CN202607671U - Control system for intelligent bowl and chopsticks collecting and table cleaning machine - Google Patents
Control system for intelligent bowl and chopsticks collecting and table cleaning machine Download PDFInfo
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- CN202607671U CN202607671U CN 201220283904 CN201220283904U CN202607671U CN 202607671 U CN202607671 U CN 202607671U CN 201220283904 CN201220283904 CN 201220283904 CN 201220283904 U CN201220283904 U CN 201220283904U CN 202607671 U CN202607671 U CN 202607671U
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Abstract
The utility model discloses a control system for an intelligent bowl and chopsticks collecting and table cleaning machine and relates to an automatic control system. The control system comprises a control center module, a machine position adjusting module for adjusting the position of the machine, a mechanical arm I driving module for driving a mechanical arm I used for collecting bowls and chopsticks, a mechanical arm II driving module for driving a mechanical arm II used for cleaning the surface of a table, a wireless control module for wireless control, and a position sensing module; the machine position adjusting module comprises a distance advancement module and an in-place left and right position adjusting module; and the distance advancement module, the in-place left and right position adjusting module, the mechanical arm I driving module, the mechanical arm II driving module, the wireless control module, and the position sensing module are connected with the control center module respectively. The control system has the advantages of effectively reducing the labor intensity of people and saving the labor time of the people, along with high control accuracy and reliability.
Description
Technical field
The utility model relates to a kind of automatic control system, especially a kind of control system that is used to control the work of bowls and chopsticks collection wiping desk telephone.
Background technology
Along with rapid development of social economy; It is more and more faster that rhythm of life becomes; It is increasing that social pressures also become; A lot of people do not have more time to do housework, and accomplish more housework so need the more intelligent home equipment to help the not free people that do housework, to reduce people's labour intensity and working time.At present, also the someone develops the intelligent home device that some can do the simple housework of part, as can sweeping the robot of health, but can on market, not see have at the intelligent home device that clears away the bowls and chopsticks automatically after the meal and clean desktop.Therefore be necessary to invent and a kind ofly clearing away the bowls and chopsticks automatically after the meal and cleaning the intelligent home device of desktop and control the control system of this fitment work.
The utility model content
The purpose of the utility model provides the intelligent bowls and chopsticks of a kind of control accuracy height, good reliability and collects the desk telephone control system of wiping.
The utility model for realizing the technical scheme that above-mentioned purpose adopts is: a kind of intelligent bowls and chopsticks are collected the desk telephone control system of wiping; The bowls and chopsticks of this control system control collect wipe desk telephone comprise base, be arranged on driving wheel and universal wheel base under, be connected back shaft, the control cabinet that is connected with back shaft on the base, be connected in the manipulator I that is used to collect bowls and chopsticks on the control cabinet, be connected on the control cabinet and be positioned at manipulator II that manipulator I one side is used to wipe desktop, be connected in the control cabinet housing outward a side be used to adorn the basket of bowls and chopsticks; This control system comprises control centre's module and the machine location adjusting module, manipulator I driver module, manipulator II driver module, wireless control module, the position sensing module that are connected with the control centre module respectively; Said machine location adjusting module comprises apart from advance position adjusting module about module and original place; The said distance module of advancing comprises the stepper motor D8, stepper motor D9 of the two driving wheels motion that drives respectively under the base, is connected stepper motor D8 drive circuit that drive stepping motor D8 works with the control centre module, is connected the stepper motor D9 drive circuit that drive stepping motor D9 works with the control centre module; The position adjusting module comprises and is arranged on drive control box integral body swings in the control cabinet motion stepper motor D7, is connected the stepper motor D7 drive circuit that drive stepping motor D7 works with the control centre module about said original place; Said manipulator I driver module comprises stepper motor D5 that the upright arm of drives mechanical hand I rotates, is connected stepper motor D3 that the transverse arm of the stepper motor D5 drive circuit of drive stepping motor D5 work, drives mechanical hand I swings up and down with the control centre module, be connected steering wheel D1 that stepper motor D3 drive circuit, drives mechanical hand I that drive stepping motor D3 works be used to grasp the mechanical gripping work of bowls and chopsticks with the control centre module, be connected the steering wheel D1 drive circuit that driving steering wheel D1 works with the control centre module; Said manipulator II driver module comprises the stepper motor D6 of the swing arm swing of drives mechanical hand II, is connected stepper motor D6 drive circuit that drive stepping motor D6 works with the control centre module, the arms of drives mechanical hand II is the stepper motor D4 of stretching motion, be connected the stepper motor D4 drive circuit that drive stepping motor D4 works with the control centre module; Said wireless control module comprises wireless remote control interface and the Digiplex that is connected with the control centre module, said position sensing module comprise upright arm top one side that is arranged on the manipulator I with the transverse arm that prevents the manipulator I excessively go up pendulum position switch K2, be arranged on the position switch K3 that makes the mechanical gripping work of steering wheel D1 control manipulator I in the lift arm of manipulator I, the transverse arm that is arranged on the inherent manipulator I of control cabinet makes stepper motor D5 start and stop when moving to the basket top position switch K1.
