CN203697012U

CN203697012U - Mechanical hand controller having limiting protecting function

Info

Publication number: CN203697012U
Application number: CN201420015146.9U
Authority: CN
Inventors: 徐江海; 王海燕; 朱彩霞
Original assignee: Huaian Vocational College of Information Technology
Current assignee: Huaian Vocational College of Information Technology
Priority date: 2014-01-10
Filing date: 2014-01-10
Publication date: 2014-07-09
Anticipated expiration: 2024-01-10

Abstract

The utility model discloses a mechanical hand controller having a limiting protecting function. An electric loop of the controller comprises an instruction input module (1), an H bridge driving module (2), a driving power module (3), a reverse rotation limiting forward rotation follow current module (4) and a forward rotation limiting reverse rotation follow current module (5). The instruction input module (1) is connected with the H bridge driving module (2), the driving power module (3) is connected with the driving power supply input end of the H bridge driving module (2), two driving power supply output ends of the H bridge driving module (2) are respectively connected with the input end of the forward rotation limiting reverse rotation follow current module (5) and the input end of the reverse rotation limiting forward rotation follow current module (4), the output end of the forward rotation limiting reverse rotation follow current module (5) and the output end of the reverse rotation limiting forward rotation follow current module (4) are respectively connected with a direct current motor (6) for controlling a mechanical hand to move, and the electric loop of the mechanical hand controller having the limiting protecting function is formed integrally. The mechanical hand controller is low in cost, high in cost performance, safe and reliable and is used in a robot system to serve as a control protecting circuit for the mechanical hand and achieves safety protection for the mechanical hand and the motor.

Description

With the Manipulator Controller of position limitation protection

Technical field

The utility model relates to manipulator, is specifically related to the Manipulator Controller with position limitation protection.

Background technology

At present, the application of robot is more and more extensive, particularly at field of industrial production, in as large-scale in automobile etc. modern production enterprise, has had the robot of various ways to replace manual operation, completes feature processing tasks.Robot completes various tasks by manipulator, and the motion of most of manipulator is all driven by direct current generator, and forms of motion has translation and rotation, and translational motion and rotatablely moving is limited in certain spatial dimension under normal circumstances.Because the electromagnetic environment of robot workplace is severe, robot may be subject to electromagnetic interference, send wrong instruction, or control mechanical chirokinesthetic circuit for controlling motor fault, the overrun of manipulator is caused in capital, the overrun meeting of manipulator causes damage near the personnel it or other equipment, also can cause burning of drive motors etc., causes industrial accident.

Summary of the invention

The purpose of this utility model is: a kind of Manipulator Controller with position limitation protection is provided; for providing, the robot mechanical arm being driven by direct current generator drives and holding circuit; prevent the overrun of robot mechanical arm; the safety of the production equipments such as the protection person and robot; reduce security incident, reduce the person and property loss.

The utility model solves the technical scheme that its technical problem adopts: the electric loop of this controller is made up of instruction input module, H bridge driver module, the spacing reversion afterflow of forward module, the spacing forward afterflow module of reversing, driving power module; Instruction input module connects H bridge driver module, for H bridge driver module provides working power and control signal; Driving power module connects the driving power input of H bridge driver module, under the control of instruction input module control signal, at the controlled voltage source of H bridge driver module output polarization; Two driving power outputs of H bridge driver module connect respectively the input of the spacing reversion afterflow of forward module and the spacing forward afterflow module of reversion; the spacing reversion afterflow of forward module is connected respectively and controls mechanical chirokinesthetic direct current generator with the output of the spacing forward afterflow module of reversion, and entirety forms the electric loop of the Manipulator Controller with position limitation protection.

When installation, when spacing forward reversion afterflow module is arranged on to motor forward, manipulator allows the extreme position arriving, and when the spacing forward afterflow module of reversion is arranged on to motor reversal, manipulator allows the extreme position arriving; The control signal of instruction input module is produced by the control centre of robot, DIR be data signal (0---low level, 1 high level), control the voltage source polarity that the output of H bridge drives, manipulator work drive motor is rotated and reverse to control, realize forward and the counter motion of manipulator, PWM is pulse-width signal, realizes the speed regulating control to motor; Driving power is provided by the electric power system of robot, require consistent (should a little more than machine operation power supply) with the working power of controlled motor, the driving power of H bridge output is given motor again through the spacing reversion afterflow of forward module and the spacing forward afterflow module of reversion, and driven by motor robot movement is by the spatial dimension that is limited in setting; If owing to being subject to the reasons such as electromagnetic interference, control signal is not normal, the overrun of driven by motor manipulator, manipulator will touch the limit switch being arranged in its movement travel, the current supply circuit of force disconnect motor, stops motor, the safety of the production equipments such as protection motor and robot; This controller is only controlled the one degree of freedom of manipulator, and multi freedom degree mechanical hand control adopts multiple identical controllers.

The utility model has the advantages that: 1, forward, counter motion and speed regulating control and the one of collection manipulator has position limitation protection function simultaneously; 2, flexible configuration, adapts to have motion control and the protection of different free degree manipulators; 3, robot provides driving power and control signal, and the cost of controller is low, and cost performance is high.

