CN1165072A - Controlling device share method for robot - Google Patents

Abstract

A common application method for control apparatus of robot features that the interfaces for other systems associated with robot are additionally installed to the control apparatus for increasing its utilization rate. Said interfaces can be used for preliminary automation system of house and new robots for industry, agriculture, medicine, cooking and cleaning.

Description

Controlling device share method for robot

The present invention relates to robot, particularly relate to ROBOT CONTROL utilization ratio of device problem.

At present, robot application is popularized slowly, and a major reason is that its ratio of performance to price is low, and the cost of its control section accounts for certain ratio.

Jiang Xin pine academician points out in its chief editor's " robotics introduction ": after robot began to come into the market in 1971, find that the work capacity of robot own is low on the one hand, price is too high on the other hand, thereby payoff period is long.(two subject matter).

Existing robot controller, no matter be master-slave mode, stagewise, or standalone, the control device of robot itself generally only is used for control own.For example: the control in coordinate transform, track generation, human-computer dialogue, system diagnostics and each joint, etc.When system designer will reduce the cost of system, what provided in the book of all kinds of guidance machine people designs was: methods such as main frame type selecting, software and hardware balance.People do not consider that generally the control device of robot itself is used for the control near the equipment it, and the parts that this is not only under still can not the butted line point more situation of existing technology, remove the variable connector class can be selected for use, and contact more than, device volume promptly expand; And timesharing use must be circuit fully can: also have a reason to be: robot does not still enter more field, and under the present circumstances, but robot is used for investment sector more, and people consider few to falling cost problem temporarily.But when the designer or the figure reduction cost of robot application system, when reaching the popularization and application robot, problem promptly is difficult to resolve determines.

In many reasons that practical housework robot delays to come out, the cost height is an important reasons.

The objective of the invention is: the ROBOT CONTROL device by can be shared with the intrasystem miscellaneous equipment that robot gets in touch, be invested with the part of saving these plant control units.Thereby improve the ratio of performance to price of robot.

The present invention for realizing the scheme that purpose adopts is: with the control device of robot itself to being connected to the electric device of miscellaneous equipment in the system that can get in touch with robot.

Like this,, also control these equipment, or certain equipment, or certain part of certain equipment, can dispense the investment of the control maincenter etc. of the former control device of these equipment by the electric device of ROBOT CONTROL device via butt joint.For example: dispense the investment of the control computer part of multimedia computer by the video/audio part of the computer control multimedia computer in the ROBOT CONTROL device.

The electric device of butt joint

Be that miscellaneous equipment is had effect, so be defined as " electric device of miscellaneous equipment " herein.The electric device that docks with robot controller, being meant with miscellaneous equipment in the system that can get in touch with robot has communication or microelectronics spare of getting in touch or big electric current spare.

The electric device of butt joint must be to allow butt joint, and this relates to prior aries such as supporting and anti-interference.But the electric device mouthpiece of butt joint can only be a detection piece etc. also, for example, only uses the medical detection piece of robot warning device.Under this type of situation,, not necessarily control by the maincenter of robot controller with the equipment of robot controller.

The part of butt joint electric device can be a control centre on the robot controller, also can be interface or the output or the input block of robot controller itself.

" miscellaneous equipment " refer to can with associated any equipment of robot.Can be unit, as paper money counter, lift etc.; Also can be production line, as beverage production line etc.Can be electrical equipment, for example; Any household electrical appliances.Certain equipment on also some installs, for example microelectronic device on the automobile.Promptly " equipment " is to have established any standby part, as sensing part; Any parts are as the interface unit of multimedia video audio-frequency unit; Any device is as lathe or the like." system that can get in touch with robot, " but industrial production system, agricultural production system etc.Include the system of wireless telecommunications, for example: in the medical monitoring system, to colony's target (patient group or single patient's detection group's) monitoring.Promptly robot is only maked an inspection tour, and uses the remote measurement acquired information, the shared ROBOT CONTROL maincenter of monitoring system this moment." butt joint " wired butt joint, also wireless butt joint.

" ROBOT CONTROL device " be various control device, and being not limited to only is microelectronic.Robot also can be any robot, for example: can be industrial robot, domestic robot etc.The electric device of butt joint can be located on the miscellaneous equipment, also can be located in the robot or on the robot controller.

" shared ROBOT CONTROL device " but robot controller control simultaneously itself and the intrasystem miscellaneous equipment that can get in touch with it; It also can be the timesharing use after whole system circuit (figure) provides.Be robot itself when needing control, earlier miscellaneous equipment pinned the control of robot controller elder generation itself.Or in the time itself need not moving, earlier itself is pinned, control device is only controlled miscellaneous equipment.The timesharing of this robot controller is used and also be can be used in the control of robot itself.For example: when not needing robot to walk about, the part of will walking about is pinned, and only controls arm; Do not need when walking about arm to be pinned when manual; And, also can be in a plurality of arms, control section only concentrates strength on controlling one of them arm.The operator arm of operating robot multi-arm for example, and, only use less strength (to distribute less input and output wiring control point to other arm.), or clear-cut the pinning.Like this, can alleviate the burden of control section.

Realize " shared ", can use software.(give transfer different " caller ") also can realize with miscellaneous equipment, for example: adopt Multi-band switch, by being driven Multi-band switch by control.By control can be motor or other movable, also can promptly be the movement parts of robot itself, for example arm.Or promptly be to use the people.

Intrasystem miscellaneous equipment shared robot controller, that can get in touch with robot can be that the robot manipulation uses, and also can not be.(in most cases, place, robot place all has other need control equipment.)

The drawing explanation:

Fig. 1 is the preliminary automated system structural representation of embodiment 1 family;

Fig. 2 is the A-A cutaway view among Fig. 1;

Fig. 3 is the J-J cutaway view among Fig. 2;

Fig. 4 is the K-K cutaway view among Fig. 1;

Fig. 5 is the L-L cutaway view among Fig. 4;

Fig. 6 is the M-M cutaway view among Fig. 4;

Fig. 7 is the simplification outline drawing of embodiment 2;

Fig. 8 is the simplification outline drawing of embodiment 3;

Fig. 9 is the car bar process diagram of embodiment 2;

Figure 10 is the simplification outline drawing of embodiment 4;

Figure 11 is a rice mill control actuating unit structure chart;

Figure 12 is the control system structure principle chart of embodiment 1;

Figure 13 is another control system structure principle chart of embodiment 1.

Figure 14 is the external wiring diagram of robot controller control device able to programme TNC810 when controlling CB7820 type lathe simultaneously;

Figure 15 is embodiment 2 ROBOT CONTROL maincenters: the block diagram of control device TNC-810 able to programme;

Figure 16 is the circuit theory diagrams of the input of control device TNC-810 able to programme;

Figure 17 is the reset circuit figure of control device TNC-810 able to programme:

Figure 18 is the control system schematic diagram of embodiment 4;

Figure 19 is a coronary disease patient monitoring system block diagram;

Figure 20 is that the movement parts that has in the note participates in changing the control device structure chart of internal system contact.

Figure 21 is the D-D cutaway view among Figure 20;

Figure 22 is that E among Figure 20 is to view;

Figure 23 is the CT structure principle chart.

The dismounting technique of painting, simplified painting have been adopted among above many figure.What have only is schematic diagram.What have only provides the invisible projection of part.

The small machine 56 that small fan is arranged on the axle among Fig. 1 is that 3 porcelain plate 30 places all have. 3 money holders 30 are the same with middle porcelain plate, all The groove that allows copper to slide is thereon arranged.

The present invention is further illustrated below in conjunction with accompanying drawing and embodiment:

Embodiment 1: Fig. 1 is the preliminary automated system of family that robot is arranged.Many places such as the robot 1 among the figure and multimedia segment 6 be to the simplification outline drawing.Whole system is made up of when bin stock freezer 29, smoke exhaust 54, ventilation fan 55, Vessels rack 36, workbench 33 robot body, device for cooking, skeleton symbol laundry facilities, cleaning equipment, the equipment of getting the raw materials ready, multimedia video audio-frequency unit.Freezer 29 among the figure is connected as a single entity with frame 22.Freezer 29 is taken the simple gate refrigerator structure, and detail drawing is not expressed in addition.The shared ROBOT CONTROL device of whole system 3:IBM PC/AT (386 or 486 or its compatible computer be the control device of control maincenter.No longer provide for the control device among Fig. 43 and to dissect expression.(" " layout of regulator cubicle, power adjusting is mixed the arranging section of cabinet to ginseng, according to the service machine people, carries out layout, the cabling of element in Electrified Transmission automatic technology handbook (China Machine Press) Chapter 11.)

Multimedia segment among the figure and the computer of robot controller part all are located at by the large-current electric cabinet, are because drawing limits, and the needs of expression in the actual system, are located on the desktop more, and can certain distance be arranged from electric cabinet.And, the anti-interference very well equipped of each side, for example: necessary cabling shielding, heat radiation, spark are eliminated, and adopt small-power element or the like as far as possible, to guarantee system's operation.

Among Fig. 1, institute is a schematic diagram to the figure of robot.Robot is applicable to any robot in the home environment, for example: do simple cooking work with fixing PUMA 560 robots: cooking rice, cook noodle, only start keyboard and promote conveying member or loading and unloading.Laundry is only to operate washing machine.Carry out indoor cleaning with increasing PUNA 560 robots that travelling wheel is arranged.Deng.

Except that robot, on other device the device that docks with robot controller can be arranged.For many coal bodies video/audio part 6, it is the maincenter of shared robot body's control device 3 not only, and shared robot body 1 display unit 7.Because robot body 1 control device 3 is no matter be that tool itself carries, or itself do not carry, the display part of its state and workflow etc. all can be located on the table top, for multimedia video audio-frequency unit 6 provides display unit.

Motor (invisible) in key switch 34 on the platform 33 among Fig. 1, electric furnace for cooking 31, motor 61, the freezer 29 etc. is the large-current electric element, docks with the docking facilities socket 44 that robot controls dress system 3 by big electric current docking facilities connector 45.