The further technical scheme of the utility model is: said manipulator I driver module also comprises the flexible stepper motor D2 of the transverse arm of drives mechanical hand I, is connected the stepper motor D2 drive circuit that drive stepping motor D2 works with the control centre module.
The utility model more further technical scheme be: said manipulator II driver module also comprises stepper motor D10 that the drives mechanical hand II is connected the terminal wiping board device of arms and rotates, is connected the stepper motor D10 drive circuit that drive stepping motor D10 works with the control centre module.
The further technical scheme of the utility model is: said control system also comprises Video processing and the locating module that is connected with the control centre module, and Video processing and locating module comprise the camera that is connected with the control centre module, the SAA7115 that is connected with camera, the TMS340DM642 that is connected with SAA7115 and control centre's module respectively.
The further technical scheme of the utility model is: said Video processing and locating module comprise the FLASH that is connected with TMS340DM642 respectively and XC2S332, the SDRAM that is connected with XC2S332.
The further technical scheme of the utility model is: said control system also comprises the sprinkling driver module that is connected with the control centre module, sprays infusion pump that driver module comprises nozzles spray cleaning solution or the thimerosal of control manipulator II, is connected the infusion pump drive circuit of driving infusion pump work with the control centre module.
The further technical scheme of the utility model is: said control system also comprises the electromagnetic detection module that is connected with the control centre module, and said electromagnetic detection module comprises and is arranged on the electromagnetic detection sensor that the base bottom is used for the inductive electromagnetic signal.
Owing to adopt said structure, the intelligent bowls and chopsticks of the utility model are collected wiping desk telephone control system and are had following beneficial effect:
1, high, the good reliability of control accuracy
The intelligent bowls and chopsticks of the utility model are collected the desk telephone control system of wiping; Automatically bowls and chopsticks are tidied up the basket that is put into outside the control cabinet housing by control centre's module controls manipulator I driver module drives mechanical hand I; After having collected bowls and chopsticks; Control centre's module controls manipulator II driver module drives mechanical hand II is wiped clean desktop automatically, adopts intelligent control module control bowls and chopsticks to collect the desk telephone work of wiping, and control accuracy is high, good reliability.
2, effectively alleviate people's labour intensity and save people's working time
The intelligent bowls and chopsticks of the utility model are collected and are wiped desk telephone control system and can control bowls and chopsticks and collect and wipe desk telephone and can clear away the bowls and chopsticks automatically after the meal and clean desktop; Alleviate people's labour intensity; Save a lot of working time of people, make people that more free times arranged in big social pressures and operating pressure, effectively the operating pressure of ease people; Can create the home environment of a warmth for people, make people's family life abundanter.
Below in conjunction with accompanying drawing and embodiment the utility model intelligence bowls and chopsticks collection wiping desk telephone control system is described further.
