CN110744572A - Special robot control system - Google Patents
Special robot control system Download PDFInfo
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- CN110744572A CN110744572A CN201911119510.XA CN201911119510A CN110744572A CN 110744572 A CN110744572 A CN 110744572A CN 201911119510 A CN201911119510 A CN 201911119510A CN 110744572 A CN110744572 A CN 110744572A
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- 102100029368 Cytochrome P450 2C18 Human genes 0.000 claims abstract description 27
- 101000919360 Homo sapiens Cytochrome P450 2C18 Proteins 0.000 claims abstract description 27
- 238000013016 damping Methods 0.000 claims abstract description 8
- 238000003780 insertion Methods 0.000 claims abstract description 6
- 230000037431 insertion Effects 0.000 claims abstract description 6
- 230000035939 shock Effects 0.000 claims description 26
- 239000006096 absorbing agent Substances 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 8
- 230000017525 heat dissipation Effects 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims 1
- 238000010622 cold drawing Methods 0.000 description 11
- 238000010521 absorption reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
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- 230000002411 adverse Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 150000003839 salts Chemical class 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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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
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Cooling Or The Like Of Electrical Apparatus (AREA)
Abstract
A special robot control system comprises a case, an aerial insertion panel, a damping frame, a main controller module and a power module which are inserted in the case, wherein the damping frame is arranged at the bottom of the outer side of the case, an aerial insertion plate is fixed on a front panel of the case, the inner walls of the left side plate and the right side plate of the case are respectively provided with a left pushing strip and a right pushing strip which are inwards protruded and used for fixing the main controller module and the power module, a back plate is fixed on the upper surface of a lower cover plate of the case, the back plate is a 4-groove CPCI structure bottom plate, the invention effectively solves the problem that the compatibility of the conventional special robot controller system is not high, and meets the problem of interface difference under different application environments.
Description
Technical Field
The invention relates to a control system, in particular to a special robot control system.
Background
As one of two major types of robots juxtaposed to an industrial robot, although the heat of a special robot is not as high as that of an industrial robot, the special robot blooms all the time in various fields, and is also more deeply felt by the coming of the robot age. According to different service ranges and purposes, special robots can be divided into two main categories, namely civil and military. The civil robots can be divided into household robots, medical robots, entertainment robots, robotized machines and the like. Military robots can be further classified into explosive ordnance disposal robots, reconnaissance robots, battlefield robots, mine sweeping robots, aerial robots, underwater robots, and the like. With the continuous enhancement of the performance and the adaptability to the environment of the special robot, the robot has an application prospect in a plurality of fields such as military affairs, anti-riot, fire control, excavation, construction, transportation, security monitoring, space exploration, explosion prevention, pipeline construction and the like. The application scenes of the special robot controller system are wide and various, so that a unified design standard is difficult to form for standard design, the situation that the special robot control systems of different manufacturers and different application scenes are incompatible is caused, and in addition, the special robot controller system is frequently applied in extremely severe environments, the performances of an efficient heat dissipation mode, waterproof or anti-electromagnetic compatibility and the like are sometimes required, so that the technical development difficulty of the special robot controller system is increased.
Disclosure of Invention
The invention provides a special robot control system which can be stably used in an extremely severe environment, aiming at solving the problem of low compatibility of the robot control system.
The technical scheme adopted by the invention is as follows:
a special robot control system comprises a chassis, an air insertion plate, a shock absorption frame, a main controller module and a power module which are inserted in the chassis, wherein the bottom of the outer side of the chassis is provided with the shock absorption frame, the front panel of the chassis is fixedly provided with the air insertion plate, the inner walls of the left side plate and the right side plate of the chassis are respectively provided with a left pushing bar and a right pushing bar which are inwards protruded and fixedly provided with the main controller module and the power module, the upper surface of the lower cover plate of the chassis is fixedly provided with a back plate which is a CPCI structure bottom plate with 4 grooves, the 4 grooves are respectively provided with 1 system groove, 2 CPCI bus peripheral grooves and 1 CPCI power groove, a CPU mainboard of the main controller module is inserted in the system grooves, a DIO plate and an ADA plate are respectively inserted in the CPCI bus peripheral grooves, the power plate of the power module is inserted in the CPCI power grooves, the CPU mainboard, the DIO plate and the ADA plate are connected with the back plate through CPCI connectors, the power, the power supply board provides power supply for the CUP mainboard, the DIO board and the ADA board, the sides of the CUP mainboard, the DIO board, the ADA board and the power supply board are respectively fixed with cold plates with corresponding structures, the side of the CPU mainboard is inserted with an auxiliary heat dissipation plate, and the joint of the frame plates of the case is provided with a conductive rubber shielding gasket.