Among Fig. 2 59, the 57th, temperature and stroke detection part, other detection piece is many in addition.Do not express one by one among the figure.The signal that these detection pieces detect, by little electric docking facilities: pin type connector 2 with install 3 and dock.(checkout gear in the freezer 29 among the figure and does not express with the checkout gear in the current refrigerator.

The top of the docking facilities 2 on robot controller 3 sides is pin type sockets 4 among Fig. 1, offers little electric interfacing part 2 and patches usefulness.Connector among Fig. 1 all is schematically, actual various suitable connectors, and the number of connector can increase and decrease, the circuit that each connector is connected, for example the pin number of pin type plug-in unit, also changeable.For example 8 pins changes 24 pins.The signal Transmission Part that is used for freezer 29 has the seal isolation part when passing freezer.The cabling of above-mentioned plugs and sockets interfacing part is a prior art, omits expression among the figure.

The robot body 1 who provides among Fig. 1 can be an intelligent robot, does not also have the robot of intelligence.Other device, for example: the cooking, laundry, cleaning, multimedia segment, freezer etc. are the equipment of any same function all.For example: the simple cooker that also can cook, the also dust catcher that can clean or wipe handle, the refrigerator of different model, the multimedia video audio-frequency unit of different model, accordingly, the maincenter of the control device 3 of robot 1 also changes the control maincenter of the multimedia computer platform of corresponding double as different model among Fig. 1, for example: have that Motorola Inc produces 68000 or 68020 or 68030 or the control device of microprocessor such as MC68340.Certainly, as the ROBOT CONTROL device, the interface section of robot itself also is adjusted accordingly with the difference of microprocessor., only provide herein and adopt the block diagram of IBMPC/AT (or 386 or 486) as the maincenter of robot controller because but double as multimedia computer Platform for Robot control maincenter is a lot.

Figure 12 below is an example of robot body 1 control system, and the ground floor CPU of control device is Intel 80286 microprocessors.

In the diagrammatic sketch 1 of Figure 12 top on the robot controller 3 to being connected to the HPI 82750LII of multimedia segment.ω place among the figure illustrates line.The robot controller 3 of diagrammatic sketch 1 also can be simplified among Figure 13.(control carry out with information input unit branch (robot) also can simplify) and show that control device is to being connected to multimedia segment.Figure 13 top is worker's type DVI Action Media of system 750 I multimedia video audio-frequency unit structure charts that Intel Company releases.Figure 12 top is the II type DVI system that the said firm releases.Action Media 750II multimedia video audio-frequency unit structure chart.The computer platform that Figure 13 below demonstrates multimedia segment is a robot control maincenter: computer half platform that IBM PC/AT computer, the below of Figure 12 demonstrate multimedia segment is the robot controller maincenter: the computer system with isa bus of IBM PC/AT.(the telecommunication bus (BITBUS) in the system etc. is selected for use according to needs).80286 of the below also can change 80386 among Figure 12, and the PS/2 bus is arranged in the computer system in the case.

Obviously, adopt 586 so that the vice president DAVID HOUSE of INTEL Corp. give speech, the end of this century INTEL Corp. that produce with INTEL786 386 structure compatibles, or other more senior microprocessor is as the CPU of ROBOT CONTROL maincenter, the shared robot body's 1 of intrasystem miscellaneous equipment that (helping the development of aspects such as robot vision, thinking, understanding like this) can get in touch with robot control device, after adopting suitable interfacing part and doing proper arrangement, still have the feasibility of different degree.

Shown in Figure 12 2 cover rom memory and EPROM (1), RAM (1), and ROM and selecting for use of EPROM (2), RAM (2) considered and the The whole control matched with devices, and the capacity that is used for the rom memory of multimedia segment and EPROM (2), RAM (2) be the II type DVI system that provides according to INTEL Corp. fixed amount definite.The module of robot has outer module in addition.

Institute is a block diagram to figure, multimedia video audio-frequency unit among the figure, with the detail circuits figure of robot control section be prior art, do not provide in addition, (comprise the details circuit such as decoding circuit between CPU and the memory.) desirable available circuit figure.Be that initial " shared " can only be common central processing unit, bus, display part, further shared, expansion in development.

The control program of ROBOT CONTROL program and multimedia segment temporarily is independent separately programming, ROM in (not getting rid of hybrid programming) block diagram 12 and EPMOM (1), RAM (1) are storage robot control program's modules, and other has outer module floppy disk, tape etc. not to express.The program storage address of control robot is from the address starting point.ROM and EPRON (2) are the programs of depositing the control multimedia segment.Increasing RAM (2) is that RAM (1) capacity is little after a little while for the consideration robot control program.Program among ROM and the EPROM (2) storage first address is connected on the back that the robot control program stores the address in addition.For the outstanding interior module of 2 covers that is provided with, the memory under program of intrasystem storage control robot and multimedia segment is expressed specially in the right side of figure herein.And indicate ROM and EPRON (1), RAM (1), ROM and EPROM (2), RAM (2) respectively, to show difference.The deposited information content sum of 2 cover memories is within the allowed band of CPU.(when the robot control program is complicated, add outer storage part.Can change floppy disk etc. by the robot manipulation).

When the means of shared robot controller are " timesharing use ", can adopt software to realize, that is: the end user works out the program that whole day is used domestic robot, for example one day daily routine compiling with the control system of giving the correct time.When program runs to the multimedia video audio-frequency unit, call the control program that is stored in the control multimedia segment among ROM and the EPROM (2).Robot stops transport and goes.When robot need move,, call the control program that is stored among the ROM (EPROM) (1) without multimedia department's timesharing.Because of the robot control program stores from the initial address of memory.So, when using robot, can make the switch motion in 80286 the RESET start-up circuit earlier, (but end user or robot drive) makes 80286 to reset.As with robot the time subprogram of the control robot that calls, also can same multimedia segment, needn't make the switch motion in 80286 the RESET start-up circuit.

" shared " also can establish switch and realize.The method of switch setting is: the ω in Figure 12, Q, R, S, T and α, β, γ, δ, ε, ζ, η, κ, σ all establish the row switch that is closed by a plurality of switches set that can manually realize the shear circuit everywhere.(contactless or have contact-making switch all can.) switch can move simultaneously, also staff connector.Provided among Fig. 1 pin type connector 2 on the control device 3, with the supporting socket 4 of tool.The pin number average of these several plugs and sockets is schematically, and actual pin number is many.End user (or robot) manual operation connector 2 docks with socket 4 or separates, so that switch connection or disconnection that the Q among Figure 12, α etc. locate.α, β, γ, δ, ε, ζ, η, κ, σ among Figure 12, locate to locate identical switch, omitted expression among the figure with Q, R etc.γ, δ, ζ, η, κ, σ, Q, R, S, T, the non-bus side line of ω switch everywhere in connector 2 map interlinkings 12, α, β, ε place right and wrong connect plug-in unit 2 near the line of 80,286 one sides.Socket 4 connects each switch and connects the bus side lead, the expression of having omitted circuit element and cabling among (α, β, ε three places are the line combination hubs 4 near 80,286 one sides) Fig. 1.When using robot 1, during without multimedia segment 6, the end user pulls up the connector 2 of representing ω, S, several places of T switch, and will represent α, β, γ, δ, ε, ζ, η, κ, σ, Q, R, the connector 2 of switch (connector 2 has a plurality of) docks with socket 4 everywhere, when with multimedia segment 6 during without robot 1, the connector 2 at expression ω, S, T place is docked with socket 4, with represent Q, R, α,, β, γ, δ, ε, ζ, η, κ, σ, the connector 2r that locates switch pull up.

Control program storage address arrangement to above multimedia segment is connected to the situation that the control robot program stores the back of address, also can only open and close ω, Q, R, S, several outer switches of T, and also several places are the contactless optoelectronic switch of the row of establishing all.Manually the connector 2 among Fig. 1 pushes away the shadow shield action and realizes above-mentioned switching.Switch for the pin type connector, with multimedia segment 6 during without robot 1, represent the connector 2 at S, T, ω place in the butt joint, pull up the connector 2 of representing Q, R place switch, with robot 1, during without multimedia segment 6, represent the connector 2 of Q, R place switch in the butt joint, pull up the connector 2 of representing S, T, ω place.Each row switch cuts off address wire or chip select line simultaneously.Obviously on multibus, establish switch and carry out shear, also be fine.The multibus right side has provided the switch that multimedia segment is established among Figure 12 on bus, and the switch for the robot part is established on bus has omitted expression among the figure.Two-part switch only some and bus is connected (when switching with switch).With 80286 is the AT-bus that CPU constitutes.Be 80286 for the basis of the PC bus of CPU on one 36 line expansion slot of expansion form, it has increased by 7 address wires than PC bus.All there is switch at the address wire place that (for example establishes the pin type connector) when the address wire place establishes switch and set up.During the shared ROBOT CONTROL device of home appliances, the control program of storage is to weave into the instruction of robot controller in the memory under program of its special use (or shared).

Q among Figure 12, R, S, T, ω have provided wiring that switch is arranged and the wiring of not establishing switch everywhere, expression: among Fig. 1 during the shared robot controller 3 of multimedia segment 6, can realize with 3 kinds of means, if that is: realize with software, the wiring of belt switch is not set up, and only establishes the wiring of no switch, if realize with hand switch, if have the wiring of switch, no switching line is not established.(but establishing the still dual-purpose software transfer method of switch)

If hand switch is realized the method for switching, can also be from initial address with the control program storage address of multimedia segment, storage capability increases one times in can making like this, just increase the RESET (reset line) that 80286 microprocessors are arranged in the MTS and locate switch in the start-up circuit that wiring links to each other, make manually to connect at every turn or all drive when pulling up interfacing part 2 this switch motion.And, adopt hand switch to switch, constant the moving in Figure 12 of memory under program model of the former control multimedia segment in the computer platform of the II type DVI system of Inter company can be replaced ROM and EPROM (2) and RAM (2).

