CN203697010U - Electric-control system of servo robot - Google Patents
Electric-control system of servo robot Download PDFInfo
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- CN203697010U CN203697010U CN201320895621.1U CN201320895621U CN203697010U CN 203697010 U CN203697010 U CN 203697010U CN 201320895621 U CN201320895621 U CN 201320895621U CN 203697010 U CN203697010 U CN 203697010U
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- control system
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- robot electric
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Abstract
The utility model discloses an electric-control system of a servo robot, which comprises a plurality of posture sensing circuit assemblies and so forth, wherein the multiple posture sensing circuit assembly is connected to an FPGA plate card, the FPGA plate card, a plurality of driving circuit assemblies and a camera are connected to a computer; the posture sensing circuit assembly comprises a posture sensing module, a pressure sensing module and a single-chip micro computer, wherein the posture sensing module and the pressure sensing module are connected to the single-chip micro computer, the posture sensing module comprises a plurality of gyroscope sensing components, each of the gyroscope sensing components comprises a plurality of pressure sensing components, and each of the pressure sensing components comprises a pressure sensor and an amplifier which are mutually connected; and the driving circuit assembly comprises an embedded processor and a motor driving module which are mutually connected, and the motor driving module comprises a digital signal processor, a driver and a sensor. The electric-control system of the servo robot in the utility model is convenient and flexible and also reduces cost.
Description
Technical field
The utility model relates to a kind of electric-control system, particularly relates to a kind of passive robot electric-control system.
Background technology
Electric-control system is widely used in the fields such as poisonous, the harmful or aseptic experiment chamber robot such as robot for space and healing robot, Stepped Power Assist Device, operating robot and medicine, industry, chemical industry, agricultural industry.
Current passive robot electric-control system generally comprises input equipment, system master device processed, driver and multiple motors etc.The manipulation sensor that servomechanism is used is at present generally the solid components of position sensor or similar adjustable potentiometer, there is direct physical connection relation with machine driving, in use, its firmware resistance is larger, drive and lag behind, seem underaction, freely of system manipulation, makes troubles to user.For example: healing robot equipment, when patient carries out rehabilitation training under active mode states, the equipment of robot is servo-actuated driving process; The robot device of operating room, two hands of surgical procedure traditional Chinese medical science stranger need to be placed on fixing manipulation support, the manipulation of just performing the operation; Robot devices on robot device, space that aseptic experiment chamber is used etc., its manipulation process is also analogue.Equipment action is just more clumsy, and resistance is larger.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of passive robot electric-control system, and it is convenient, flexible, reduces costs.
The utility model solves above-mentioned technical problem by following technical proposals: a kind of passive robot electric-control system, it is characterized in that, described passive robot electric-control system comprises multiple attitude sensing circuit assemblies, FPGA board, computer, multiple drive circuit assembly, video camera, multiple attitude sensing circuit assemblies are connected with FPGA board, and FPGA board, multiple drive circuit assembly, video camera are all connected with computer; Attitude sensing circuit assembly comprises attitude induction module, pressure sensitive module, single-chip microcomputer, attitude induction module, pressure sensitive module are all connected with single-chip microcomputer, attitude induction module comprises multiple gyroscope sensing elements, each gyroscope sensing element comprises the three-axis gyroscope, three axis accelerometer, the three axle magnetometers that connect successively, pressure sensitive module comprises multiple pressure sensitive parts, and each pressure sensitive parts comprise interconnective pressure sensor and amplifier; Drive circuit assembly comprises interconnective flush bonding processor and motor drive module, and motor drive module comprises digital signal processor, driver, sensor, and driver, sensor are all connected with digital signal processor.
Preferably, described passive robot electric-control system also comprises input/output board and liquid crystal display, and input/output board, liquid crystal display are all connected with computer.
Preferably, described computer is also connected with an input equipment.
Preferably, described input equipment is camera or microphone.
Preferably, described computer is also connected with an output equipment.
Positive progressive effect of the present utility model is: the robot device user that the utility model system solves current related application field operates underaction, manipulates the problem of complicated in mechanical structure, raise the efficiency simultaneously, improve flexibility ratio, improve response speed, save material, simplify frame for movement, reduce costs.
Brief description of the drawings
Fig. 1 is the theory diagram of the utility model passive robot electric-control system.
Detailed description of the invention
Provide the utility model preferred embodiment below in conjunction with accompanying drawing, to describe the technical solution of the utility model in detail.
