CN112743550A - Integrated automatically controlled cabinet of robot and robot electrical control system - Google Patents
Integrated automatically controlled cabinet of robot and robot electrical control system Download PDFInfo
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- CN112743550A CN112743550A CN202110212274.7A CN202110212274A CN112743550A CN 112743550 A CN112743550 A CN 112743550A CN 202110212274 A CN202110212274 A CN 202110212274A CN 112743550 A CN112743550 A CN 112743550A
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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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- 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
- B25J9/1628—Programme controls characterised by the control loop
Abstract
The invention provides a robot integrated electric control cabinet and a robot electric control system, wherein the robot integrated electric control cabinet comprises: the device comprises a main controller module, a power management module, a motion control module, an operation control module, a charging control module and a communication module; the main controller module is respectively connected with the motion control module and the operation control module through communication protocols including, but not limited to, protocols such as RS232, RS485, CAN and the like, and is in communication connection with the communication module through an Ethernet protocol; the power management module is in communication connection with the motion control module through a communication protocol; the power management module and the charging control module are in communication connection through a communication protocol. The robot electrical control system comprises a robot integrated electric control cabinet and an execution module carried by a robot body; the robot integrated electric control cabinet is connected with an execution module carried by the robot body through a connector module. The robot control unit is integrated into a whole, decoupling of the control unit is facilitated, iterative processing can be performed on robots with different functions, transplanting is easy, and development efficiency of new products is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot integrated electric control cabinet and a robot electrical control system.
Background
In the current epidemic era, the demand of the whole society for unmanned disinfection is rapidly increased, and the direct contact between workers and viruses is possibly caused by the daily disinfection, cleaning and other works in public spaces such as medical areas, office places and the like, so that the infection probability of the workers is increased. In order to reduce the probability of personnel infection, a robot can be used for working instead of a worker.
However, when the robot is used for working, most products in the current market are distributed on the robot body through a control system, the coupling degree of each part of the system is high, the iterative processing cannot be carried out quickly, and the function reuse and the quick iteration of the products are not facilitated. Therefore, a large number of robots of different work types are required.
Therefore, a robot integrated electric control cabinet and a robot electrical control system are needed to solve the above problems.
Disclosure of Invention
The invention solves the technical problem that a robot integrated electric control cabinet and a robot electric control system are provided, and solves the problems that coupling degrees of all parts of an existing system of a robot are high, and different operation schemes cannot be iterated rapidly.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a robot integrated electric control cabinet comprises: the device comprises a main controller module, a power management module, a motion control module, an operation control module, a charging control module and a communication module; the main controller module is respectively in communication connection with the motion control module and the operation control module through a communication protocol and is in communication connection with the communication module through an Ethernet protocol; the power management module is connected with the motion control module through communication protocols including, but not limited to, protocols such as RS232, RS485, CAN and the like; the power management module and the charging control module are in communication connection through a communication protocol.
In a preferred embodiment of the present invention, the robot integrated electric control cabinet further includes: the servo driving module and the connector module; the connector module is respectively connected with the power management module, the motion control module and the operation control module; the servo driving module is respectively connected with the motion control module and the motor.
In a preferred embodiment of the present invention, the main controller module is configured to control a robot; the power management module is used for respectively supplying power to each module of the robot integrated electric control cabinet after being connected with the battery; the motion control module is used for acquiring signals acquired by a sensor carried by the robot and controlling the servo driving module; the operation control module is used for controlling the robot to execute operation; the charging control module is used for realizing charging control of the robot; the servo driving module is used for receiving the command sent by the motion control module to control the motor; the communication module is used for realizing the communication between the robot and the server; and the connector module is used for realizing power supply and communication between each module in the robot integrated electric control cabinet and the execution module carried by the robot.
In a preferred embodiment of the present invention, the connector module includes: a first connector, a second connector, a third connector, a fourth connector and a fifth connector.
A robot electrical control system is characterized by comprising any one of the robot integrated electric control cabinets and an execution module carried by a robot body; the integrated automatically controlled cabinet of robot links to each other with the executive module that the robot body carried on through the connector module that sets up at automatically controlled cabinet outer wall, and executive module includes: the device comprises a charging assembly, a motion control assembly, an operation assembly, a control panel assembly and a battery assembly.
