direction are transmitted to the second control unit.
Specifically, radar cell 161 can be laser radar, and laser radar is as leading boat, for detecting ambient enviroment
And carry out map structuring.And inertial navigation unit 162 is used as assisting navigation, can be used for the position of positioning robot's ontology.Laser radar
161 and inertial navigation unit 162 and the second control unit realize communication connection.Illustratively, laser radar 161 and the second control are single
Member is communicated by Etherneit, and inertial navigation unit 162 and the second control unit are communicated by RS232.Laser radar 161 is in map
Map data information is sent to the second control unit after the completion of building, behind the position of 162 positioning robot's ontology of inertial navigation unit
Also robot body location information is sent to the second control unit, therefore the second control unit is believed according to robot body position
Number and the target position of robot path planning is carried out on map.After path planning, the second control unit passes through friendship
It changes planes and exports routing information to first control unit, first control unit controls robot according to routing information and moves according to path
It is dynamic.
In addition, robot further includes depth camera, after path planning, robot is according to the path of planning to target position
It is moved, in the process, depth camera detects the barrier on robot surrounding vertical direction, forms the ring of vertical direction
Border signal is transmitted to the second control unit, and the environmental signal of vertical direction is transmitted to first by interchanger by the second control unit
Control unit.When having barrier in the vertical direction around the robot, first control unit is according to the environment in vertical direction
Signal determines barrier at a distance from robot, and the movement speed of adjustment robot of control robot is until robot stops fortune
It is dynamic.Under normal circumstances, brake system is installed on return pulley, is provided with band-type brake on each return pulley, when first control unit controls
When robot slows down, it can control brake system and carry out band-type brake, while cutting off power supply of the robot to return pulley.Moreover, robot
On can also include ultrasonic sensor, be mounted on the base, and with the second control unit communication connection.Each direction of pedestal
On two ultrasonic sensors can be installed.For example, can install two when pedestal is quadrangle on each side of pedestal and surpass
Sonic sensor, therefore 8 ultrasonic sensors are installed altogether on pedestal.Ultrasonic sensor can detecte the obstacle around pedestal
Object, under normal circumstances, it is 3 meters that ultrasonic sensor, which can detecte maximum distance around robot,.There is barrier around robot
When hindering object, the movement speed for the signal adjustment robot that the second control unit is issued according to ultrasonic sensor, until mobile speed
Degree is zero.Therefore it can be collided in moving process with barrier to avoid robot according to depth camera and ultrasonic sensor.
It, can be in addition, execute that map structuring, robot body position be determining by the second control unit of setting and the tasks such as path planning
The task of first control unit is reduced, the performance requirement to first control unit is reduced, increases the stability of control system.
In the above process, robot further includes security system, and security system includes wired emergency stop unit 151 and wireless emergency stop
Unit 152, wired emergency stop unit 151 and wireless emergency stop unit 152 are connect with first control unit respectively, wired emergency stop unit
The 151 wired emergent stop signals of output or wireless emergency stop unit 152 export wireless emergent stop signal to first control unit, and the first control is single
Member is cut off the power the power supply of system.
Specifically, it when having barrier around robot, needs to control robot brake and stops movement.In control robot
During brake, it can be braked by wired emergency stop unit 151 and/or wireless emergency stop unit 152.Illustratively, by having
When line emergency stop unit 151 brakes, wired emergency stop unit 151 includes scram button, after pressing scram button, wired emergency stop unit
The 151 wired emergent stop signals of output are to first control unit, and cutting is to return pulley after first control unit receives wired emergent stop signal
Power supply, while the band-type brake on return pulley is discharged, so that return pulley is stopped movement.Alternatively, when being braked by wireless emergency stop unit 152, first
Control unit receives power supply of the cutting to return pulley after wireless emergent stop signal, while discharging the band-type brake on return pulley, and return pulley is made to stop moving
It is dynamic.In the brake of wireless emergency stop unit 152, the wireless emergency stop unit 152 in robot is with wireless remote control unit by wirelessly connecing
Access point 153 realizes communication connection.