Description of drawings
Fig. 1 is that the utility model intelligence bowls and chopsticks are collected the overall structure block diagram of wiping desk telephone control system;
Fig. 2 is that the utility model intelligence bowls and chopsticks are collected the internal structure block diagram of wiping desk telephone control system;
Fig. 3 is that the utility model intelligence bowls and chopsticks are collected the control flow chart of wiping desk telephone control system;
Fig. 4 is that the utility model intelligence bowls and chopsticks are collected the interior video process chart of wiping desk telephone control system;
Fig. 5 is that the utility model intelligence bowls and chopsticks are collected the flow chart of wiping the control bowls and chopsticks collection of desk telephone control system;
Fig. 6 is that the utility model intelligence bowls and chopsticks are collected the flow chart of wiping desk telephone control system control desktop cleaning;
Fig. 7 is that the utility model intelligence bowls and chopsticks are collected the route sketch map of wiping desk telephone control system machine from initial position to the target table;
Fig. 8 is that the utility model intelligence bowls and chopsticks are collected the structural representation that desk telephone is wiped in the collection of wiping desk telephone control bowls and chopsticks that system controls;
Fig. 9 is that the wiping board device of manipulator II in the intelligent bowls and chopsticks collection of the utility model wiping desk telephone control bowls and chopsticks that system the controls collection wiping desk telephone is overlooked the direction structure sketch map;
Figure 10 is that bowls and chopsticks shown in Figure 8 are collected the arms of wiping desk telephone and put to vertical position and nozzle the side view after folding.
Main element label declaration: 1-driving wheel; 2-universal wheel; 3-base; 4-coil tension spring; 5-following steel pipe; 6-back shaft; 7-vertical shaft; 8-feeder; 9-control cabinet; 10-following wiping board face; 11-wiping board device; 12-upward wiping board faces; 13-nozzle; 14-arms; 15-woven hose; 16-mechanical gripping; 17-swing arm; 18-basket; 19-wiping board axle; 20-hold-down screw; 21-bearing block; 22-gear pair I; 23-cleaning-sterilizing liquid case; 24-gear pair II; 25-upright arm; The 26-transverse arm; The 27-lift arm; 28-tooth bar; 29-flexible transverse arm; 30-outer transverse arm; 31-stylus; 32-transition rotating shaft; 33-infusion pump; 34-gear pair III; 35-control centre module; 36-Video processing and locating module; 37-manipulator I driver module; 38-manipulator II driver module; Position adjusting module about 39-original place; 40-apart from advancing module; 41-position sensing module; 42-wireless control module; 43-electromagnetic detection module; 44-sprinkling driver module.
The specific embodiment
The utility model intelligence bowls and chopsticks are collected and are wiped desk telephone control bowls and chopsticks that system control and collect and wipe desk telephone such as Fig. 8 to shown in Figure 10, and the bowls and chopsticks of this control system control are collected and wiped desk telephone and comprise base 3, be arranged on two driving wheels 1 and a universal wheel 2 under the base 3, be connected back shaft 6, the control cabinet 9 that is connected with back shaft 6 on the base 3, be connected in the manipulator I that is used to collect bowls and chopsticks on the control cabinet 9, be connected on the control cabinet 9 and be positioned at manipulator II that manipulator I one side is used to wipe desktop, be connected in basket 18 that a side outside control cabinet 9 housings is used to adorn bowls and chopsticks, be connected in the feeder 8 that opposite side outside control cabinet 9 housings is used for load garbage.Said back shaft 6 comprises that the following steel pipe 5 and the bottom that are connected with base 3 are enclosed within down the vertical shaft 7 in the steel pipe 5; The above-mentioned control cabinet 9 inboard back shafts 6 that extend to are vertical shaft 7; Be provided with coil tension spring 4 in the following steel pipe 5; Through hold-down