In addition, the employing robot changes tape or floppy disk (can establish fixing operation sequence, call at any time) also increases storage capability.

Below embodiment 1 each several part is described further:

Clear for representing, two push rods 13 among Fig. 1 and two levers 16 (the part place of cuing open) have one of index line all not to be coated with reality and to show and dissect.The small lid that there is not table to annotate between push rod 13 and the lever 16 is not given cutting line yet.

Form the cooking machine part of domestic automation system and be made up of automatic control section and technology operating part, travel switch 57, temperature detection part 59 make cooking machine that certain intelligence be arranged.The door 50 of cooking frame 22 removes among Fig. 1, does not draw.The get the raw materials ready cell door 8 at box 15 places of top is opened.Not the time spent, cell seals, and puts into the ice cube of freezer 29 preparations in get the raw materials ready box 15 and the auxiliary material chamber 18 or with pipeline the box 15 place cells 19 of getting the raw materials ready, auxiliary material chamber 18 are fed freezers 29 to pass a spot of cold air of coming.Transfer tube can be made by heat-barrier material.The parts of technology operating part are made by nontoxic corrosion resistant material, and what health cleaning was used scrubs on water pipe 24 hangers 22.There is band that brush 28 is supplied to scrub usefulness on the tool rack.The flap 11 by 49 picking-ups of bearing post on the frame can drive nail roller 51 and 52 and change, and makes chain belt 12 operations.In the frame that bearing 53 is gone out on frame 22.The base plate 14 that (not cuing open among Fig. 2) gets the raw materials ready in box 15 kerves can be drawn out, auxiliary blanking.There is agitator 10 on 18 right sides, auxiliary material chamber, can wholely take off usefulness (omitting detailed expression among the figure).The butt joint screw of the pipeline of smoke exhaust 54 can adapt to moving of whole cooking part.Travelling wheel 62 on the frame 22 can change into the universal wheel 64 on the cleaning bucket 39, and can to change into be controlled.When need moving frame 22, the pipeline of smoke exhaust 54 can be taken off or increase by one section.

The two side pots 32 of giving can enter stove along the groove on the stove 31 on the platform 33.The pot 32 at middle part can push away stove and slide together.Porcelain plate 30 can be heat insulation and be had groove that stove can be slided on porcelain plate, and small fan 53 is an axial-flow type, and purpose is: dispel the heat and the abrasive dust of removing on the porcelain plate 30.Picking and placeing on the frame 36 that coils bowl has groove, is beneficial to the Small bracket of pulling out the pallet bowl, and (ground floor is contained chopsticks, cutter, fork, spoon) picks and places the dish bowl.The deep bid 21 at frame 22 tops is come in and gone out guide groove is arranged.Dish bowl is available to be difficult for breaking up material and to make.For example bamboo wood, plastics only are individually porcelain.Transport tape 12 is chain subbands, on two side flaps, the 11 cover nail rollers 51 or 52.The block vegetable materials of semicircle heap right and wrong on the transport tape 12.Big guide groove 23 turns.Auxiliary material chamber 18 is made up of many small powders storehouse, and a kind of auxiliary material is put in a general small powder storehouse, for example: oil, salt, sauce, vinegar, bruised ginger, chopped spring onion end, or the like.Get material and the time push away the push rod 13 or of to reset with little spoonful 17.The rotating shaft of guide groove 9 has frictional damping, the liquid material in row's small powder storehouse in auxiliary the leading.Cutting plate 26 can change, and is beneficial to put usefulness such as colored assorted cold dishes.There is row's key switch 34 on workbench 33 sides.These switches also can be established other place.Getting the raw materials ready is provided with the motor 61 that limits one-directional rotation in the frame 27, and there is screw thread the end of motor shaft, and axle can dock all kinds of brushes wipes instrument 60 such as get the raw materials ready.It is to revolve tighter and tighter after loading that thread rotary orientation makes the instrument that connects.Brush 60 usefulness among the figure simplified painting.Get the raw materials ready and also can establish auxiliary chopping instrument, stirring tool in the frame 27.Arch removes 48 and also can change into blanking bar 47 equally, moves from top to bottom.

Each part mentioned above can be pulled down maintenance.The auxiliary material storehouse also can be taken off to scrub and be added material.Water halter 25 is shown in Fig. 2 left side double dot dash line.The water pipe of halter connects Outer Tube.The left column 20 and cutting plate 26 in left side in the right side double dot dash line diagrammatic sketch 1.

The size of each several part all is variable, adjustable among Fig. 1.Example: column 20 can omit.With the top cell across two ends.Enlarge the auxiliary material frame, and increase the mixing part, baking part etc.Also the auxiliary material frame can be put the left side or the front side of whole frame, transport tape is reduced, also an auxiliary material storehouse left side can be expanded to trapezoidal, also can be directly to be taken off from the bin by manipulator to give the box 15 of getting the raw materials ready entirely.Two flaps 11 drive inside and outside two nail roller runnings respectively about (giving the box of getting the raw materials ready is that about two boxes are connected as a single entity).4 nails of two sides of living apart roller has 2 to be hollow roll, and 4 rollers all are skeleton symbol nail rollers.Big guide groove 23 has inside and outside two chutes.(relative transport tape.) left column 20 is near outside, supports cell 19 weight of getting the raw materials ready.Also but auxiliary material chamber 18 is expanded to smoke exhaust 54 places, and ventilation fan 55 changes the smoke exhaust place.(the indoor ventilation fan 55 of establishing in addition is to be auxiliary heat dissipation.)

The travelling wheel of dolly 35 is the same with the travelling wheel 64 of cleaning bucket 39, is universal wheel.

Adopting lead-through teaching, please state banquet cooking great master be cooking teaching people, helps the raising of cooking quality.Be the still available lead-through teaching of programming method, and have certain quality to guarantee.(use certainly other method also can)

Obviously, cooking part not necessarily must have sensing, not necessarily intelligence must be arranged.For example without any sensing, fully carry out by regularly (or order) respectively go on foot the cooking noodle of program, cook congee, pork braised in brown sauce etc., use this device also can realize.And, obviously give cooker loading and unloading, control whole gastronomical process and also be fine.And " being provided with the control device that the movement parts of shear contact one by one participates in changing the internal system contact " that the control section of cooking machine also provides in the back " attached " is to fall cost.

Cook the course process description: each course production process is to give in the internal memory that is stored in robot controller, and the end user orders dishes by the menu number, robot according to number relative this course production process carry out.Generally be from freezer 29, to take out material earlier, put into the frame 27 of getting the raw materials ready and scrub the back cutting, or be taken at cutting on the workbench 33.Behind the well cutting, by cooking material loading order be put in material in the box 15 of getting the raw materials ready on the frame 22 or on the transport tape 12 (also can be to be put on the workbench 33) robot 1 Push switch 34 give stove 31 energisings.Give auxiliary material on the frying pan 32 by the push rod 13 that cooking order promotes earlier on the auxiliary material chamber 18, (generally frying Lay is to oil earlier) regularly reaches, know oil heat back rotation flap 11, driving transport tape 12 walks, push away the frying pan expert simultaneously, change and after big guide groove 23 makes material crossheading 23 on the transport tape enter the middle part pot pot is drawn outward, (guide groove 23 is adjustable wide two laminated planks, limit material terminal-velocity) grabbed round-bottomed frying pan stirring (or rotate frying pan or grab the frying pan upset) and regularly reached, and adds auxiliary material, stirring again, add a cover, regularly reach, remove lid, stirring again, add again auxiliary material, again turn over section, add a cover again, regularly reach, stirring again.Frying pan taken off be put on the workbench 33, take out bowl or dish, cooked dish is relayed in bowl or dish from Vessels rack 36.Bowl or dish be put in push away dolly on the dolly 35 dish is sent in face of the owner.Return a down course (above flow process can be divided into task many, thereby simplifies the programming of other course) of the cooking again.

As seen by above-mentioned, what provide also is a kind of robot cooking machine herein, and it is made up of robot and cooking implement.And this robot cooking machine also has another feature: robot body's the control device of promptly cooking machine is to being connected to the electric device of miscellaneous equipment in the system that can get in touch with robot.

The tool using and the sensing detection that relate in the gastronomical process are a lot, aforementioned detection that has provided general purpose tool and temperature etc., and other all omits.During practical application, do not have for robot that color (frying material have or not jaundice etc.) under the vision situation has or not, the sensing detection part all can be taken the circumstances into consideration to set up in (whether the material in the auxiliary material storehouse uses up) robot motion position etc., and set up some instrument and device, for example: fry in shallow oil dish, marmite, baking instrument, little wheaten food instrument etc., be beneficial to make high-grade Lay.

Cleaning: the structure that has provided the cleaning part among Fig. 1, Fig. 4, Fig. 5, Fig. 6.Cleaning bucket 39 has 3 washing chambers to be connected, to wipe and carry 38 to Fig. 5 behind the double dot dash line position, can wash the chamber to preceding immigration with wiping, also can laterally move in the groove of two sides among Fig. 6, during use, robot 1 will wipe and press to robot to 38 and can hold (protecting scraper 37 contacts to earth) to top handle with bucket 39 top frame with wiping.Hold to wipe the handle at 38 tops is pressed down, after embedded brushing scraper 37 contacted to earth, robot promptly holds to be wiped holder-on hand and bucket 39 top frames, pushing away bucket 39 walks about back and forth from an indoor side on ground, make to wipe to come and go 38 and wipe ground (to floorings such as the cement on need wiping ground or ceramic tiles) and whenever walk to end, feeler lever 63 presses lever 65 to change after touching thing, and then makes the hand sensing part perception of robot 1.(for example the microswitch of hand is pushed.) the robot stop and go, to wipe 38 pull-ups and be pushed among Fig. 5 place, the bucket chamber of washing, 39 right side, extruding up and down, wash scraper 37 with water after, contact to earth wiping to be pushed into the left side of Fig. 5 to 38 again and to press down, bucket 39 is laterally pushed away a little (universal wheel 64 can adapt to), past more return, and wipe ground repeatedly, so wiped until ground, whole room, walk to the room one jiao, emit with pipe 42 water that will wash in the chamber.Put pipe 24 on the halter 25, bucket 39 can be added water.Repeat above-mentioned work once (whole ground, room) again.The also available lead-through teaching teaching of whole work.And only with wiping wiping ground, bucket 39 is only adorned water, and 3 kegs are separately adorned water in also available lead-through teaching teaching.For with dust catcher, available same scan mode is cleaned need cleaning place.As seen by above-mentioned, what provide also is a kind of indoor machine people scavenging machine herein, and it is made up of robot and cleaning device.And the robot controller of this scavenging machine is to being connected to the electric device of miscellaneous equipment in the system that can get in touch with robot.(feeler lever 63 or robot among the figure also all make scavenging machine have certain intelligence.)