It should be noted that robot includes two mechanical arms 180, mechanical arm 180 includes 7 joints, each joint packet
Include motor, encoder, speed reducer, Hall sensor, driver and band-type brake.Driver and band-type brake on mechanical arm 180 are with
One control unit communication connection.After first control unit receives wired emergent stop signal or wireless emergent stop signal, the first control is single
Power supply of the member cutting to mechanical arm 180, while the band-type brake for discharging each joint makes each joint on mechanical arm 180 stop moving
Make.Equally, when being braked by wireless emergency stop unit 152, cutting is to mechanical arm after first control unit receives wireless emergent stop signal
180 power supply, while the band-type brake for discharging each joint on mechanical arm 180 acts the stopping of each joint on mechanical arm 180.
Based on the above technical solution, with continued reference to Fig. 3, which further includes trunk 150, head 170 and mesh
Positioning system is marked, control system further includes third control unit.Trunk 150 is fixedly connected with pedestal, and head 170 is mounted on trunk
150 one end far from pedestal, object locating system include binocular video camera 171 and two steering engines 172, binocular video camera
171 connect with steering engine 172, and steering engine 172 is linked with trunk 150.Third control unit is electrically connected with object locating system, third control
Unit processed exports position control signal, and target is searched in detection range for controlling object locating system.
Specifically, robot grabs target by two mechanical arms 180, and before crawl, pass through binocular video camera
171 realize the positioning to target.Binocular video camera 171 is similar to the eyes of human body, for the inspection in binocular video camera 171
Survey the target of searching machine people in range.Two steering engines 172 are connect with trunk 150, similar to the neck of human body.In search target
In the process, third control unit exports position control signal, and binocular video camera 171 searches for target in detection range.When double
Mesh video camera 171 does not search target in detection range, and binocular video camera 171 sends search result to third and controls list
Member, third control unit are exported search result to first control unit by interchanger, and first control unit passes through at signal
Reason unit controls two steering engines 172 and is both horizontally and vertically moving respectively, increases the visual range of binocular video camera 171,
Binocular video camera 171 continues searching process.Steering engine 172 and signal processing unit can realize communication connection by RS485.When
When binocular video camera 171 searches target in detection range, the position of target is sent to third by binocular video camera 171
Control unit, third control unit export the position of target to first control unit by interchanger, and first control unit is logical
It crosses signal processing unit to export control signal to mechanical arm 180, controls mechanical arm 180 close to target.It sets in the controls
Third control unit is set, third control unit is made to execute visual grasping location tasks, it is possible to reduce the task of first control unit,
The performance requirement to first control unit is reduced, the stability of control system is increased.
In addition, first control unit passes through mechanical arm during robot grabs target by two mechanical arms 180
What the driver in each joint on 180 controlled the motor in each joint respectively rotates and reverse adjusting mechanical arm 180 and target
Between position.The end of mechanical arm 180 connects manipulator 181, and manipulator is connected by RS485 and signal processing unit communication
It connects, after mechanical arm 180 adjusts the relative position between target, manipulator 181 executes grasping movement.
On the basis of above-mentioned each technical solution, which further includes power-supply system, and Fig. 4 provides for the embodiment of the present invention
A kind of power-supply system power supply flow chart.As shown in figure 4, power-supply system includes ATX power supply and Switching Power Supply；ATX power supply with
First control unit electrical connection, powers for first control unit；Switching Power Supply includes that first voltage output end and second voltage are defeated
Outlet；First voltage output end is electrically connected with the power input of train system, and second voltage output end is opened by the first control
Pass is electrically connected with multiple force sensors and signal processing unit, and the first control switch includes control terminal, and the first control switch is used for
According to the voltage turn-on of its control terminal or shutdown, and the voltage transmission for exporting Switching Power Supply second voltage output end in conducting
To multiple force sensors and signal processing unit.
In addition, robot further includes hard disk, power-supply system further includes first switch, first switch and first control unit electricity
Connection；First switch closure, first control unit feedback trigger signal give ATX power supply, and ATX power supply is to first control unit and firmly
Disk power supply.
Switching Power Supply further includes tertiary voltage output end；Tertiary voltage output end is electrically connected with the second control unit, is used for
It powers to the second control unit.
Power-supply system further includes relay, and relay includes control terminal and a pair of of normally opened contact, and ATX power supply includes third electricity
Output end is pressed, Switching Power Supply further includes the 4th voltage output end；The control terminal of relay and the tertiary voltage output end of ATX power supply
Electrical connection；One of a pair of of normally opened contact is electrically connected with the 4th voltage output end of Switching Power Supply, a pair of of normally opened contact it is another
A control terminal with the first control switch is electrically connected.