The shock absorption frame comprises an upper shock absorption plate, a lower shock absorption plate and shock absorbers, the four shock absorbers are fixed at the centers of four vertex angles of the upper shock absorption plate and the lower shock absorption plate symmetrically, the shock absorbers are fixed at the bevel edge positions of the vertex angles, and the upper shock absorption plate is fixedly connected with the bottom of the case.
The CPU mainboard adopts a CORE-I7 processor, and the chipset adopts
BD82QM67 bridge piece, bridge piece PCIEX1 bus external INTEL 82574 chip extension 4 way giga networks, bridge piece PCIEX 4 bus external PEX8114 chip extension PCI bus signal, on-board chip W83627DHG provides input/output IO port, including 2 way UART serial ports and 1 way PS/2 keyboard mouse interface, on-board can input output audio RealTek ALC888 high definition audio frequency chip, on-board two way SATA II interface and through IDE interface connection electronic disc memory board.
The DIO board adopts a CPLD + PCI9054 framework, the CPLD chip realizes the functions of 40 paths of DI, 40 paths of DO and 3 paths of CAN, the CAN interface is connected with a controller SJA1000, the controller is connected with a transceiver 82C250 through the CAN interface, and a bridge piece 9054 bus is externally connected with 32bit/33MHz PCI.
The ADA board adopts a CPLD + PCI9054 framework, a CPLD chip acquires 24 paths of AD signals after passing through an I/V conversion circuit, a single channel continuously samples 100Kbps, the resolution is 12 bits, and a bridge 9054 bus is externally connected with a 32bit/33MHz PCI.
The aviation plug board is characterized in that an aviation socket is arranged on a panel of the aviation plug board, external input and output signals are led out through an aviation plug interface on the aviation socket, a connector is used on the aviation plug board to lead the signals to the aviation plug board, and other connectors except the power connector are all aviation sockets of a straight-needle printed board.
The input voltage of the power panel is 24V, 5V and 3.3V voltages are output to serve as the power supplies of the CPU main board and the CPCI expansion board, 18V and 24V voltages are output to serve as the power supplies of the driving boards, and the aviation socket, the fuse, the switch and the filter of the power supply lead-in part adopt a cable mode.
The chassis and the cold plate are both made of aluminum alloy 5A 05.
CPU mainboard, DIO board, ADA board and power strip and the cold drawing that corresponds add between needs radiating device department and establish the heat conduction pad, the top on the cold drawing sets up the lifting device of being convenient for to draw, the both sides end of cold drawing sets up the five-segment locking strip of being convenient for the integrated circuit board locking.
The invention has the beneficial effects that: the invention effectively solves the defect of low compatibility of the conventional special robot controller system, and can flexibly expand other interfaces by upgrading and replacing the CPCI function board in a mode of expanding the external bus through the PCI bus so as to meet the problem of interface difference under different application environments. The special robot controller system adopts the high-reliability reinforcement design for the internal function module, greatly improves the use stability of the special robot controller system in the extremely severe environment, can be popularized to the fields of railways, military industry, buildings and the like, and has wide prospects.
Drawings
Fig. 1 is an overall schematic block diagram of the present invention.
Fig. 2 is a schematic structural diagram of the controller according to the present invention.
FIG. 3 is a schematic diagram of a partial structure of the controller according to the present invention.
FIG. 4 is a circuit diagram of the CPU motherboard of the present invention.
FIG. 5 is a schematic block diagram of a DIO board of the present invention.