Obviously, the cleaning part does not have robot 1, only technology operating part shown in Fig. 5 and 6 changes in addition and establishes automatic control part and also be fine, for example: establish water valve and water valve control motor on the bucket 39 among the figure, add that suitable driving member drives the cleaning wheel and walks about, step-by-step controller control wiping is washed the chamber to 38 put in place or enter, and washs and establishes the washing of washing extrusion in the chamber in addition.Wiping among the figure is in 38 grooves that also can move on the limit.

Washing: among Fig. 1 washing tool being put in the display screen place and being to expressing conveniently, is to be put in a jiao of room during actual the use, generally far away from screen.And there is water pipe can dock halter 25.Basin 43 is fixed on little 40, and water supply valve 5 outlet valves 41 are arranged on the basin 43, and water pipe.Water valve all is skeleton symbol hand operated valves.Water supply valve 5 is rotations, and outlet valve is tension and compression.

Washed process: complete apery, only use laundry basin 43, with squash type washing, the initial use, one period period of also available washing machine transition, promptly use washing machine by robot.Introduce lead-through teaching herein, be suitable for not having the robot of vision, it is also passable to wash blanket for low power output robot.The end user will be washed certain ad-hoc location meet at robot or hang the somewhere, for example: collar, give in the robot.During with the lead-through teaching teaching, can return collar along collar to a coat-sleeve, again to the 2nd coat-sleeve etc.Be that collar is the center all the time in the whole washing process.Also sequential scanning washing is in rubbing with the hands and the extruding washing entirely.Wash the dehydration of back clothes, also wring out with the fraction of scan-type.How to twist several times repeatedly.

Household safe: robot is equipped with on one's body near switch and sound sensor spare, the skeleton symbol camera.After owner went out, the robot control section started security voluntarily according to indoor unmanned activity (comprising that owner is sleeping) qualification period, or the people gos out and the sleeping preceding security that starts.The sound recognition system that is equipped with to self-starting.Also be provided with motion search spare in the security.Surpass limit value as continuous abnormal sound, and have when feeling, start the sound portion branch and send high pitched signal, simple Wireless Note owner, the police, camera rotates discontinuous and takes.Available machines used people's vision of video camera is arranged, establish the image recognition part.

The above-described cooking, laundry, cleaning and antitheft method and flow process are many feasible robot manipulation's methods and the example in the flow process, and method and flow process that other is feasible are a lot, do not give unnecessary details one by one.

Working environment and navigation: for the robot that is not equipped with vision, robot body 1 works in structurized environment, among Fig. 1 in the whole system relative position of the size of the size of each equipment, whole house and each equipment all be given.(package unit once selling, constant substantially) (mankind like neat environment) can provide multiple structured environment atlas, selects when purchasing this covering device by the end user in the shop.The robot ambulation navigation can be ground or aerial laying navigation part, but also sensing part navigation.For example: detection part, collision part or computer vision etc.

Safety problem: the instrument that robot uses has multiple locking, but mechanical lock buckle or electromagnetism absorption etc.And the robot speed of service has qualification.(preventing tool flies out) robot is covered with the elastomeric isolation clothing.(also can be nonelastic) but class people's whole clothing, but also only isolate certain part.For example take on cover, elbow cover etc.The fit adjustment speed of travel, anti-and people's collision, barrier gown are made by the exhausted material of edge, and buffer action electrifies.Cabling sheath 46 is also set up for realization secondary electrical equipment.The coiling apparatus of set adaptation walking is dust catcher roughly the same, expresses so omit.(be located at bottom among the control device 3 of Fig. 1.Omit detailed expression among the figure.)

Because the control device of the shared robot body 1 of home appliances shown in Fig. 1.The equipment of other shared robot controllers such as medical treatment, science indication, tailor (and obviously can increase) these equipment are indivisible in fact with the robot body in use, shown in Figure 1 actual be a kind of novel system type domestic robot.But the robot herein also movement parts that has in the adapted aftermentioned note changes the control device of contact.

It is many that home automation relates to problem, and good and bad program difference is aided with simple tool during realization, from simply can be practical, carries out the transition to robot gradually with simple tool, realizes complicated human various housework actions, is the natural law that affairs develop.

Embodiment 2:(joins Fig. 7,9,14,15,16,17,20) Fig. 7 is a kind of simplification outline drawing of novel industrial robot, robot 68 is other CB7620 type chuck multi-tool semi-automatic lathe 66.The control device 69 of these lathe 66 shared robots 68, lathe 66 are provided with the docking facilities 67 of butt joint robot controller.Figure 15 shows the control maincenter of robot 68: the block diagram of programmable controller TNC-810.Figure 16 is the electrical schematic diagram of Z80-PIO below part among Figure 15.The remainder of Figure 15 is a prior art, does not provide circuit diagram.B0 to the B5 line and the Z80-PIO in left side get in touch among the figure, and a slice ULN2003 seven not gates are arranged in the middle of it.Vertical omission line at the output unit place among the figure is represented and O ₉What line connected has the identical circuit of relay part many in addition.It promptly is man-controlled mobile robot that switch κ (switch group of the formation of a plurality of switches) connects the robot executive item, connecting the lathe executive item promptly is the control lathe, the ROBOT CONTROL executive item has omitted expression, and the 24V circuit of control magnetic valve is a control 24V actuating motor in control machine man-hour.The drive motors of the contactor man-controlled mobile robot in the 220V circuit.The 1DT of the electric device on the lathe 66 that vertical horizontal omission line that omits the line side is represented to dock among Figure 14 does not omit in Figure 16 to the 2DT between the 10DT to the 9DT magnetic valve and does not express.Horizontal omission line in the input block of Figure 16 lower right represents that each travel switch and the press button among Figure 14 also has and I in Figure 16 ₄The identical circuit of the circuit that the photoelectricity male part is arranged that line connected.

α among Figure 15 and Figure 16, β, γ, δ, a few letter are positions in the presentation graphs.These several letters of this caption are can use former circuit or the element that is used for robot instead control industrial equipment change-over switch K for the circuit that place, γ, δ letter place is described all has.Attention: only in the circuit at γ place, provided this switch, and δ, located to have omitted expression.For the α place, a bootable reset switch of staff is arranged also; (ginseng Figure 17) can be by robot manipulation's switch as also establishing for the β place, and can establish storaging chip (capacity of each chip is in permissible value more.) when the distinct device in a workshop, respectively establish the stamen sheet of a storage control program, can make shared robot controller simpler and more direct.Switch can be located on the memory chip select line, and a rotary switch can switch on or off a plurality of chips, and executing the turn-off pass can be as the switch at γ place.

The XK that Figure 16 " input block " locates promptly is the electric device on the lathe 66 that docks, i.e. XK clamping switch among Figure 14.Each input switch in TNC 810 left sides in the same line map interlinking 14 that 24 input contacts pass through entirely with XK is connected of Figure 16 lower right three CD4512 stamens sheet is so this place has provided ellipsis.These 24 input contacts are used to dock electric device on the lathe 66 temporarily entirely.

What Figure 16 upper left side provided is the circuit that has adopted the robot controller part of the device that has the movement parts participation of shear contact one by one to change the internal system contact among Figure 20.Stepper motor among Figure 16 promptly is the motor 21a among Figure 20.Two cover " contact post " 3a of stepper motor two sides among Figure 16, " motor column 8a " " dress changes post 10a " promptly is that corresponding " contact post 3a ", " the motor column 8a " among Figure 20, this two covering device among " transition mast 10a " Figure 16 fit together, identical with this two covering devices package assembly of embodiment among Figure 10 4, drive 2 motor column 8a motions of two sides by the stepper motor at middle part.But this covering device of present embodiment is fixed in the robot controller 69.(omit expression among Fig. 7.) be weldering or bolting also with embodiment 4.

Vertical ellipsis represents that the transition mast 10a of frame of broken lines representative goes up not just one of the fixing identical receiving lines that photosensitive tube is arranged in the frame of broken lines of the transition mast 10a of Figure 16 upper left quarter, but many.Go up fixing by motor column 8a, a luminous tube that moves simultaneously with motor column 8a provides signal moving to the light-sensitive element place, and (ginseng motor column 8a frame of broken lines) and the other horizontal ellipsis of this luminous tube are illustrated on the motor column 8a luminous tube circuit therewith has the identical circuit of the conversion line of photosensitive tube many in addition.This horizontal ellipsis also has another layer omission implication, that is: being connected to the luminous tube that motor column 8a goes up in the same circuit that photosensitive tube arranged is many, a plurality of pipes are because of being connected in the same circuit, so can provide same signal simultaneously, form a barette, make the signal of output that certain period that provides be arranged.Showing in the frame of broken lines of getting in touch post 3a also has a vertical ellipsis, and also representing has many luminous tubes in the same wiring, when signal is arranged, can form light belt.