Illustratively, lithium battery exports 48V direct current, and lithium battery exports two-way voltage, all the way as the defeated of ATX power supply
Enter, all the way as the input of Switching Power Supply.ATX power supply is that the first control unit of robot and hard disk are powered, and Switching Power Supply is defeated
Four kinds of voltage values out, respectively from first voltage output end, second voltage output end, tertiary voltage output end and the 4th voltage output
End output.Illustratively, first voltage output end can export 48V voltage, be train system power supply (for example, in train system
Motor), it is that signal processing unit and multiple force sensors are powered that second voltage output end, which can export 24V voltage, third electricity
Pressure output end can export 12V voltage, power for the second control unit, and the 4th voltage output end can export 5V voltage, be the
The control terminal of one control switch is powered.
In addition, the voltage of first voltage output end output can supply according to machine human needs for the mechanical arm of robot
The voltage of electricity, the output of second voltage output end can be the power supply such as the wireless access point of robot and interchanger, and tertiary voltage is defeated
The voltage of outlet output can be third control unit and the steering engine power supply of robot, and the voltage of the 4th voltage output end output can
Think the ultrasonic sensor power supply of robot.
Specifically, power-supply system can be revolved by lithium battery power supply, power-supply system starting when powering by key switch
It twists, first switch can be power on buttons, controls first control unit feedback trigger signal by button and gives ATX power supply.First
Control unit can be mainboard, and the second control unit can be industrial control computer, and the first control switch can be transistor,
Control terminal of the control terminal of transistor as the first control switch.
Power-supply system uses time-sharing power, after startup power supply system, first voltage output end, the third electricity of Switching Power Supply
Pressure output end and the 4th voltage output end start to power, train system, signal processing unit, multiple force sensors and the second control
Unit powers on.It is closed first switch, first control unit exports trigger signal to ATX power supply, and ATX power supply, which is triggered, to be started to supply
Electricity, first control unit and hard disk power on, while ATX power supply exports tertiary voltage to relay main body, and relay main body is charged,
It is closed a pair of of normally opened contact of relay, the 4th voltage output end of Switching Power Supply exports the 4th voltage and passes through the normally opened of closure
Contact is to the control terminal of the first control switch, and control first switch is in the conductive state, to keep Switching Power Supply second voltage defeated
The voltage transmission of outlet output is to multiple force sensors and signal processing unit.Power-supply system is achieved in the difference of robot
System time-sharing power reduces the dash current of powered on moment.
In addition, can realize communication using CAN bus between lithium battery and signal processing unit, robot can also include
Teaching machine and indicator light.The status information of lithium battery can real-time display, while the sudden strain of a muscle for passing through LED status on teaching machine
The bright information that battery capacity can be prompted low.
The technical solution of the present embodiment, power-supply system include ATX power supply and Switching Power Supply, by setting ATX power supply and are opened
Powered-down source time-sharing power, when startup power supply system, the first voltage output end of Switching Power Supply is train system power supply, third electricity
Press output end for the power supply of the second control unit.After being closed first switch, ATX power supply is that first control unit and hard disk are powered, together
When power for relay main body, relay is closed normally opened contact, and the 4th voltage output end is the by the normally opened contact of relay
The control terminal of one control switch is powered, and the first control switch conducting, second voltage output end is signal processing unit and multiple power
Sensor power supply.Power-supply system is achieved in the different electricity system time-sharing powers of robot, reduces the impact of powered on moment
Electric current.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot, which is characterized in that the robot includes control system, mass center monitoring system, train system and bottom
Seat；
The train system includes multiple return pulleys, and multiple return pulleys pass through multiple telescopic rod pieces respectively and the pedestal connects
It connects；
The control system includes first control unit and signal processing unit；The first control unit and the signal processing
Unit electrical connection；
The mass center monitoring system includes multiple force sensors, and multiple force snesors are mounted on multiple telescopic bars
On part, the force snesor is electrically connected with the signal processing unit, for being by force signal by the stress check calculation of the rod piece
It is transmitted to the signal processing unit；The signal processing unit acquisition is described to be transmitted to by force signal, and by the signal of acquisition
The first control unit, the first control unit forms driving signal according to the signal of the acquisition, multiple for adjusting
The length of the telescopic rod piece.