As shown in Figure 1, the utility model passive robot electric-control system comprises multiple attitude sensing circuit assemblies, FPGA (Field-Programmable Gate Array, field programmable gate array) board, computer, multiple drive circuit assembly, video camera, multiple attitude sensing circuit assemblies are connected with FPGA board, and FPGA board, multiple drive circuit assembly, video camera are all connected with computer; Attitude sensing circuit assembly comprises attitude induction module, pressure sensitive module, single-chip microcomputer, attitude induction module, pressure sensitive module are all connected with single-chip microcomputer, attitude induction module comprises multiple gyroscope sensing elements, each gyroscope sensing element comprises the three-axis gyroscope, three axis accelerometer, the three axle magnetometers that connect successively, pressure sensitive module comprises multiple pressure sensitive parts, and each pressure sensitive parts comprise interconnective pressure sensor and amplifier; Drive circuit assembly comprises interconnective flush bonding processor (model is ARM Coretex-M4) and motor drive module, motor drive module comprises digital signal processor (DSP), driver, sensor, and driver, sensor are all connected with digital signal processor.This single-chip microcomputer model can be selected the PIC24FJ64GC010 of microchip company or the single-chip microcomputer of PIC24FJ128GC010, or the single-chip microcomputer of the STM8L151M8 of ST Microelectronics, STM8L151R8.Gyroscope sensing element can be selected the MPU-9150 type product of InvenSense brand, or the ADIS16488 type product of ADI brand.It is the constantan metal foil resistor foil gauge of BF350-3AA that pressure sensor can be selected model, or the model resistance strain gage that is LH-225; This amplifier can be selected AD620 or AD623 or INA155 or other amplifier chip.It is ST32F405, the ST32F407 type flush bonding processor of ST Microelectronics that this flush bonding processor can be selected model, or the NUC230 of Xin Tang scientific & technical corporation, NUC240 type flush bonding processor.It is dsPIC33EP64MC504 or the dsPIC33EP32MC202 type processor of microchip company that digital signal processor can be selected model, or the TMS320F28335 type processor of TI company; It is SS441A, the SS443A type product of OCH1900, OCH1901 type product or the Honeywell Inc. of Can Rui company that this sensor can be selected model, and it is the SCM6716M type product of MTS2916A, MTS62C19A type product or the SANKEN company of microchip company that this driver can be selected model.
The utility model passive robot electric-control system also comprises input/output board (I/O plate) and liquid crystal display, input/output board (I/O plate), liquid crystal display are all connected with computer, specifically connect by corresponding board (in computer-internal) realization.
Computer can also be connected with an input equipment, specifically connects by corresponding board (in computer-internal) realization.Input equipment is camera or microphone, specifically connects by corresponding board (in computer-internal) realization.
Computer can also be connected with an output equipment, specifically connects by corresponding board (in computer-internal) realization.Described output equipment is multiple drive circuit assemblies.Output equipment can be printer etc.
The utility model has adopted gyrostatic sensing element technology, its inside comprises three-axis gyroscope, three axis accelerometer, the functions such as three axle magnetometers, therefore can directly obtain the signal detection to moving object attitude parameter, that is to say the three dimensions attitude data that can directly obtain moving object, and no longer need the physical connection of relevant frame for movement, save relevant portion material used, these are simply more than the equipment of the physical connection of frame for movement in the past, thereby make the attitude that manipulates passive robot equipment become very simple, easily, also greatly reduce the relevant cost of frame for movement simultaneously, improve the manipulation flexibility ratio of equipment.
The utility model is owing to having adopted FPGA board technology, make it possible to convert the serial data of the attitude signal of serial to parallel data, and then read fast, calculate, process and carry out by system centre computer, aspect attitude signal data acquisition channel, FPGA board has been brought into play the Effect of Pretreatment of rapid data conversion.In addition, the utility model, owing to having adopted the technology of flush bonding processor, can, fast to the data from component computer, simply be processed in application, and this has played for the computational burden of mitigation system computer the effect of accelerating.Therefore above-mentioned two reasons, can cause the response speed of passive robot greatly to improve.
The utility model has adopted camcorder technology, and it on the one hand can be by real scene result, and feedback shows in liquid crystal display, person's manipulation easy to use; Vedio data that on the other hand can be on-the-spot, by computer recording preservation, identification, parsing, generates the corresponding signal that drives by the result of image digitazation, automatically manipulates for robot device.