Fig. 6 is a schematic block diagram of an ADA board of the present invention.
FIG. 7 is a diagram of a CPU motherboard cold plate structure according to the present invention.
Fig. 8 is a schematic structural view of the shock-absorbing mount of the present invention.
Wherein: 1-a chassis; 2-a navigation plug board; 3-a shock absorption frame; 4-a back plate; 5, a power panel; 6-CPU mainboard; 7-DIO plates; 8-ADA plate; 9-a filter; 10-a cold plate; 11-an upper damping plate; 12-a shock absorber; 13-a lower damping plate; 14-a lifter; 15-five-section type locking strip.
Detailed Description
A special robot control system comprises a case 1, a navigation plug board 2, a damping frame 3, a main controller module and a power module which are inserted in the case 1, wherein the damping frame 3 is arranged at the bottom of the outer side of the case 1 to ensure that the whole machine can normally work even under impact and vibration environments in actual use, the navigation plug board 2 is fixed on a front panel of the case 1, the inner walls of the left side plate and the right side plate of the case 1 are respectively provided with an inward protruding fixed main controller module and a left pushing strip and a right pushing strip of the power module, a back plate 4 is fixed on the upper surface of a lower cover plate of the case 1, the back plate 4 is a CPCI structure bottom plate with 4 grooves, wherein 1 system groove, 2 CPCI bus peripheral grooves and 1 CPCI power groove are inserted with a CPU mainboard 6 of the main controller module, a DIO plate 7 and an ADA plate 8 are respectively inserted in the CPCI bus peripheral grooves, the power plate 5 of the power module is inserted in the CPCI power groove, the, The DIO board 7 and the ADA board 8 are connected with the backboard 4 through CPCI connectors, the power board 5 is connected with the backboard 4 through power connectors, and the backboard 4 is connected with the navigation plug board 2 through connectors, so that the cable-free connection mode can ensure stable and reliable signal connection and meet the environmental requirement of impact vibration; the external interface adopts an aviation socket, the aviation socket can meet the environmental requirements of salt fog prevention and electromagnetic compatibility while ensuring the reliable connection of signals, the power panel 5 supplies power to the CUP mainboard 6, the DIO board 7 and the ADA board 8, the sides of the CUP mainboard 6, the DIO board 7, the ADA board 8 and the power panel 5 are respectively fixed with cold plates 10 with corresponding structures, the cold plates 10 transmit heat generated by heat generating devices on all board cards through the cold plates 10 for heat dissipation, the side of the CPU mainboard 6 is inserted with an auxiliary heat dissipation plate, all modules in the case are provided with the cold plates 10 for natural heat dissipation by means of heat conduction, the frame plate joint of the case 1 is provided with a conductive rubber shielding gasket to realize the environmental sealing function, the whole system adopts a CPCI framework, the case 1 is inserted with at most 3 CPCI standard function modules 6U standard function modules, 1 CPCI standard power module 6 is led out by aviation plugs, all interfaces are led out through aviation plugs, and a master controller module is used for controlling and processing, the CPCI bus is adopted among the board cards for data transmission, the power module supplies power for the whole board card, and conversion from 24VDC to 12VDC, 5VDC, 18VDC and the like is realized.
The CPU mainboard 6 adopts a CORE-I7 processor, 2 COREs, 4MB cache, a main frequency of 2.2GHz, power consumption of 25W, DDR3 memory and memory capacity of 4GB, and a chip set adopts
BD82QM67 bridge piece, bridge piece PCIE X1 bus external INTEL 82574 chip extension 4 way giga networks, bridge piece PCIE X4 bus external PEX8114 chip extension PCI bus signal, board chip W83627DHG provides input/output IO port, including 2 way UART serial ports and 1 way PS/2 keyboard mouse interface, board carries the RealTek ALC888 high definition audio chip that can input output audio, board carries two way SATA II interfaces and passes IDE interface connection electronic disc storage board, CPU mainboard 6 power is from CPCI connector input, the power supply is 5V, 3.3V, convert required power in the board.