screw 20 relative positionings, can collect the whole height of wiping desk telephone between following steel pipe 5 and the vertical shaft 7 through coil tension spring 4 and hold-down screw 20 adjustment bowls and chopsticks.Said manipulator I comprises the upright arm 25, the transverse arm 26, the lift arm 27 that is connected in transverse arm 26 terminal downsides that are connected with upright arm 25 tops that are connected with control cabinet 9, is connected the mechanical gripping 16 that lift arm 27 lower ends are used to grasp bowls and chopsticks.Wherein transverse arm 26 comprise outer transverse arm 30 and overlap in the transverse arm outside 30 and terminal outstanding outer transverse arm 30 and can be mutually the external flexible transverse arm 29 that stretches of transverse arm 30; Outer transverse arm 30 is connected with upright arm 25 tops; Lift arm 27 is connected with flexible transverse arm 29 outside end, and flexible transverse arm 29 is fixedly connected with tooth bar 28.Be connected with the stylus support at said upright arm 25 tops, stylus support end is provided with stylus 31.Said manipulator II comprises the swing arm 17 that is connected with control cabinet 9, be connected the terminal and telescopic arms of swing arm 17 14, be connected the wiping board device 11 that arms 14 ends are used to wipe desktop, and wiping board device 11 comprises and arms 14 terminal wiping board axle 19, the last wiping board face 12 that is connected to wiping board axle 19 upper and lower sides and the following wiping board faces 10 that are connected.Be provided with the cleaning-sterilizing liquid case 23 that is used to adorn cleaning solution or thimerosal in the said control cabinet 9; Be connected with the nozzle 13 that can spray cleaning solution or thimerosal on the arms 14, be connected with between cleaning-sterilizing liquid case 23 and the nozzle 13 and can cleaning solution or thimerosal be delivered to the woven hose 15 that nozzle 13 sprays to desktop.
Fig. 1, shown in Figure 2, the utility model intelligence bowls and chopsticks collect and wipe desk telephone control system and comprise control centre's module 35 and the machine location adjusting module, manipulator I driver module 37, manipulator II driver module 38, wireless control module 42, the position sensing module 41 that are connected with control centre module 35 respectively.Said control system also comprises respectively the Video processing and the locating module 36 that are connected with control centre module 35, sprays driver module 44, electromagnetic detection module 43.Control centre's module 35 is the MC9S12XS130 single-chip microcomputer in the present embodiment.
Said machine location adjusting module comprises the distance position adjusting module 39 about module 40 and original place of advancing, and the said distance module 40 of advancing comprises the stepper motor D8, stepper motor D9 of the two driving wheels motion that drives respectively base under, is connected stepper motor D8 drive circuit that drive stepping motor D8 works with control centre module 35, is connected the stepper motor D9 drive circuit that drive stepping motor D9 works with control centre module 35.Stepper motor D8 is positioned at one of them driving wheel 1 one side under the base 3, and stepper motor D9 is positioned at another driving wheel 1 one sides under the base 3.Position adjusting module 39 comprises and is arranged on drive control box integral body swings in the control cabinet motion stepper motor D7, is connected the stepper motor D7 drive circuit that drive stepping motor D7 works with control centre module 35 about said original place.Back shaft 6 tops extend to control cabinet 9 inboards and pass bearing block 21 and the bearing that is fixed on control cabinet 9 bottoms; Be connected with the gear pair III 34 of the power transmission of stepper motor D7 being given back shaft 6 between the output shaft of stepper motor D7 and back shaft 6 tops, gear pair III 34 comprises the driving gear that is connected on the stepper motor D7 output shaft and is meshed with this driving gear and is connected the driven gear on the back shaft 6 top vertical shafts 7.