The latent omission that Figure 16 upper left quarter also has two places to have not annotate ellipsis is used explanatory note at this.The one, as two CD4099 of output expansion, except that several contacts are used to control the stepper motor, remaining contact all is connected to a cover light-emitting component, and light-emitting component is also established.3a goes up on the face of cylinder relative with motor column 8a in the contact post; Another omission be stamen sheet CD4512 as input element, the X on it ₁To X ₇Seven input wires all to being connected to and X ₀The identical element of being located on the contact post 3a, and X ₀Element is to motor column 8a, and transition mast 10a goes up other X of circuit that element transmits signal ₁To X ₇Element also all have and identical.The other ellipsis of luminous tube in motor column 8a (right side) frame of broken lines that shows of this CD4512 side represents that this luminous tube is many in addition, and connects on the same line, can form light belt when providing signal.Another ellipsis in the frame of broken lines of showing transition mast 10a is represented: provide in the transition mast 10a robot transmit information to have the luminous tube circuit to also have a lot, and can by the light-sensitive element of one (or a plurality of) on motor column 8a motion in motion, search for and receive the different signal of the robot input message part that these luminous tubes provide separately with motor column 8a.

The EPROM2716 (2) of top is the memory of expansion in the block diagram 15, can deposit the program of the car controlling bed of working out with the instruction of TNC810 66 in.RAM616 (2) incense of the expansion of top is used among Figure 15.The capacity of the memory of expansion is in the fair expansion scope.

Figure 14 provides the external wiring diagram of the electric device of control device TNC 810 programmable controllers of robot 68 and CB7620 type lathe 66.The left side is the press button of input signal and travel switch etc. among the figure, and the right side is the directly actuated electromagnetic valve I of TNC-810 output relay DT to 10DT.Single contactor of connecting spindle motor with one group of output control.The control of (in the 220V circuit) and signal lamp.A few winding plug-in units are located in these inputs and output connection respectively (to be divided in holding wire and big electric current line, AC line and AC line on the different connectors more than 67.As on same connector, consider shielding, improve antijamming measures such as input voltage).With give establish combination hub 70 is docked on the robot controller 69.The line prior art of each element of expressing among interfacing part 67 and Figure 14 is omitted cabling and is expressed among the figure.(cabling of socket 70 is also slightly expressed.)

Robot 68 gives lathe blank 66 about at this, so lathe 66 is not when moving, and robot 68 works, and herein shared can be aforementioned " timesharing use " means.The method that realizes is: when operation lathe 66 to the driving bed 66 of stopping transport, change the operation robot about in the of 68 during blank 91, switch 71 by on end user or robot 68 pressure control device 69 makes Figure 15, and the α among Figure 16, β, γ (δ) switch everywhere move simultaneously.The The whole control device changes man-controlled mobile robot 68 operations (but each switch linked switch).When realizing with software when shared, can be the subprogram of calling control lathe 66 earlier, operation lathe 66 car blanks: when the blank car is good, in the time of need changing blank, call the program of control robot again, the lathe 66 that stops is given lathe 66 loading and unloading by robot 68.As seen from Figure 16, during the lathe operation, other work can be done by robot.(be the software complexity, this situation is simultaneously shared.)

Because the shared ROBOT CONTROL device of industrial equipment, industrial equipment is indivisible in fact with the robot body in use, shown in Figure 7 is actually a kind of novel system type industrial robot.

Simple turning bar 91 process drawings have been provided among Fig. 9.Worker among the figure advances, the worker moves back, F.F., rewind down all can be realized by the magnetic valve break-make among the magnetic valve 1DT～10DT among control wiring Figure 14.1XK to 6XK among the figure detects lathe tool 90 positions, promptly is the travel switch 1XK to 6XK among wiring Figure 14.Speed changed and is work speed slowly when by artwork as can be known, lathe tool 90 was near bar 91.Move back rewind down, after car is intact again to starting point by the worker.

Because of the circuit of lathe 66 is prior aries, after providing process diagram and wiring diagram, the circuit diagram of lathe 66 no longer provides.Switch among the figure and connector are also used existing.

This situation might be used the reset switch among Figure 17 always.

Obviously when without lathe 66, during with other industrial equipment, can change the control program (increasing tape in case of necessity) among the EPROM2716 (2) among the butt joint circuit of shared robot 68 control device and interfacing part and Figure 15 accordingly.Generally speaking, individual workshop is all established a cover butt joint circuit with a robot to each industrial equipment in the workshop, docking facilities, and control program storage part, to connecting, the time spent does not break away from the time of can using.(reset circuit is a cut-in stand-by among Figure 17, can make the industrial equipment of each butt joint that the bigger interior module of capacity is all arranged.)

Obviously without robot, it is also passable to use manipulator instead.Control device need not control device able to programme, with 486 industrial computers also can, and can make the complicated also shared ROBOT CONTROL device of industrial equipment.

Employing has the movement parts of shear contact one by one to participate in changing the control device of internal system contact or only also can be used for not having in the preliminary automated system of family of multimedia computer with the robot body 68 of control device able to programme.Robot controller can be used as the shared robot controller of system, will can control freezer etc. simultaneously after the storage program among wiring Figure 14 adjustment and the change EPROM2716 (2).

Embodiment 3:(joins Fig. 8,12,19,20,23) Fig. 8 is a kind of outline drawing of medical robot.Form with the medical diagnosis monitoring station by robot body 85.Electrocardiogram equipment in a plurality of diagnostic monitorings station is arranged, various diagnostic monitoring equipment such as electroencephalograph in the robot controller 89.Bed 86, stool 88 and robot 85 use, and the device 87 that easily imports patient's arm, leg etc. is instruments that robot 85 uses, and just simply provides herein.Printer 81, display unit 83, warning device 80 as a robot controller part are established shared for the doctor.Many parts all are to simplify outline drawing among the figure.

Auxiliary robot diagnostic device 87 among Fig. 8 is all kinds of special-purpose frames or cover etc., only provide herein use on the arm of surveying pulse with the supporting shank of electrocardiogram equipment on the detection block folder.Frame herein can separately be overlapped on people's limbs the back by robot, but the elasticity drawing strickle guide.Can adopt and search tame formula and put in place, promptly many row's gauge heads axially move before and after (the arm cross section is made as circle) in arm, and what cooperate drawing strickle guide 87 changes search pulsation higher value position around arm.Can be that frame changes an angle earlier, the frame round trip changes frame more then, comes and goes again, stops to move after incoming signal level is crossed threshold value.The electrocardiogram equipment cooperation frame that is used on the shank can be that apery is directly with detection piece card shank.

4 switches in right side in the switch group 84 adopt toggle switch, and button is slightly long, and wherein the toggle switch of lower left is left behind.The left side is to click startup, clicks 4 press buttones that reset again.Switch can one be with a plurality of switch gearings with embodiment 1.

Because the shared ROBOT CONTROL device of many equipment in the medical diagnosis monitoring station, robot and these equipment are indivisible in fact, shown in Figure 8 are actually a kind of system type medical robot.

Robot body 85 control device also adopts the control device that 80286 microprocessors are arranged of robot part among Figure 12, so system block diagram no longer provides.The method of the shared robot controller of Medical Devices is approximate identical with embodiment 1, treats the circuit block diagram of disconnected surveillance equipment in Figure 12 top that is:.Can all with between the robot controller dock switch with control device control or the Medical Devices that monitor.(equipment that can not be shared is just used by robot (switch is by the robot manipulation).) the medical diagnosis surveillance equipment of each availability control unit control is equipped with the storage part of the control program of depositing separately (or supervisory programme).[ROM among class Figure 12 (2)] and program storage first address is after the program storage address of control robot.When establishing, the docking facilities of this equipment is docked with bus with certain doctor.When for example the robot docking facilities is a docking apparatus 2 shown in Figure 1, promptly be, the docking facilities of these Medical Devices (can with the Pin contact of Fig. 1) to be patched in establishing for this doctor on the cut-and-dried check mark socket of connector according to different Medical Devices.Also can be if robot presses control program storage first address that reset switch (RESET switch) doctor of control device own establishes from super initial point, can increase interior module more.Only increase reset switch in addition.Use a pair of the connecting of connector of different Medical Devices instead, the reset switch that is about to the control device of robot own drives.The pin type plug-in unit also can be connected to the control program storage part of these Medical Devices on the bus.With embodiment 1.Fig. 8 example and embodiment 1 do not exist together and are: the circuit and the unification of robot controller circuit of the disconnected equipment of medical rash are connected up herein, and the pin type socket links to each other with switch, certain switch of robot manipulation only is even certain Medical Devices of this switch and robot controller are to connecting.(also but software realizes calling the subprogram of this equipment of control.) (connector changes by a plurality of switches and replaces not giving unnecessary details in addition.)

The diagnostic procedure that the doctor of shared robot controller establishes: the CPU in the control device is the control robot motion earlier, connects checkout gear to patient, for example: on the frame folder folder that electrocardiogram equipment is supporting.After intact this cover program of robot manipulation, CPU changes the control Medical Devices to connecting.Make control maincenter input detection signal, and processing signals, diagnostic result provided.Certainly, if hand switch, after robot has been operated patient, promote the reset switch of this switch and the control device of itself, (switch in the RESET reset circuit) makes the ROBOT CONTROL memory under program break away from bus, and the control program storage part of Medical Devices is docked with bus, to realize switching, also can.

Figure 19 is coronary disease patient monitoring system figure (being called for short CCU), in the diagnostic monitoring station, establish this device, and this installs the control device of shared robot 85, and get the 2nd among Figure 12 cover memory under program ROM and EPROM (2) as its control program memory, computer in the block diagram 19 can be the computer that 80286 microprocessors are arranged of robot among shared Figure 12, just among Figure 19 with calculate to establish between each several part that machine frame gets in touch and the computer with the α among Figure 12 of embodiment 1, β, etc. identical change-over switch, and between bus and peripheral hardware, increase the part interface unit.Because of CCU is a monitoring arrangement intermittently, the operation change-over switch that robot 85 can be intermittently dock computer itself with the non-computer each several part mouthpiece of CCU, and input detects data, and deal with data, provides to write down or notify.The same diagnostic device shared identical, when CCU used the computer of robot, robot 85 did not move, and when the computer end of the shared robot of CCU, automatically robot was docked with computer again.