The DIO board 7 adopts a CPLD + PCI9054 framework, a CPLD chip realizes 40-channel DI, 40-channel DO and 3-channel CAN functions, a CAN interface is connected with a controller SJA1000, the controller is connected with a transceiver 82C250 through the CAN interface, the CAN interface conforms to ISO 11892/standard, point-to-point, point-to-multipoint and point-to-network modes are supported to send and receive data, the communication distance CAN reach 10Km furthest, and a bridge 9054 bus is externally connected with 32bit/33MHz PCI.
The ADA board 8 adopts a CPLD + PCI9054 framework, a CPLD chip acquires 24 paths of AD signals after passing through an I/V conversion circuit, a single channel continuously samples 100Kbps, the resolution is 12 bits, the precision is not more than +/-5 LSB, and a bridge 9054 bus is externally connected with 32bit/33MHz PCI.
The panel of the aviation plugboard 2 is provided with the aviation socket, external input and output signals are led out through an aviation socket interface on the aviation socket, the aviation plugboard 2 is provided with a connector for leading the signals to the aviation plugboard 2, other connectors except the power connector are all aviation sockets of a straight needle printed board, and the aviation sockets can meet the environmental requirements of salt fog prevention and electromagnetic compatibility while ensuring better signal quality.
The input voltage of the power panel 5 is 24V, the voltages of 5V and 3.3V are output as the power supplies of the CPU mainboard 6 and the CPCI expansion board, the voltages of 18V and 24V are output as the power supplies of the driving board, and the aviation socket, the fuse, the switch and the filter 9 of the power lead-in part adopt a cable mode.
The chassis 1 and the cold plate 10 are both made of aluminum alloy 5A05, and have good heat conductivity and light weight.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. A special robot control system is characterized by comprising a case (1), an aviation insertion plate (2), a damping frame (3), a main controller module and a power module which are inserted in the case (1), wherein the damping frame (3) is arranged at the bottom of the outer side of the case (1), the aviation insertion plate (2) is fixed on a front panel of the case (1), the inner walls of the left side plate and the right side plate of the case (1) are respectively provided with an inward protruding fixed main controller module and a left pushing strip and a right pushing strip of the power module, a back plate (4) is fixed on the upper surface of a lower cover plate of the case (1), the back plate (4) is a CPCI structure bottom plate with 4 grooves, the 4 grooves are respectively 1 system groove, 2 CPCI bus peripheral grooves and 1 CPCI power groove, a CPU mainboard (6) of the main controller module is inserted in the system groove, a DIO plate (7) and an ADA plate (8) are respectively inserted in the CPCI bus peripheral grooves, and connected with the power panel (5) of the power module, CPU mainboard (6), DIO board (7) and ADA board (8) are connected through the CPCI connector with backplate (4), power strip (5) are connected through the power connector with backplate (4), backplate (4) are connected with aviation picture peg (2) through the connector, power strip (5) are CUP mainboard (6), DIO board (7), ADA board (8) power supply, CUP mainboard (6), DIO board (7), the side of ADA board (8) and power strip (5) is fixed cold plate (10) that correspond the structure respectively, CPU mainboard (6) side is pegged graft and is had auxiliary heat dissipation board, the frame plate junction of quick-witted case (1) sets up conductive rubber shielding gasket.
2. A special robot control system according to claim 1, characterized in that the shock-absorbing mount (3) comprises an upper shock-absorbing plate (11), a lower shock-absorbing plate (13) and shock absorbers (12), four shock absorbers (12) are fixed on four corners of the upper shock-absorbing plate (11) and the lower shock-absorbing plate (13) in a centrosymmetric manner, the shock absorbers (12) are fixed on the positions of the oblique edges of the corners, and the upper shock-absorbing plate (11) is fixedly connected with the bottom of the case (1).