Said manipulator I driver module 37 comprises the stepper motor D5 that the upright arm 25 of drives mechanical hand I rotates; The stepper motor D5 drive circuit that is connected drive stepping motor D5 work with control centre module 35; The stepper motor D3 that the transverse arm 26 of drives mechanical hand I swings up and down; The stepper motor D3 drive circuit that is connected drive stepping motor D3 work with control centre module 35; The drives mechanical hand I is used to grasp the steering wheel D1 of mechanical gripping 16 work of bowls and chopsticks; Be connected the steering wheel D1 drive circuit that drives steering wheel D1 work with control centre module 35.Stepper motor D5 is arranged on a side in the control cabinet 9; Be connected with the gear pair I 22 of the power transmission of stepper motor D5 being given upright arm 25 between stepper motor D5 output shaft and upright arm 25 bottoms, gear pair I 22 comprises the driving gear that is connected on the stepper motor D5 output shaft and is meshed with this driving gear and is connected the driven gear that stands arm 25 bottoms.Stepper motor D3 is arranged on upright arm 25 and transverse arm 26 junctions; The output shaft of stepper motor D3 is connected with the gear I; Transverse arm 26 is fixedly connected with the short rotating shaft that drives transverse arm 26 swings near upright arm 25 1 ends; Short rotating shaft one end is provided with the gear II that is meshed with the gear I of stepper motor D3 output shaft, and stepper motor D3 output shaft transmitting gear I driven gear II is changeed, and short rotating shaft rotation promptly drives transverse arm 26 and swings up and down.Steering wheel D1 is arranged on lift arm 27 ends and grabs 16 with driving device and open or closed.Said manipulator I driver module 37 also comprises the flexible stepper motor D2 of the transverse arm 26 of drives mechanical hand I, is connected the stepper motor D2 drive circuit that drive stepping motor D2 works with control centre module 35.Stepper motor D2 is arranged on transverse arm 26 near lift arm 27 1 ends, is provided with tooth bar 28 in the transverse arm 26, and stepper motor D2 output shaft is connected with the gear that drives tooth bar 28 motions.
Said manipulator II driver module 38 comprises the stepper motor D6 of swing arm 17 swing of drives mechanical hand II, is connected stepper motor D6 drive circuit that drive stepping motor D6 works with control centre module 35, the arms of drives mechanical hand II is the stepper motor D4 of stretching motion, be connected the stepper motor D4 drive circuit that drive stepping motor D4 works with control centre module 35.Stepper motor D6 is arranged on a side in the control cabinet 9; Swing arm 17 bottoms are fixedly connected on and are supported in the control cabinet 9 and the transition rotating shaft 32 vertical with swing arm 17; Transition rotating shaft 32 is rotated and is driven swing arm 17 swings; Be connected with the gear pair II 24 of the power transmission of stepper motor D6 being given transition rotating shaft 32 between the output shaft of stepper motor D6 and the transition rotating shaft 32, gear pair II 24 comprises the driving gear that is connected on the stepper motor D6 output shaft and is meshed with this driving gear and is connected the driven gear in the transition rotating shaft 32.Stepper motor D4 is arranged on swing arm 17 and arms 14 junctions.Said manipulator II driver module 38 also comprises stepper motor D10 that the drives mechanical hand II is connected the terminal wiping board device of arms and rotates, is connected the stepper motor D10 drive circuit that drive stepping motor D10 works with control centre module 35.Stepper motor D10 is arranged on wiping board axle 19 middle parts and rotates to drive wiping board axle 19.
Said wireless control module 42 comprises wireless remote control interface and the Digiplex that is connected with control centre module 35.The wireless remote control interface is provided with the circuit board that receives wireless signal, and Digiplex can be used for starting or be used to control bowls and chopsticks collecting the desk telephone work of wiping.
Said position sensing module 41 comprise upright arm 25 tops one side that is arranged on the manipulator I with the transverse arm 26 that prevents the manipulator I excessively go up pendulum position switch K2, be arranged on the position switch K3 that makes mechanical gripping 16 work of steering wheel D1 control manipulator I in the lift arm 27 of manipulator I, the transverse arm 26 that is arranged on the inherent manipulator I of control cabinet makes stepper motor D5 start and stop when moving to the basket top position switch K1.When transverse arm 26 moves from bottom to top, position switch K2 action when transverse arm 26 moves to horizontal level, stepper motor D3 stops operating and avoids transverse arm 26 excessively to go up pendulum.Mechanical gripping 16 moves to desktop or 3 actions of basket bottom position K switch, steering wheel D1 control manipulator I closure or openness.When the transverse arm 26 of manipulator I moves to above the basket, position switch K1 action, stepper motor D5 stops operating.
Said Video processing and locating module 36 comprise the camera that is connected with control centre module 35, the SAA7115 that is connected with camera, the TMS340DM644 that is connected with SAA7115 and control centre's module 35 respectively.Video processing and locating module 36 comprise the FLASH that is connected with TMS340DM644 respectively and XC2S332, the SDRAM that is connected with XC2S332.