Technical problem to be solved in the utility model is to provide a kind of passive robot electric-control system, it solves current passive robot user malfunction, manipulation complicated in mechanical structure problem, improves flexibility ratio, improves response speed, saves material, reduces costs.
Above-described specific embodiment; technical problem, technical scheme and beneficial effect to solution of the present utility model further describe; institute is understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (5)
1. a passive robot electric-control system, it is characterized in that, described passive robot electric-control system comprises multiple attitude sensing circuit assemblies, FPGA board, computer, multiple drive circuit assembly, video camera, multiple attitude sensing circuit assemblies are connected with FPGA board, and FPGA board, multiple drive circuit assembly, video camera are all connected with computer; Attitude sensing circuit assembly comprises attitude induction module, pressure sensitive module, single-chip microcomputer, attitude induction module, pressure sensitive module are all connected with single-chip microcomputer, attitude induction module comprises multiple gyroscope sensing elements, each gyroscope sensing element comprises the three-axis gyroscope, three axis accelerometer, the three axle magnetometers that connect successively, pressure sensitive module comprises multiple pressure sensitive parts, and each pressure sensitive parts comprise interconnective pressure sensor and amplifier; Drive circuit assembly comprises interconnective flush bonding processor and motor drive module, and motor drive module comprises digital signal processor, driver, sensor, and driver, sensor are all connected with digital signal processor.
2. passive robot electric-control system as claimed in claim 1, is characterized in that, described passive robot electric-control system also comprises input/output board and liquid crystal display, and input/output board, liquid crystal display are all connected with computer.
3. passive robot electric-control system as claimed in claim 1, is characterized in that, described computer is also connected with an input equipment.
4. passive robot electric-control system as claimed in claim 3, is characterized in that, described input equipment is camera or microphone.
5. passive robot electric-control system as claimed in claim 1, is characterized in that, described computer is also connected with an output equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320895621.1U CN203697010U (en) | 2013-12-27 | 2013-12-27 | Electric-control system of servo robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320895621.1U CN203697010U (en) | 2013-12-27 | 2013-12-27 | Electric-control system of servo robot |
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| Publication Number | Publication Date |
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| CN203697010U true CN203697010U (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320895621.1U Expired - Fee Related CN203697010U (en) | 2013-12-27 | 2013-12-27 | Electric-control system of servo robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808240A (en) * | 2014-08-29 | 2015-07-29 | 中国航空工业集团公司北京长城计量测试技术研究所 | Identification method for space posture and motion state of earthquake measuring terminal |
| CN105005249A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller |
| CN108528562A (en) * | 2018-06-07 | 2018-09-14 | 张家港江苏科技大学产业技术研究院 | A kind of robot climbing base apparatus |
| WO2021218212A1 (en) * | 2020-04-26 | 2021-11-04 | 珠海格力智能装备有限公司 | Robot control method and apparatus, and storage medium and processor |
-
2013
- 2013-12-27 CN CN201320895621.1U patent/CN203697010U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808240A (en) * | 2014-08-29 | 2015-07-29 | 中国航空工业集团公司北京长城计量测试技术研究所 | Identification method for space posture and motion state of earthquake measuring terminal |
| CN105005249A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller |
| CN108528562A (en) * | 2018-06-07 | 2018-09-14 | 张家港江苏科技大学产业技术研究院 | A kind of robot climbing base apparatus |
| CN108528562B (en) * | 2018-06-07 | 2020-12-01 | 张家港江苏科技大学产业技术研究院 | Robot climbing chassis device |
| WO2021218212A1 (en) * | 2020-04-26 | 2021-11-04 | 珠海格力智能装备有限公司 | Robot control method and apparatus, and storage medium and processor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHANGHAI SHURONG INTELLIGENT EQUIPMENT CO., LTD. Free format text: FORMER OWNER: SHANGHAI WEINIU ROBOT CO., LTD. Effective date: 20150306 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 201700 MINHANG, SHANGHAI TO: 201713 QINGPU, SHANGHAI |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150306 Address after: 201713, No. 116, Lane 46, sunset Road, Qingpu District, Shanghai, Zhujiajue Patentee after: Shanghai honor Intelligent Equipment Co., Ltd. Address before: 201700, B31 building, building 2, building 4299, 6 Jin Du Road, Shanghai, Minhang District Patentee before: Shanghai Weiniu Robot Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20181227 |