In a preferred embodiment of the present invention, the charging and discharging interface of the charging control module is connected to the charging assembly through a connector module, and the charging assembly includes: and the automatic charging electrode plate is connected with the manual charging interface.
In a preferred embodiment of the present invention, the motion control module and the power management module are connected to the motion control component through a connector module.
In a preferred embodiment of the present invention, the job control module and the power management module are connected to a job component through a connector module, and the job component includes: the cleaning device comprises a sterilization operation assembly, a cleaning operation assembly and a patrol operation assembly.
In a preferred embodiment of the present invention, the control panel assembly includes: a control button and a display screen; the motion control module, the power management module and the main controller module are connected with the control button through the connector module; the display screen is connected with the main controller module through the communication module.
In a preferred embodiment of the present invention, the power management module is connected to a battery assembly mounted on the robot through a control interface of the connector module, and the battery assembly includes a battery discharge interface and a battery communication interface.
The technical effect achieved by adopting the technical scheme is as follows: the main control unit is integrated in an electric control cabinet and comprises a main controller module, a communication module, a power management module, a motion control module, an operation control module, a charging control module, a servo driving module and the like. And then the electric elements of the execution modules carried by the robot are connected through the connector module on the outer wall of the electric control cabinet so as to complete information acquisition, motion control and other operation functions. The mode of integrating the control units into a whole is favorable for decoupling the control units, can carry out iterative processing aiming at robots with different functions, is easy to transplant, and improves the development efficiency of new products.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of a modular structure of a robot integrated electric control cabinet according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an electrical control system of a robot according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical measures and effects taken by the present invention to achieve the intended objects, embodiments of the present invention will be described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments that can be obtained by a person skilled in the art based on the embodiments of the present invention without any inventive step belong to the scope of the embodiments of the present invention. While the present invention has been described in connection with the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and specific embodiments thereof.
Referring to fig. 1, fig. 1 is a schematic diagram of a module structure of a robot integrated electric control cabinet according to an embodiment of the present invention.
The following describes the structure of each module of the robot integrated electric control cabinet with reference to fig. 1:
in one embodiment, the robot integrated electric control cabinet comprises: the device comprises a main controller module, a power management module, a motion control module, an operation control module, a charging control module and a communication module. The main controller module is respectively in communication connection with the motion control module and the operation control module through a communication protocol and is in communication connection with the communication module through an Ethernet protocol; the power management module is in communication connection with the motion control module through a communication protocol; the power management module and the charging control module are in communication connection through a communication protocol.
Specifically, the main controller module is an industrial personal computer, the power management module is a power management board, the motion control module is a motion control board, the operation control module is an operation control board, the charging control module is a charging control board, and the communication module is a 4G router. Wherein, connect through communication protocol between power management board, motion control panel, operation control panel, the industrial computer, including but not limited to protocols such as RS232, RS485, CAN, power management board, the control panel that charges pass through communication protocol and connect, including but not limited to protocols such as RS232, RS485, CAN, industrial computer, 4G router pass through the Ethernet communication.
In one embodiment, the robot integrated electronic control cabinet further includes: the servo driving module and the connector module; the connector module is respectively connected with the power management module, the motion control module and the operation control module; the servo driving module is respectively connected with the motion control module and the motor.
Among others, the connector module may include, but is not limited to: a first connector, a second connector, a third connector, a fourth connector and a fifth connector. The number of connectors in the connector module is associated with the execution module carried by the robot.
Specifically, the connector may be, but is not limited to, an aerial plug connector, but may also be an aerial docking terminal connector, or the like.
Specifically, the servo driving module is a servo driver, and the servo driver is not connected with the connector of the connector module, and is directly connected with the motor and the motion control module through a cable, so that the servo driver can realize the motion function of the robot through the motor.
In an embodiment, the power management module is further connected with each module in the robot integrated electric control cabinet through a cable, so that after the power management module is connected with the battery, the power of the battery is supplied to other modules through the voltage stabilizing and reducing circuit. Specifically, after the robot execution module is connected with the connector, the power management module can supply power to all components of the robot.