Performing a programme as robot itself more (because use a kind of medical diagnostic equipment, a cover control corresponding robot motion program will be arranged promptly) can change tape to recorder by robot, enlarges memory space with tape.

Obviously, not robot, be manipulator or little pincers group when waiting other medicinal intelligent machinery, it is shared that its control device still can be other Medical Devices institute of its place system.And, the ROBOT CONTROL device is the control device of other type also, 386 industrial computers for example, shared robot controller can be various biological electricity detectors, non-electric-physiology parameter detecting instrument, patient care device, medical image image device, and controlled electro-therapeutic apparatus.Robot among the figure is any use.

When with electrocardiogram equipment, electroencephalograph etc. are by computer control and be during with the ROBOT CONTROL device, and are all the same with Figure 19, are the detection amplification and the filtering parts of getting this equipment.

Figure 23 is the CT structure principle chart, as seen from the figure, when the shared robot controller of CT, for example during the device shown in Figure 12 below, the method of the shared ROBOT CONTROL device of the multimedia segment of its method for sharing and embodiment 1 is approximate, also be to set up control program storage part, when realizing, do not establish switch in (or in wiring) on the bus with software.When using hand switch, can be in establishing switch on the bus or on the butted line.CT is a switch with the electric device that docks of robot controller.For example: the pin type connector of representation switch.

Robot controller among above-mentioned 3 embodiment all can be established on the robot body, robot can be carried walks about, (embodiment 4 as described later) can make the face that utilizes of robot controller widen like this, for example medical robot gets final product the day time operation diagnostic device, come into operating room and operate night, also all kinds of expert systems of portability are patrolled rash night, hold concurrently and make an inspection tour ward safety.

Embodiment 4:(joins Figure 10,11,18,20) Figure 10 is a kind of outline drawing of novel agricultural robot.Form with rice mill 92 with robot body 95, rice mill has 3, has only provided 1 among the figure.The shared robot body's 95 of rice mill control device 103, material grinder 92 are provided with the interfacing part 107 of the control device 103 of butt joint robot 95.ROBOT CONTROL device 103 is to be provided with the novel control device that the movement parts participation of shear contact one by one changes the internal system contact.(only demonstrated the movement parts part among Figure 10, all the other omit expression.)

Provide the electrical schematic diagram of robot body 95 control device 103 among Figure 18.The input of showing robot controller among the figure is to being connected to the detecting element of rice mill 92: the detection piece of material height, rice mill rotating speed, the material loading amount of rice mill 92 are regulated motor 123 in current transformer, travel switch 112 and the survey hopper.The storage part provides 2 covers among the figure.EPROM2 is the 2nd cover, is exclusively used in the program of storage control rice mill 92.

The rice mill dragging motor partly is a prior art, omits not have picture.To the control operating part of robot 95, detect the importation prior art, also omit and do not have picture.Material loading amount to rice mill is regulated motor 123, (motor in the upper right corner only provides 1 among Figure 18).It is actual that what have that 3 the 1st covers deposit among ROM, the RAM is monitoring programme and ROBOT CONTROL program.(robot can only give the rice mill material loading, only spurs the material loading switch.Tape in the recorder among Figure 18 is the outer module of robot controller.

What Figure 11 provided is rice mill 92 material loading adjusting devices.

Obviously, when without rice mill, during with other similar agricultural equipment, above-mentioned butt joint circuit can be through adjusting the circuit of establishing as other farming of butt joint, only be that interfacing part changes, and change content among the EPROM2, write the program that other farming of control is established with debugging such as programmable device and write device.Used language is identical with robot used language, for example: assembler language.

Purpose to the control of the rice mill of shared robot controller is a control material loading amount, with anti-clogging, produces and cracks rice etc.What current transformer provided is dragging motor load current size variation range value.It promptly is that obstruction is arranged that variance values surpasses threshold level.Sampling/maintenance.The analog-to-digital conversion part realizes sampled value and given bound threshold level comparison with the input of current transformer measured value with software.ULN2003 among (EPOM2 has comparison program) Figure 18 is seven not gates with Darlington transistor output, and maximum drive current 800MA can drive general small-sized DC relay.Adopted the 123 every operations of adjusting motor to regulate once the back herein, prevented to regulate a little while just changeing for a moment of motor and reverse every a method of sampling again in short-term.

Control method is: behind the sampled value input control maincenter, be when difference surpasses limit value mutually, to drive output at once with the result of set-point comparison.Connect motor 123 with relay.For situation greater than upper limit threshold, the positive crossover of motor 123 is connected in the actuating of relay at the top that Figure 18 is upper right, drives the drive among Figure 11, makes fraction wheel 122 drive bull wheel and then nut 124 is just being changeed, screw mandrel 127 is advanced, push away swash plate 129 and turn down feeding port.For situation less than lower threshold, the control maincenter makes the actuating of relay of the motor below at the upper right top of Figure 18, connects the reversing circuit of motor 123, drives part and takes turns 122, drives nut 124 reversings, leads screw mandrel 127 and fall back, swash plate 129 is retreated, thereby open the big bin gate of going up.

After each part on the control seat 93 among Figure 11 assembled, control seat 93 was by on the screw 126 solid rice mills 92.During assembling, limit switch 125 puts in place at last, on the cementation seat 93.Spline groove 128 limit screw mandrels 127 are not rotatable.

Rice mill input and output connection are located on the connector 107, holding wire are divided on the different connectors with big electric current line, give on the slotting robot controller establish on the combination hub 98.(connector and other element line do not provide detailed expression among the figure.) (after robot 95 is pushed to the production scene, with bolt 106 robot is fixed on the pedestal that the ground riveting is arranged of production scene.

What vertical ellipsis in Figure 18 upper right corner was represented is: be connected with relay, this 2 is with the photosensitive tube circuit and also has 4 covers, ° control respectively other 2 rice mills each self-regulated machine just, swing to running.G102 among the figure is a photoelectrical coupler, and 5G1430 is a driver.

Be provided with two sides that 2 device branches shown in Figure 20 occupy stepper motor 107 in the control device 103 that provides among Figure 10.(stepper motor 107 promptly is the motor 21a among Figure 20), wherein the device volume of two sides changes.Stepper motor 107 herein links to each other with PIO2 mouth B among Figure 18, is controlled by the Z80 single board computer.In Figure 10, drive drum 97 and rotate (going back changeable speed part) by the step through two identical gears 104,105, axle 102, two identical cone pulleys 99, more than 100 driving members.The existing technology of support fixation of wheel 104,105, axle 102, cone pulley 99,100.Drum 97 is alternately to depress 4 reducible switches 96, to realize that alternately multiplexer with the importation of the analog quantity information incoming line of 3 rice mills 92, robot 95 and computer is to connecting.Switch 96 is resetted so as to cutting off the circuit to connecting again.Spring reset for example.Switch 96 is also plate (contactless) that can keep off the light path of row's optoelectronic switch of the synthetic row switch (contact is arranged) of a plurality of single switches set.Stepper motor 107 drives the motor column 8a motion that divides in the device shown in 2 Figure 20 that occupy its two side.The special input signal usefulness of the device on stepper 107 right sides is divided into 4 short cylindricals, and No. 1 robot is shared, and all the other are for 2,3, No. 4 that 3 rice mills 92 take.Motor column 8a searches for the switching value information of the production scene that receives several rice mills and robot 95 at the volley.The circuit that production scene (Figure 18 lower right side) provides the detecting element of information is connected on the light-emitting component on the transition mast 10a (right side) in stepper motor 107 right-hand units, and motor column 8a goes up the intrinsic light photosensitive elements.Motor column 8a (right side) (transition mast 10a is static) in the motion receives the signal that light-emitting component provides.And through motor column 8a go up with get in touch on the post 3a opposite face light-emitting component with get in touch after the lip-deep light-sensitive element of post 3a makes the 2nd opto-electronic conversion the PA of the A mouth of the PIO2 of signal input Figure 18 ₇Contact.

The heavy output usefulness of specially doing of the dress in stepper motor 107 left sides among Figure 10.Motor column 8a is from the signal of two reception control maincenters, the one, the rule input signal among slip ring 29a, the 33a from Figure 20, guide card 17a, 30a and the guide pillar 11a; Another place is the photoelectric sensing on contact post 3a (left side) face of cylinder relative with motor column 8a (left side).The PA of PIO2 ₀, PA ₁Output point is directly lighted luminous nest of tubes on the motor column 8a (left side) through the slip ring number of delivering a letter.(ellipsis shows the group) (representing in Figure 18 upper right corner) makes the light-sensitive element received signal on the transition mast 10a (left side), and then makes the actuating of relay shown in the upper right corner among Figure 18, connects the rice mill material loading and regulates motor 123 circuits.When need adjusting motor 123 is just changeing, be the actuating of relay of connecting positive crossover, when need reverse, be the actuating of relay of connecting the reversing circuit.Because the material loading amount of each rice mill is regulated motor 123 and is alternately controlled, so, with two mouth A wiring PA of PIO ₀, PA ₁, the actuating of relay is just being changeed in a control, another control reversing actuating of relay.8 short cylindricals have vertically been provided among Figure 10 on the contact post 3a in stepper motor 107 left sides, (left side), motor column 8a, (left side) transition mast 10a (left side).No. 1 cylinder in (numeral on the dotted line) left side is specially to do control to regulate motor 123 usefulness, and just fixed light-sensitive element position on transition mast 10a is identical and relative on 360 ° of circumference with switch 96 positions at drum 97 places on the cylinder.Because be that same stepper motor 107 drives, so drum 97 is synchronous commentaries on classics with motor column 8a.2 luminous short bands establishing on the l cylinder of motor column 8a (left side) scan one by one to 6 light-sensitive elements on the transition mast 10a (3 are just changeed, 3 reversings), make the light-sensitive element number of delivering a letter to the relay place.