Said sprinkling driver module 44 comprises the infusion pump of nozzles spray cleaning solution or the thimerosal of control manipulator II, is connected the infusion pump drive circuit of driving infusion pump work with control centre module 35.Infusion pump 33 is arranged in the control cabinet 9 and is connected 15 of woven hoses between cleaning-sterilizing liquid case 23 and the nozzle 13.
Said electromagnetic detection module 43 comprises and is arranged on the electromagnetic detection sensor that base bottom is used for the inductive electromagnetic signal; Electromagnetic detection sensor is arranged on base 3 times; Between bowls and chopsticks collection wiping desk telephone initial position and target table (desk that promptly need clean), be connected with the low current lead; Electromagnetic detection sensor can be sensed electromagnetic signal, be automatically moved to the target table from initial position along the low current lead before.As shown in Figure 7, if adopt electromagnetism to pick up the survey route, then L1 is a lead, and L1 feeds electric current; Generate an electromagnetic field, lead can be imbedded under the floor, if adopt the Video Detection route; Then be markings, this route is a sketch map, can be provided with arbitrarily according to the space at scene.
The intelligent bowls and chopsticks of the utility model collect that to wipe desk telephone control system control procedure as shown in Figure 3, judge whether system is operation for the first time earlier after the initialization, if operation for the first time; The desk parameter and the path that tracks need be set,, judge that again remote controller has or not input by the software control realization of control system; Not that then direct entering of operation for the first time judges that remote controller has or not the step of input, have input to start apart from advance module 40 and electromagnetic detection module 43, before drive machines arrives the target table; Restart Video processing and locating module 36; Video data disposes, and control centre's module 35 receives calculated data, carries out bowls and chopsticks again and collects flow process and desktop cleaning flow process; Having worked, the unit, back resets, machine is got back to initial position, EP (end of program).
Wherein the Video processing flow process is as shown in Figure 4, gets into whether the detected image background was qualified at once after this modular program began, the defective camera of promptly adjusting; Judge again after qualified whether shooting angle is feasible, not all right then through the 39 suitable adjustment machine locations of position adjusting module about the original place, the feasible image of then gathering of shooting angle; Carry out successively afterwards: the image preliminary treatment; Rim detection, image are cut apart, location, virtual numbering, locator data counting, send locator datas to control centre's module 35.
It is as shown in Figure 5 that bowls and chopsticks are collected flow process, collects when being numbered 1 bowl or chopsticks, and stepper motor D5 just changes; The drives mechanical hand I moves to bowl or the chopsticks top position of virtual numbering N from initial position; Stepper motor D5 is in the holding position then, and stepper motor D2 according to the position of N just or counter-rotating drives the tooth bar motion; Make the bowls and chopsticks of the virtual N of being numbered be positioned at transverse arm 26 radius; Stepper motor D2 keeps, and the transverse arm 26 that stepper motor D3 is just changeing the manipulator I drops to the position according to calculated in advance, and transverse arm 26 D1 that descends is simultaneously just changeing and opens mechanical gripping; Position switch K3 conducting, stepper motor D3 stops to keep, steering wheel D1 counter-rotating, the bowls and chopsticks of holding, steering wheel D1 stops to keep then; Stepper motor D3 counter-rotating is risen transverse arm 26, position switch K2 conducting, and stepper motor 3 stops to keep; Stepper motor D2 work makes mechanical gripping 16 get back to initial position, stepper motor D5 counter-rotating, position switch K1 conducting; Stepper motor 5 stops, and stepper motor D3 just changes, and makes the transverse arm 26 of manipulator I descend position switch 3 conductings; Stepper motor D3 stops, and steering wheel D1 just changes, and opens mechanical gripping 16, puts down bowls and chopsticks; The manipulator I is got back to initial position, judges whether bowls and chopsticks are collected to be over, and has not collected the bowls and chopsticks that the repetition above-mentioned steps is collected the virtual N+1 of being numbered, if bowls and chopsticks have been collected and then got into desktop and clean flow process.N is the natural number more than or equal to 1.