In one embodiment, the robot comprises a main controller module for controlling the robot; the power management module is used for respectively supplying power to each module of the robot integrated electric control cabinet after being connected with the battery; the motion control module is used for acquiring signals acquired by a sensor carried by the robot and controlling the servo driving module; the operation control module is used for controlling the robot to execute operation; the charging control module is used for realizing charging control of the robot; the servo driving module is used for receiving the command sent by the motion control module to control the motor; the communication module is used for realizing the communication between the robot and the server; and the connector module is used for realizing power supply and communication between each module in the robot integrated electric control cabinet and the execution module carried by the robot.
Specifically, the main controller module is used for completing scheduling of the whole robot system, such as starting up and self-starting each working module, inquiring and predicting electric quantity, automatic recharging planning and the like. And the power management module is used for supplying power to all the components through the voltage reduction and stabilization circuit by the power supply of the power supply battery, communicating with the battery, reading information such as voltage and capacity, and uploading the information to the main controller module. And the motion control module is used for realizing control over the servo drive module, information reading over the ultrasonic module, falling prevention and signal receiving of safe edge touching. And the operation control module is used for finishing the disinfection function of the robot. Such as ultraviolet disinfection, spray disinfection, wipe disinfection, and the like. And the charging control module is used for realizing the automatic charging function after the charging electrode is in butt joint with the charging pile. And the servo driving module is used for receiving the command of the motion control module to realize motor control and complete the motion function of the robot. And the 4G routing module is connected with the main controller module and used for realizing the communication function of the robot body and the cloud. And the connector module is used for realizing power supply and communication between the control unit integrated in the electric control cabinet and each execution module of the robot.
The robot integrated electric control cabinet of the embodiment integrates a main control unit into one electric control cabinet, and comprises a main controller module, a communication module, a power management module, a motion control module, an operation control module, a charging control module, a servo drive module and the like. And all control modules in the electric control cabinet are connected through various communication protocols, so that decoupling of the control unit is facilitated, and transplanting is easy.
Referring to fig. 2, fig. 2 is a schematic diagram of an electrical control system of a robot according to an embodiment of the present invention.
The following describes the robot electrical control system with reference to fig. 2:
in one embodiment, the robot electrical control system includes the robot integrated electric control cabinet and the execution modules mounted on the robot body in any one of the above embodiments. Wherein, the integrated automatically controlled cabinet of robot links to each other with the executive module that the robot body carried on through the connector module that sets up at automatically controlled cabinet outer wall, and executive module includes: the device comprises a charging assembly, a motion control assembly, an operation assembly, a control panel assembly and a battery assembly.
Specifically, the robot integrated electric control cabinet comprises a main controller module, a power management module, a motion control module, an operation control module, a charging control module, a communication module, a servo driving module and a connector module. The main controller module is an industrial personal computer, the power management module is a power management board, the motion control module is a motion control board, the charging control module is a charging control board, the communication module is a 4G router, the operation control module can be but not limited to a disinfection control board, a cleaning control board, a patrol control board and the like (the operation control board can be matched with an operation task of a robot), the servo drive module is a servo driver, and the connector module can be but not limited to an aviation plug connector, an aerial butt-joint terminal and the like.
The execution module carried by the robot body comprises a charging assembly, a motion control assembly, an operation assembly, a control panel assembly, a battery assembly and the like. Wherein, the operation subassembly can but not be limited to disinfection subassembly can also be other subassemblies, like clean the subassembly etc. (the specific subassembly condition matches the operation task of robot), the motion control subassembly includes navigation subassembly, and battery pack includes the lithium cell, controls panel assembly and includes all kinds of control button and display screen etc..
Specifically, the execution module that the robot carried on carries on pluggable connection or other detachable connections through aviation plug connector with the connector module of automatically controlled cabinet outer wall to realize functions such as power supply, signal acquisition and communication control.
In one embodiment, the charging and discharging interface of the charging control module is connected to the charging assembly through the connector module, and the charging assembly includes: and the automatic charging electrode plate is connected with the manual charging interface.
Specifically, the charging interface of the charging control panel is connected with the robot body charging module through the four-core aviation plug. The charging module comprises an automatic charging electrode plate and a manual charging interface; the charging input interface is connected with the automatic charging electrode, and the charging output interface is connected with the manual charging interface to form a lithium battery charging interface.
In one embodiment, the motion control module and the power management module are coupled to the motion control assembly via a connector module.