Control maincenter among Figure 18 rotates the in-position according to stepper motor 107 and provides signal.(the detection piece 27a among Figure 20 can provide signal) signal is identical with the bulging block length of drum 97 through (luminous short band) luminous short belt length that slip ring 29a, 33a pass to the light-emitting component group formation on last No. 1 cylinder of left side motor column 8a, to protect synchronously.When making certain rice mill or robot input signal, simultaneously also to this rice mill or robot decision control corresponding.(between the lead of the slip ring number of delivering a letter and power line, isolation is arranged.)

The motor column 8a (left side) in the left side of stepper and transition mast 10a go up light-emitting component and light-sensitive element on other 2 to No. 8 cylinders of No. 1 cylinder and are provided by other wiring (removing the step motor control part) of computer PIO2 and control signal to the light-emitting component group who gets in touch on the post 3a (left side) and (join Figure 18 among Figure 10,20) motor column 8a (left side) goes up with the light-emitting component group of light-sensitive element through getting in touch on the corresponding cylinder on the post 3a who gets in touch on the post 3a opposite face and receives these signals, then that the luminous weak point that a plurality of light-emitting components (vertical ellipsis at top among Figure 18) on motor column 8a (left side) and the transition mast 10a opposite face are constituted is with is luminous, and then makes the light-sensitive element received signal on the transition mast f0a (left side).For simplifying mapping, only provided a cover secondary electricity conversion line among Figure 18, in the actual track, PIO2 has each wiring of not gate output all to be connected to a cover.

The motor column 8a (left side) in left side respectively accounts for a cylinder by robot 95 waists motion, big arm motion with forearm motion, wrist motion with above 2 to No. 8 cylinders of transition mast 10a (left side) among Figure 10, and finger takies remaining cylinder.The same during with the driving relay, control maincenter among Figure 18 rotates the in-position according to stepper motor and provides signal, the light-sensitive element of signal on above-mentioned transmission circuit arrival transition mast 10a (left side), and then control in the outer circuit waist or arm or the control executive item that refers to etc. move, for example control the actuating motor energising, Deng, thereby make the robot motion.The luminous short band that light-emitting component on last 2 to No. 8 each cylinder of motor column 8a (left side) constitutes can be only to establish one, and is also a plurality of.Circuit with relay switches the same, position and number and changeover program on the space of the photosensitive receiving element of establishing on the circumference on the transition mast 10a (left side) (are that the light-emitting component motion arrives the moment of light-sensitive element position with whether luminous, (signal)) be the number of the relative peripheral hardware executive item that need switch and performing a programme.Executive item need move, and the luminous tube side on the motor column 8a (left side) has signal.

Robot 95 also is various to the mode of rice mill 92 material loadings herein, can be that loading hopper 94 tops are located in the material storehouse, and 95 in robot leaves material storehouse door, by gravity feeding bucket material loading.Also robot expects with the instrument shovel.

During assembling, the spline groove 128 among Figure 11 is to insert from side.Stepper motor 107 among Figure 10 (both-end has axle) is put in the little holder 106 along the groove of little holder 106 from top to bottom.4 posts that screw in bolt are relative with the position of 4 bolts in right side among Figure 20, so after motor 107 is put into little holder 106, being installed in the little holder 106 shown in the solid Figure 20 of promptly available this 4 bolt.(motor 21a takes out from the frame of Figure 20, and motor 21a shaft extension lengthening, increases the shell that can fix itself, and motor 21a is former among Figure 20 shortens about each part of locating.) also 2 covers device shown in Figure 20 all singly can be driven the motor column in two parts about Figure 10 8 with 2 stepper motors (having is the both-end axle).

Make input signal partly omit leading output when stepper motor that available rotating speed is lower or assembling, leave the processing period to main frame, drum 97 is partly switched analog input and import computerized information, after judging whether to need each rice mill of control to regulate motor 123 actions by computer, luminous tube on No. 1 cylinder of stepper motor 107 left-hand units is just in time relative with photosensitive tube, carries out information translation.

As seen by above-mentioned, agricultural equipment herein is to use simultaneously with robot when shared ROBOT CONTROL device.When arranging the main control process flow of robot controller 103, but the input computerized information of robot 95 and rice mill 1 to 3 are imported analog information simultaneously and switching value information is given the control maincenter, the current transformer detected value of three rice mills can be imported by multiplexer, and (as shown in figure 18) also can limit one by one input by drum 97 (4 switches 96 are connected one by one.) regulate rice mill 92 material loading amounts thus one by one, and robot 95 gives a rice mill material loading when the 4th switch 96 is switched on.Or give a rice mill material loading by angle of motor column 8a (left side) motion.(the interior micro switch of hopper is made for signal side by interlocking wouldn't material loading for material loading one by one.) stepper motor 107 not stalls are moving, information translation is carried out in ceaselessly actuation movement part motion, transmits.

The adjusting motor 123 switching relay systems of a plurality of rice mills of upper right quarter are also movable among Figure 18, can make only 2 on relay.

Below, right side frame of broken lines among Figure 18 provides the motor column 8a (right side) in stepper motor 107 right-hand units (ginseng Figure 20) in the control device 103 among Figure 10, and the part in this void frame is moved with motor column 8a.The luminous tube of the information that provides on right side, this place " production scene " is on the transition mast 10a that is fixed in the device on stepper motor 107 right sides among Figure 10.To provide information more because of the production scene, so the luminous tube of the information of transmission is also many, the lower right is represented with horizontal ellipsis among Figure 18.Near this place vertical ellipsis shows that also luminous tube (connecing on the same line) has many.The light-sensitive element that this vertical ellipsis is other, in the motion with motor column 8a (right side), a photosensitive tube search also receives the signal that all switching values of whole importation provide through separately luminous nest of tubes one by one.(photosensitive tube among the figure is fixed on the motor column 8a (right side) in the device on stepper motor 107 right sides among Figure 10, moves with post.) this light-sensitive element switching signal makes the secondary opto-electronic conversion through the light-emitting component that also is fixed on this motor column 8a (right side) again after amplifying, and passes to the light-sensitive element on the contact post 3a (right side), and the PA of the A mouth of input PIO2 ₇Contact.(contact post 3a (right side) herein is also in stepper motor 107 right sides).As seen, in the general production scene that machinery inertial is arranged, under the not high situation of rate request, a photosensitive tube can receive 10 to the input signal more than 100 on motor column 8a (right side).(in the motion).

The PIO2 output on Figure 18 top also has the part of 2 opto-electronic conversion, and the photo-electric conversion element of output all is located on the device in stepper motor 107 left sides among Figure 10.The luminous tube of opto-electronic conversion is fixed on the contact post surface for the first time, and light-sensitive element is fixed on the face relative with getting in touch post 3a of motor column 8a.The light-emitting component of opto-electronic conversion is fixed on the motor column 8a face relative with transition mast 10a for the second time, and light-sensitive element is fixed on the surface of the transition mast 10a relative with motor column 8a.The element that is same as on the motor column 8a moves with motor column.

The agricultural equipment that needs supervision or control is dusting machine, flour mill for example, reaper binders etc. are with the robot body in a system time, (not necessarily must be to be used by the robot body) be because the shared robot body's of this type of agricultural equipment control device, this type of agricultural equipment is endlessly indivisible with robot body's reality in use, shown in Figure 10 is actually a kind of system type agricultural robot.

Obviously, also passable when control device is the control device of other type, for example: be 386 industrial computers.And also can make the agricultural equipment of complicated need control in the case, also shared ROBOT CONTROL device.

The change in season often changes the task of agricultural robot, the agricultural equipment of its place system also often changes, but as long as regulating-controlling program, a cover control device will be shared by other agricultural equipment along with an agricultural robot (might be several).(after setting up suitable interfacing part.)

As space is limited, to other industry, for example: the embodiment of the shared robot controllers of robot application place miscellaneous equipment such as commerce, ocean, traffic does not enumerate one by one, its sharing model and the various embodiments described above are basic identical, or use simultaneously, or part is called or other means, according to feasibility and the foregoing description of in these industries, implementing control automatically, when robot uses in these industries, some equipment institute that utilization this law, ROBOT CONTROL device all can be in these industries is shared.

Obviously, get the artificial intelligent robot of above-mentioned machine, above-mentioned intelligent cooking machine, intelligent scavenging machine in addition, all can illustrate: the electric device of miscellaneous equipment in the system that the control device butt joint of intelligent machine itself can be got in touch with intelligent machine also is fine.

Attached: robot controller that can be shared is varied, robot is also varied, below provides a kind of also can assisting and realizes robot place system cost novel control device that reduces and the new engine people who adopts this type of control device.Figure 20 is a kind of control device (a kind of device that uses conversion control method that the movement parts participation of shear contact one by one changes the internal system contact that is provided with.(I am at " spy changes the control method " of first to file, (application number: embodiment 1 figure 96116954.0).Figure Central Plains label is not moving, but the structure chart that the movement parts part is arranged in adding a) all.Drive by motor 21a.Motor 21a is changeed by the computer controlled braking in the control device.(ginseng previous embodiment 4) be the control maincenter control motor 21a of other type also.This device or this class device that contains computer part also can be used as the ROBOT CONTROL device.The element that motor column 8a wherein carries received signal is searched for the input signal that provides with the joining element that provides signal of external input signal line on the transition mast 10a at the volley, can only carry and joining element of signal input wires of control maincenter, scan more than 10 at the volley and the joining element of outer circuit input signal wiring point, and receive the signal that these elements provide.PIO2 mouth A for example shown in Figure 180 is only with an input line PA ₇,, carry a photosensitive tube by motor column 8a and search for and receive signal in the wiring of joining with the many detecting elements production scene that provide of many luminous tubes at the volley through the secondary opto-electronic conversion.