3. A specialty robot control system according to claim 1, wherein said CPU board (6) employs a CORE-I7 processor chipsetBD82QM67 bridge piece, bridge piece PCIE X1 bus external INTEL 82574 chip extension 4 way giga networks, bridge piece PCIE X4 bus external PEX8114 chip extension PCI bus signal, on-board chip W83627DHG provides input/output IO port, including 2 way UART serial ports and 1 way PS/2 keyboard mouse interface, on-board can input the RealTek ALC888 high definition audio frequency chip of output audio frequency, on-board two way SATA II interfaces and through IDE interface connection electronic disk memory board.
4. The special robot control system of claim 1, wherein the DIO board (7) is of a CPLD + PCI9054 architecture, a CPLD chip realizes 40-way DI, 40-way DO and 3-way CAN functions, a CAN interface is connected with a controller SJA1000, the controller is connected with a transceiver 82C250 through a CAN interface, and a bridge 9054 bus is externally connected with 32bit/33MHz PCI.
5. The special robot control system of claim 1, wherein the ADA board (8) is constructed by CPLD + PCI9054, the CPLD chip is collected by 24 paths of AD signals through an I/V conversion circuit, the single channel continuously samples 100Kbps with a resolution of 12 bits, and the bridge 9054 bus is externally connected with 32bit/33MHz PCI.
6. A special robot control system as claimed in claim 1, wherein an aviation socket is provided on the panel of the aviation board (2), external input and output signals are led out through an aviation interface on the aviation socket, a connector is used on the aviation board (2) to lead the signals to the aviation board (2), and other connectors except the power supply connector are straight needle printed aviation sockets.
7. The special robot control system as claimed in claim 1, wherein the input voltage of the power panel (5) is 24V, 5V and 3.3V are output as the power supply of the CPU board (6) and the CPCI expansion board, 18V and 24V are output as the power supply of the driving board, and the aviation socket, the fuse, the switch and the filter (9) of the power supply lead-in part adopt a cable mode.
8. A specialty robot control system according to claim 1, wherein said cabinet (1) and cold plate (10) are both made of aluminum alloy 5a 05.
9. A special robot control system as claimed in claim 1, 3, 4 or 5, characterized in that heat conducting pads are additionally arranged between the CPU main board (6), the DIO board (7), the ADA board (8) and the power supply board (5) and the corresponding cold boards (10) at the parts needing heat dissipation, a lifter (14) convenient for extraction is arranged at the top of each cold board (10), and five-segment locking strips (15) convenient for locking the board cards are arranged at the two side ends of each cold board (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119510.XA CN110744572A (en) | 2019-11-15 | 2019-11-15 | Special robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911119510.XA CN110744572A (en) | 2019-11-15 | 2019-11-15 | Special robot control system |
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| CN110744572A true CN110744572A (en) | 2020-02-04 |
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| CN201911119510.XA Pending CN110744572A (en) | 2019-11-15 | 2019-11-15 | Special robot control system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2304800C1 (en) * | 2005-12-20 | 2007-08-20 | Открытое акционерное общество "Научно-конструкторское бюро вычислительных систем" | Computing block |
| CN201607670U (en) * | 2010-03-25 | 2010-10-13 | 山东超越数控电子有限公司 | Downward-turning portable ruggedized computer based on CPCI bus |
| CN110262346A (en) * | 2019-06-24 | 2019-09-20 | 佛山智异科技开发有限公司 | A kind of industrial robot controller hardware platform with bus compatible |
| CN210998753U (en) * | 2019-11-15 | 2020-07-14 | 天津新松智能科技有限公司 | Special robot control system |
-
2019
- 2019-11-15 CN CN201911119510.XA patent/CN110744572A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2304800C1 (en) * | 2005-12-20 | 2007-08-20 | Открытое акционерное общество "Научно-конструкторское бюро вычислительных систем" | Computing block |
| CN201607670U (en) * | 2010-03-25 | 2010-10-13 | 山东超越数控电子有限公司 | Downward-turning portable ruggedized computer based on CPCI bus |
| CN110262346A (en) * | 2019-06-24 | 2019-09-20 | 佛山智异科技开发有限公司 | A kind of industrial robot controller hardware platform with bus compatible |
| CN210998753U (en) * | 2019-11-15 | 2020-07-14 | 天津新松智能科技有限公司 | Special robot control system |
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