Specifically, the control interfaces of the motion control board and the power management board can be connected with all the electric elements of the robot body motion control assembly through twenty-eight-core aviation plugs. The motion control assembly can be a navigation assembly and comprises an IMU (inertial measurement Unit), an infrared distance measuring sensor, a safe touch edge, an ultrasonic sensor and robot light. The signals of the motion control panel, which are used for collecting the IMU, the infrared distance measuring sensor, the safety touch edge, the ultrasonic sensor and other electrical elements, are uploaded to the industrial personal computer for master control scheduling, the power supply interface of the power management board is controlled, and light and other displays are completed.
In one embodiment, the job control module and the power management module are connected to a job component via a connector module, the job component comprising: the cleaning device comprises a sterilization operation assembly, a cleaning operation assembly and a patrol operation assembly.
Specifically, the control interfaces of the operation control board (such as a sterilization control board) and the power management board can be connected with each electrical element of the operation assembly (such as a sterilization assembly) of the robot body through a twenty-core aviation plug. Wherein, the disinfecting assembly can include: gear self-priming pump, solenoid valve, flowmeter and level sensor. When the operation subassembly that carries on at the robot is the disinfection subassembly, the disinfection control panel gathers flow instrument and level sensor's signal and uploads to the industrial computer and be used for the master control dispatch, through adjusting source management board power supply interface, further control gear self priming pump sprays the antiseptic solution with the solenoid valve and accomplishes the disinfection operation.
In one embodiment, a steering panel assembly includes: a control button and a display screen; the motion control module, the power management module and the main controller module are connected with the control button through the connector module; the display screen is connected with the main controller module through the communication module.
Specifically, the control interfaces of the motion control panel, the power management panel and the industrial personal computer can be connected with the control panel assembly carried by the robot body through the twelve-core aviation plug. The control panel assembly includes: various control buttons such as a power switch button, an emergency stop button, a manual/automatic switching button, a manual spraying button and the like, and devices such as a display screen, a loudspeaker, a microphone and the like. The power management board can be connected with a power switch button to complete the on-off function of the robot. The motion control panel may be connected to an emergency stop button, a manual/automatic switching button, a manual spray button, etc. to accomplish manual spray disinfection. The industrial personal computer is connected with the display screen to complete the information display and man-machine interaction functions of the robot.
In one embodiment, the power management module is connected to a battery assembly carried by the robot via a control interface of the connector module, the battery assembly including a battery discharge interface and a battery communication interface.
Specifically, the control interface of power management board links to each other with battery pack (for example, lithium cell group) through seven core aviation plugs of accessible, and power management board battery input interface is connected to battery pack's discharge port, and power management board RS485 communication port is connected to battery pack communication port to read lithium cell group BMS information, such as battery voltage, residual capacity etc.. And then the read battery information is sent to an industrial personal computer, so that the industrial personal computer can perform master control scheduling according to the battery information and complete the automatic recharging and other functions of the robot by combining the disinfection task progress and the like.
In the embodiment, the robot integrated electric control cabinet is connected with the execution module carried by the robot body mainly through five pluggable aviation plugs. When the robot needs to change the disinfection mode or the working mode, if ultraviolet disinfection and wiping disinfection are carried out, the robot body can be adapted to different disinfection modes or working modes only by replacing or correspondingly adjusting the operation control panel in the electric control cabinet, and the development and assembly period of the robot is greatly shortened. Moreover, the electric control cabinet can be quickly and simply adapted to the robot bodies in various working modes in an aviation plug butt joint mode, and can be easily installed at any position of the robot body according to requirements. When the size of the operation element is small, such as an ultraviolet lamp disinfection component, the electric control cabinet can be directly placed on a walking chassis of the robot, and an operation platform (the operation platform, the electric control cabinet and the walking chassis are arranged from top to bottom) is arranged on the electric control cabinet. When the disinfection element is large in size, such as a disinfectant storage barrel, the electric control cabinet can be placed on the operation platform (the electric control cabinet, the operation platform and the walking chassis are arranged from top to bottom).