Obviously, the mouth A of PIO2 can search for and import the signal that many several times production scene provides as establishing several input signal cables more among Figure 18.(photoelectric converting piece is also corresponding to be set up.)

Figure 20 device can be established two covers, another set ofly uses as output signal.Each cylinder is divided into several zones vertically controls various pieces such as the finger of robot, arm, walking mechanism respectively, 8a establishes light-emitting component in motor column, establish photosensitive receiving element on the transition mast 10a, receive output signal, and (just will avoid latching as far as possible output signal with spreading out of the man-controlled mobile robot motion after the signal amplification.For example: on motor column 8a cylinder, establish continuous a bit of output signal element and provide same output signal.Or light-emitting component be made for establish electric capacity in a light belt or the circuit and form time delay).

Equally, for the output of control device, also can only only use an output connection on control maincenter output, 10 above photosensitive receiving elements through after the opto-electronic conversion peripheral hardware more than 10 being distributed on the transition mast 10a provide the opto-electronic conversion output signal.The output of the opto-electronic conversion output circuit among Figure 16 of its result and previous embodiment 2 comes to the same thing.Different is latching of output signal.(realize with other method herein.) degree of accuracy that improves output signal can realize with means such as establishing movement parts location recognition part in Figure 20.

This method also reduces the output contact number of robot control maincenter itself.

When adopting opto-electronic conversion to realize the signal transmission, available discrete component is realized, also available integrated component is realized, when realizing with integrated component and Figure 20 during as the input signal device, the light-sensitive element of the search signal that motor column 8a upward fixes is a plurality of connecing on the same transmission line, (, do not provide detailed expression among the figure because of component size is little.) also many elements of light-emitting component on the transition mast 10a connect in the same outer input signal wiring.Because of using integrated component, can establish the integrated component more than 100,000,000 on the transition mast 10a, transmit outer input signal.The light-sensitive element that the importation less and the control maincenter that (because of device also can enlarge) adopts is connected, (for example 30 to 50) ° are located on the motor column 8a, rotate with motor column 8a, scan this signal that little light-emitting component provides more than 100,000,000.The signal that receives imports maincenter into through a spot of amplifying unit.(transmission of input signal error, available to same input signal cable be scattered in transition mast 10a around, the methods such as recurrence rate that improve signal prevent.The identification of signal is realized by the interior methods such as discerning auxiliary member of establishing.)

To realize also tactile sensing on the area of apery needle point size when robot appearance sense of touch, promptly will have the input signal cable about 100,000,000 to be connected on the cable 2a shown in Figure 20.This available increase cable 2a volume and ultra-thin from level to level cable superposition realize, (outwards drawn by the integrated element in inside that embedding is thin behind the stamen line moulds in the trough of belt, will mould band superposition (bonding) again.This 100,000,000 above wiring point provides the search and the reception of signal, promptly by realizing in the above-mentioned movement parts motion.The possibility that Figure 20 device provides the low cost small device that 200 to 100,000,000 above high density wiring point input signals are received.

Obviously, having adopted the robot of this device to be different from existing robots, is a kind of novel machine people.

Itself obviously also can dwindle this device or enlarge.

The ROBOT CONTROL process that has adopted the movement parts that is provided with shear contact one by one to participate in changing the control device of internal system contact generally is: (annotate: the movement parts in the control device is divided into input and output, microelectronics and big electric current, little electric control and machinery control, ACTIVE CONTROL and controlled, contact are transmitted and are not contacted several classes such as transmission).

Simple along control: program is stored in the memory, also is stored on the movement parts of shear contact in the motion.For the cover of the 2nd shown in above-mentioned Figure 10 control device (being used for output), in the time of control maincenter control motor column 8a running, provide signal according to motor column rotating speed and the position of giving the light-sensitive element more than the transition mast 10a that arranges to have definite position, light certain or some light-emitting component on the motor column 8a, make light-sensitive element impression information, and the control executive item at output signal control arm or other position is carried out.Flexible for arm, the rotation of arm all can work as after executive item is hung on a joint driving member on the power spare, drives the flexible or rotation of arm by power spare through driving member.Whole process is carried out in order.(the control executive item is existing all kinds of executive items.It is all kinds of contactless with wiring point or the movement parts that contacts is arranged to change the movement parts of contact in the motion, and transmission information part is arranged on the movement parts.)

Closed-loop control: during control, first this type of device of cover of input information generally is the commentaries on classics of not stopping transport, and the signal of search input generally will be pressed the information adjusted instruction campaign of maincenter according to input for this type of device output information movement parts of the 2nd cover, and then the control external equipment.

Other control method outlines.(adopt the control program of this method to increase, when robot uses computer as control device, the internal memory of available tape or disk expansion control device.And can change tape or disk by robot itself.Deng.)

Aforesaid embodiment 2,4 also provides the robot that has adopted conversion control method simultaneously.The robot that has adopted this method at control method, information storage, obtain and change differently per capita with other machine, this is a kind of novel machine people.

Below to the relevant issues of the device among Figure 20 supplementary notes: for represent clear for the purpose of, the hatching of nylon sheet 34a among Fig. 1 does not draw, double-purpose post 10a among the figure is the integrated component chip, is integrated with light-emitting component in the equidistant annulus of dividing vertically on the approaching surface of itself and motor column 8a.The outer surface of motor column 8a is provided with or is integrated with light-sensitive element, in order to receive the signal that light-emitting component provides.It is to pass end cap 6a to dock with flexible-cable 2a that double-purpose post 10a goes up in sealing frame 9 exterior portion.The lead of element connects on demand among lead among the flexible-cable 2a and the double-purpose post 10a, and the other end of the lead among the flexible-cable 2a links to each other with input signal cable.The inner peripheral surface of motor column 8a is provided with light-emitting component, and the signal that light-sensitive element is received transfers luminous signal again to and passes to the light-sensitive element on contact post 3a surface and through the lead among the output cable 1a signal is transferred out.The insulated wire of external power source embedding in slip ring 29a, 33a, guide card 17a, 30a and guide pillar 11a and groove thereof is to the power supply of the element on the circuit in the motor column 8a.For giving top priority to what is the most important, omitted the expression of inner member and cabling etc. herein, only provided light-sensitive element place, the schematic vertically a few road of motor column 8a groove among Figure 20.In addition, each element is integrated to be to adopt the prior art manufacturing, and method is not given unnecessary details in addition.

After the size amplification with axis of cone 12a, slip ring 29a, 33a, the path that contact post 3a place and motor column 8a transmit information can change entirely in axis of cone 12a slip ring 29a, 33a place, like this, the opto-electronic conversion and the signal amplifying circuit of getting in touch post 3a and motor column 8a opposite position among Figure 16 and Figure 18 can omit.The line of guide pillar 11a embedding has power line, and the lead of controlled relay is also arranged, between each lead and insulated from each other between lead and the guide pillar 11a.

Controlling device share method for robot compared with prior art has following marked improvement:

1, this law reduces the cost of the system that majority can contact with robot, volume compression, thus improved the ratio of performance to price of robot.

2, the preliminary automated system of family and extensibility thereof provide practical complexes for the mankind's basic liberation from housework. Make the mankind Have the more time to be engaged in other work, will affect family harmony, social stability and human progress had far-reachingly affects.

3, the kitchen tools in the domestic automation system have replaced traditional kitchen, have indirectly enlarged human housing space.

4, the appearance of robot cooking will improve (and change) human dietary structure, and Chinese meal will enrich human life with western-style food, Family feast such as state banquet make ordinary people's class in life.

5, the method that shares is widened the scope of application of robot; Need not to operate certain equipment, but a kind of control device that carries, Can be at any time to the intelligent machine of the control device of certain equipment use itself. The robot manipulation's is the control device of auxiliary use itself in the case Facility.

6, the method that shares can make the intelligence of other production equipment in the place at robot place produce class more easily to improve.

7, this law will promote popularizing and the paces of accelerating all trades and professions automation of robot application.

Owing to external maintaining secrecy the product of using this law can not be sold abroad, diminish national interests, thus progressive from accelerating, this Bright application is in advance open.

Claims (10)

1, controlling device share method for robot is characterized in that: the control device of robot itself is to being connected to the electric device of miscellaneous equipment in the system that can get in touch with robot.

2, a kind of robot that realizes the described share method of claim 1 is characterized in that: the control device of robot itself is to being connected to the electric device of miscellaneous equipment in the system that can get in touch with robot.

3, a kind of industrial robot, by machine body, robot controller, compositions such as industrial equipment is characterized in that: robot controller is to being connected to the electric device of industrial equipment in the industrial system that can get in touch with the robot body.

4, a kind of agricultural robot is made up of robot body and control device, agricultural equipment etc.It is characterized in that: robot controller is to being connected to the electric device of agricultural equipment in the agricultural system that can get in touch with the robot body.

5, a kind of medical robot, by robot body, robot body's control device, compositions such as Medical Devices is characterized in that: robot body's control device is to being connected to the electric device of Medical Devices in the medical system that can get in touch with the robot body.

6, a kind of domestic robot is made up of robot body, robot body's control device, housed device etc., and it is characterized in that: robot body's control device is to being connected to the electric device of housed device in the home system.

7, a kind of robot cooking machine is characterized in that: the robot body's of cooking machine control device is to being connected to the electric device of the intrasystem miscellaneous equipment that can get in touch with robot.

8, a kind of indoor machine people scavenging machine is characterized in that: the robot body's of scavenging machine control device is to being connected to the electric device of the intrasystem miscellaneous equipment that can get in touch with robot.

9, share method according to claim 1 is characterized in that: the electric device of the miscellaneous equipment of butt joint is a microelectronics spare.

10, share method according to claim 1 is characterized in that: the electric device of the miscellaneous equipment of butt joint is big electric current spare.

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