2. robot according to claim 1, which is characterized in that the mass center monitoring system further includes multiple driving dresses
It sets；Multiple driving devices are electrically connected with the signal processing unit, multiple driving devices respectively with it is multiple it is described can
Flexible rod piece connects one to one, and the driving device drives corresponding rod piece flexible according to the driving signal.
3. robot according to claim 2, which is characterized in that the driving device is motor.
4. robot according to claim 1, which is characterized in that further include navigation system and depth camera, the control
System further includes the second control unit；
The navigation system is mounted on the base；The navigation system includes radar cell and inertial navigation unit；The radar
Unit is for detecting ambient enviroment and carrying out map structuring, and the inertial navigation unit is for positioning the robot body position letter
Breath；
Second control unit is electrically connected with the navigation system；Second control unit exports navigational control signals to institute
Navigation system is stated, the navigation system is controlled and detects the ambient enviroment of the robot and form Map Data Transmission to described second
Control unit, described control unit carry out path planning according to the map datum；
The depth camera is electrically connected with second control unit, for detecting the environment of extraneous vertical direction and being formed vertical
The environmental signal in direction is transmitted to second control unit.
5. robot according to claim 1, which is characterized in that it further include trunk, head and object locating system, it is described
Control system further includes third control unit；
The trunk is fixedly connected with the base, and the head is mounted on the one end of trunk far from the pedestal, the target
Positioning system includes binocular video camera and two steering engines, and the binocular video camera is connect with the steering engine, the steering engine with
The trunk link；
The third control unit is electrically connected with the object locating system, the third control unit output location control letter
Number, the target is searched in detection range for controlling the object locating system.
6. robot according to claim 4, which is characterized in that further include power-supply system, the power-supply system includes ATX
Power supply and Switching Power Supply；
The ATX power supply is electrically connected with the first control unit, is powered for the first control unit；
The Switching Power Supply includes first voltage output end and second voltage output end；The first voltage output end and the wheel
The power input of system is electrically connected, and the second voltage output end passes through the first control switch and multiple force snesors
It is electrically connected with the signal processing unit, first control switch includes control terminal, and first control switch is used for basis
The voltage turn-on of its control terminal or shutdown, and the voltage transmission for exporting the Switching Power Supply second voltage output end in conducting
To the multiple force snesor and the signal processing unit.
7. robot according to claim 6, which is characterized in that further include hard disk, the power-supply system further includes first
Switch, the first switch are electrically connected with the first control unit；
First switch closure, the first control unit feedback trigger signal give the ATX power supply, the ATX power supply to
The first control unit and hard disk power supply.
8. robot according to claim 6, which is characterized in that the Switching Power Supply further includes tertiary voltage output end；
The tertiary voltage output end is electrically connected with second control unit, for powering to second control unit.
9. robot according to claim 8, which is characterized in that the power-supply system further includes relay, the relay
Device includes control terminal and a pair of of normally opened contact, and the ATX power supply includes tertiary voltage output end, and the Switching Power Supply further includes the
Four voltage output ends；
The control terminal of the relay is electrically connected with the tertiary voltage output end of the ATX power supply；The pair of normally opened contact
One is electrically connected with the 4th voltage output end of the Switching Power Supply, the pair of normally opened contact another and it is described first control
The control terminal electrical connection of system switch.
10. robot according to claim 6, which is characterized in that further include security system；
The security system includes wired emergency stop unit and wireless emergency stop unit, wired emergency stop unit and the wireless emergency stop
Unit is connect with the first control unit respectively, and wired emergency stop unit exports wired emergent stop signal or the wireless emergency stop
Unit exports wireless emergent stop signal to the first control unit, and the first control unit cuts off the confession of the power-supply system
Electricity.
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| CN201810779195.2A CN108994847A (en) | 2018-07-16 | 2018-07-16 | A kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810779195.2A CN108994847A (en) | 2018-07-16 | 2018-07-16 | A kind of robot |
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| CN201810779195.2A Pending CN108994847A (en) | 2018-07-16 | 2018-07-16 | A kind of robot |
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Application publication date: 20181214 |