In the embodiment, the electric control cabinet is connected with the robot body in a modularized and weak coupling mode, so that the electric control cabinet can be conveniently and quickly transplanted to the robot body in different operation modes (such as ultraviolet disinfection, wiping disinfection and the like) and even expanded to the robot body with other operation modes/functions, such as a cleaning robot, a post-standing robot, a patrol robot and the like. The new version of the electric control cabinet can be quickly adapted and installed in the robot with the new model through the pluggable connector only by developing the corresponding operation control module according to the functions of the robot body, so that the development cost is saved, and the development period is shortened.
The present invention is not limited to the details of the above embodiments, which are exemplary, and the modules or processes in the drawings are not necessarily essential to the implementation of the embodiments of the present invention, and should not be construed as limiting the present invention.
Claims (10)
1. A robot integrated electric control cabinet is characterized by comprising: the device comprises a main controller module, a power management module, a motion control module, an operation control module, a charging control module and a communication module;
the main controller module is respectively connected with the motion control module and the operation control module through communication protocols including, but not limited to, protocols such as RS232, RS485, CAN and the like, and is in communication connection with the communication module through an Ethernet protocol;
the power management module is in communication connection with the motion control module through a communication protocol;
the power management module and the charging control module are in communication connection through a communication protocol.
2. The robot-integrated electric control cabinet according to claim 1, further comprising: the servo driving module and the connector module;
the connector module is respectively connected with the power management module, the motion control module and the operation control module;
and the servo driving module is respectively connected with the motion control module and the motor.
3. The robot integrated electric control cabinet according to claim 2, wherein the main controller module is used for controlling the robot;
the power management module is used for respectively supplying power to each module of the robot integrated electric control cabinet after being connected with a battery;
the motion control module is used for acquiring signals acquired by a sensor carried by the robot and controlling the servo driving module;
the operation control module is used for controlling the robot to execute operation;
the charging control module is used for realizing charging control of the robot;
the servo driving module is used for receiving the command sent by the motion control module to control the motor;
the communication module is used for realizing the communication between the robot and the server;
and the connector module is used for realizing power supply and communication between each module in the robot integrated electric control cabinet and an execution module carried by the robot.
4. The robotically integrated electrical control cabinet according to claim 2, wherein said connector module comprises: a first connector, a second connector, a third connector, a fourth connector and a fifth connector.
5. A robot electrical control system, characterized by comprising a robot integrated electric control cabinet according to any one of claims 1 to 4 and an execution module carried by a robot body;
the integrated automatically controlled cabinet of robot links to each other with the executive module that the robot body carried on through the connector module that sets up at automatically controlled cabinet outer wall, executive module includes: the device comprises a charging assembly, a motion control assembly, an operation assembly, a control panel assembly and a battery assembly.
6. The robotic electrical control system of claim 5, wherein the charge-discharge interface of the charge control module is connected to the charging assembly by a connector module, the charging assembly comprising: and the automatic charging electrode plate is connected with the manual charging interface.
7. A robotic electrical control system as claimed in claim 5 wherein the motion control module and power management module are connected to the motion control assembly by the connector module.
8. The robotic electrical control system according to claim 5, wherein the task control module and power management module are connected to the task module through the connector module, the task module comprising: the cleaning device comprises a sterilization operation assembly, a cleaning operation assembly and a patrol operation assembly.
9. The robotic electrical control system of claim 5 wherein the dashboard assembly comprises: a control button and a display screen;
the motion control module, the power management module and the main controller module are connected with the control button through the connector module;
the display screen is connected with the main controller module through the communication module.
10. The robotic electrical control system according to claim 5, wherein the power management module is connected to a battery assembly onboard the robot through the control interface of the connector module, the battery assembly including a battery discharge interface and a battery communication interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110212274.7A CN112743550A (en) | 2021-02-25 | 2021-02-25 | Integrated automatically controlled cabinet of robot and robot electrical control system |
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| CN202110212274.7A CN112743550A (en) | 2021-02-25 | 2021-02-25 | Integrated automatically controlled cabinet of robot and robot electrical control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115372044A (en) * | 2022-10-25 | 2022-11-22 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Detection control device integrated in electromechanical product and use method thereof |
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2021
- 2021-02-25 CN CN202110212274.7A patent/CN112743550A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115372044A (en) * | 2022-10-25 | 2022-11-22 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Detection control device integrated in electromechanical product and use method thereof |
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