Desktop cleaning flow process is as shown in Figure 6, gets into after this program begins, and carries out the zero clearing of wiping board energizing signal earlier; Judge again whether machine location needs adjustment; If need adjustment, then start adjustment mould in position about the original place, need not adjust machine and judge then whether the plate energizing signal is 1; If not; Then be introduced into the garbage-cleaning step, startup stepper motor D4, D6 make the wiping board device do the collection rubbish that seesaws, and do preliminary cleaning; Judge that more whether refuse collection and preliminary cleaning finish, and if yes, then are provided with wiping board energizing signal=1; Stepper motor D10 motion; Make the wiping board upset, whether if refuse collection and preliminary cleaning are not accomplished, then being back to machine location needs set-up procedure to repeat above-mentioned operation; Judging whether the wiping board energizing signal is at 1 o'clock, if yes, representing that then garbage-cleaning and preliminary cleaning completion can get into sprinkling cleaning agent step; Spray cleaning agent, start stepper motor D4, D6 and the wiping board device is done seesaw and done meticulous cleaning, judge again afterwards whether the meticulous cleaning of whole desktop finishes; If yes; Then send machine and get back to the signal of initial position, if whether not, then being back to machine location needs set-up procedure to repeat above-mentioned operation.
As the variation of the utility model, control centre's module also can be other single-chip microcomputer close with MC9S12XS130 single-chip microcomputer performance; Also can omit Video processing and locating module, all actions of machine are accomplished by remote controller; The drive circuit of steering wheel D1 and stepper motor D2-D10 also can be the monoblock type circuit board of combining; The position switch of position sensing module also is not limited to the cited quantity of the foregoing description, also can suitably increase; Path Recognition strategy also available video detection path markings replaces electromagnetic detection identification route method, and needing only reprogramming can realize, as long as the conversion of in the scope of the utility model, being done all belongs to the category of the utility model.
Claims (7)
1. intelligent bowls and chopsticks are collected the desk telephone control system of wiping; The bowls and chopsticks of this control system control collect wipe desk telephone comprise base, be arranged on driving wheel and universal wheel base under, be connected back shaft, the control cabinet that is connected with back shaft on the base, be connected in the manipulator I that is used to collect bowls and chopsticks on the control cabinet, be connected on the control cabinet and be positioned at manipulator II that manipulator I one side is used to wipe desktop, be connected in the control cabinet housing outward a side be used to adorn the basket of bowls and chopsticks; It is characterized in that; This control system comprises control centre's module and the machine location adjusting module, manipulator I driver module, manipulator II driver module, wireless control module, the position sensing module that are connected with the control centre module respectively; Said machine location adjusting module comprises apart from advance position adjusting module about module and original place; The said distance module of advancing comprises the stepper motor D8, stepper motor D9 of the two driving wheels motion that drives respectively under the base, is connected stepper motor D8 drive circuit that drive stepping motor D8 works with the control centre module, is connected the stepper motor D9 drive circuit that drive stepping motor D9 works with the control centre module; The position adjusting module comprises and is arranged on drive control box integral body swings in the control cabinet motion stepper motor D7, is connected the stepper motor D7 drive circuit that drive stepping motor D7 works with the control centre module about said original place; Said manipulator I driver module comprises stepper motor D5 that the upright arm of drives mechanical hand I rotates, is connected stepper motor D3 that the transverse arm of the stepper motor D5 drive circuit of drive stepping motor D5 work, drives mechanical hand I swings up and down with the control centre module, be connected steering wheel D1 that stepper motor D3 drive circuit, drives mechanical hand I that drive stepping motor D3 works be used to grasp the mechanical gripping work of bowls and chopsticks with the control centre module, be connected the steering wheel D1 drive circuit that driving steering wheel D1 works with the control centre module; Said manipulator II driver module comprises the stepper motor D6 of the swing arm swing of drives mechanical hand II, is connected stepper motor D6 drive circuit that drive stepping motor D6 works with the control centre module, the arms of drives mechanical hand II is the stepper motor D4 of stretching motion, be connected the stepper motor D4 drive circuit that drive stepping motor D4 works with the control centre module; Said wireless control module comprises wireless remote control interface and the Digiplex that is connected with the control centre module, said position sensing module comprise upright arm top one side that is arranged on the manipulator I with the transverse arm (26) that prevents the manipulator I excessively go up pendulum position switch K2, be arranged on the position switch K3 that makes mechanical gripping (16) work of steering wheel D1 control manipulator I in the lift arm of manipulator I, the transverse arm that is arranged on the inherent manipulator I of control cabinet makes stepper motor D5 start and stop when moving to the basket top position switch K1.
2. intelligent bowls and chopsticks as claimed in claim 1 are collected the desk telephone control system of wiping; It is characterized in that said manipulator I driver module also comprises the flexible stepper motor D2 of the transverse arm of drives mechanical hand I, is connected the stepper motor D2 drive circuit that drive stepping motor D2 works with the control centre module.
3. intelligent bowls and chopsticks as claimed in claim 1 are collected the desk telephone control system of wiping; It is characterized in that said manipulator II driver module also comprises stepper motor D10 that the drives mechanical hand II is connected the terminal wiping board device of arms and rotates, is connected the stepper motor D10 drive circuit that drive stepping motor D10 works with the control centre module.
4. intelligent bowls and chopsticks as claimed in claim 1 are collected the desk telephone control system of wiping; It is characterized in that; Said control system also comprises Video processing and the locating module that is connected with the control centre module, and Video processing and locating module comprise the camera that is connected with the control centre module, the SAA7115 that is connected with camera, the TMS340DM642 that is connected with SAA7115 and control centre's module respectively.
5. intelligent bowls and chopsticks as claimed in claim 4 are collected and are wiped desk telephone control system, it is characterized in that, said Video processing and locating module comprise the FLASH that is connected with TMS340DM642 respectively and XC2S332, the SDRAM that is connected with XC2S332.
6. intelligent bowls and chopsticks as claimed in claim 1 are collected the desk telephone control system of wiping; It is characterized in that; Said control system also comprises the sprinkling driver module that is connected with the control centre module, sprays infusion pump that driver module comprises nozzles spray cleaning solution or the thimerosal of control manipulator II, is connected the infusion pump drive circuit of driving infusion pump work with the control centre module.
7. intelligent bowls and chopsticks as claimed in claim 1 are collected the desk telephone control system of wiping; It is characterized in that; Said control system also comprises the electromagnetic detection module that is connected with the control centre module, and said electromagnetic detection module comprises and is arranged on the electromagnetic detection sensor that the base bottom is used for the inductive electromagnetic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220283904 CN202607671U (en) | 2012-06-16 | 2012-06-16 | Control system for intelligent bowl and chopsticks collecting and table cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220283904 CN202607671U (en) | 2012-06-16 | 2012-06-16 | Control system for intelligent bowl and chopsticks collecting and table cleaning machine |
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| CN202607671U true CN202607671U (en) | 2012-12-19 |
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| CN 201220283904 Withdrawn - After Issue CN202607671U (en) | 2012-06-16 | 2012-06-16 | Control system for intelligent bowl and chopsticks collecting and table cleaning machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699922A (en) * | 2012-06-16 | 2012-10-03 | 广西工学院 | Control system of intelligent bowl and chopstick collection and table cleaning machine |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
-
2012
- 2012-06-16 CN CN 201220283904 patent/CN202607671U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699922A (en) * | 2012-06-16 | 2012-10-03 | 广西工学院 | Control system of intelligent bowl and chopstick collection and table cleaning machine |
| CN102699922B (en) * | 2012-06-16 | 2014-06-11 | 广西工学院 | Control system of intelligent bowl and chopstick collection and table cleaning machine |
| CN108309151A (en) * | 2018-04-18 | 2018-07-24 | 中国矿业大学 | A kind of movable type desktop clean robot |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20121219 Effective date of abandoning: 20140611 |
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| RGAV | Abandon patent right to avoid regrant |