Brief description of the drawings

Below in conjunction with accompanying drawing, the utility model is described in further detail.

Fig. 1 is structured flowchart of the present utility model.

Fig. 2 is the robot movement position limitation protection schematic diagram of Fig. 1.

In figure: 1 instruction input module, 2H bridge driver module, 3 driving power modules, the spacing forward afterflow module of 4 reversion, the spacing reversion afterflow of 5 forward module, 6 motors.

Detailed description of the invention

As shown in Figure 1, the electric loop of this controller is by instruction input module 1, H bridge driver module 2, driving power module 3, the spacing forward afterflow module 4 of reversing, the spacing reversion afterflow of forward module 5 forms, instruction input module 1 connects H bridge driver module 2, driving power module 3 connects the driving power input of H bridge driver module 2, two driving power outputs of H bridge driver module 2 connect respectively the input of the spacing reversion afterflow of forward module 5 and the spacing forward afterflow module 4 of reversion, the spacing reversion afterflow of forward module 5 is connected respectively and controls mechanical chirokinesthetic direct current generator 6 with the output of the spacing forward afterflow module 4 of reversion, entirety forms the electric loop of the Manipulator Controller with position limitation protection.

Its physical circuit connection is described below: instruction input module 1 is the interface between robot and its Manipulator Controller, and command signal is produced by control centre of robot, the VCC1 of instruction input module 1 is connected with the VCC1 of H bridge driver module 2, and the GND of instruction input module 1 is connected with the GND of H bridge driver module 2, the DIR of instruction input module 1 is connected with 3 pin (DIR) of the driving chip LMD18200T in H bridge driver module 2, and is connected with resistance R 2 one end, and the R2 other end is connected to GND, and R2 provides biasing circuit for DIR signal, DIR signal be digital logic signal (0---low level, 1---high level), control to drive between chip LMD18200T output 2 pin (OUT1) and 10 pin (OUT2) and export the polarity of driving power, for the direction of motion control of manipulator, the PWM of instruction input module 1 is connected with 5 pin (PWM) of the driving chip LMD18200T in H bridge driver module 2, and is connected with one end of resistance R 1, and the other end of R1 is connected to VCC1, and R1 provides biasing circuit for pwm signal, PWM is data signal, when PWM=1(high level) time, motor operation, robot movement, when PWM=0(low level) time, motor stops, and manipulator does not move, and in the time that PWM is pulse signal, the dutycycle that changes pwm signal is carried out speed regulating control to motor, 4 pin (BREA) of H bridge driver module 2 chips LMD18200T are connected to GND, and BREA is the brake control signal of chip, and BREA is data signal, in the time of BREA=1, LMD18200T output stops, in the time of BREA=0, LMD18200T allows output, and output is subject to PWM, DIR signal controlling, BREA is directly connected to GND, makes LMD18200T always in allowing output state, by the forward and reverse speed regulating control realizing motor that is used in conjunction with of PWM, DIR signal, thereby forward and reverse motion control of control manipulator and movement velocity regulate, 8 pin (SOUT) of H bridge driver module 2 chips LMD18200T are connected to GND by resistance R 3, and R3 is the current signal sample resistance of chip LMD18200T, 1 pin (BOT1) of H bridge driver module 2 chips LMD18200T is connected to 2 pin (OUT1) of chip by capacitor C 1,11 pin (BOT2) of chip are connected to 10 pin (OUT2) of chip by capacitor C 2, C1, C2 are bootstrap capacitor, form charge pump circuit with the circuit of chip internal, for the DMOS power device of LMD18200T inside provides grid-control voltage, in H bridge driver module 2, C3, R4 are together in series, and are connected between 2 pin (OUT1) and 10 pin (OUT2) of LMD18200T the interfering signal producing at make and break process for absorbing external inductive load, protection LMD18200T chip in parallel, driving power module 3 provides motor drive power supply, is provided by robot electric power system, the VCC2 of driving power module 3 is connected with 6 pin (VS) of the driving chip LMD18200T in H bridge driver module 2, the GND of driving power module 3 is connected with 7 pin (GND) of the driving chip LMD18200T in H bridge driver module 2, under the PWM of instruction input module 1, DIR signal controlling, the controlled output driving power of output polarity between 2 pin (OUT1) of LMD18200T, 10 pin (OUT2), the D1 reversing in spacing forward afterflow module 4 is diode, K1 is travel switch (with normally-closed contact), D1, K1 are together in parallel and form spacing freewheeling circuit, diode cathode end connects 10 pin (OUT2) of the LMD18200T in H bridge driver module 2, and diode cathode end is connected to "+" of MOTOR, D2 in the spacing reversion afterflow of forward module 5 is diode, K2 is travel switch (with normally-closed contact), D2, K2 are together in parallel and form spacing freewheeling circuit, diode cathode end connects 2 pin (OUT1) of the LMD18200T in H bridge driver module 2, and diode cathode end is connected to "-" of MOTOR, output driving power carries out spacing control through the spacing forward afterflow module 4 of reversion and the spacing reversion afterflow of forward module 5 to manipulator, for example: 10 pin (OUT2) of LMD18200T are exported high, 2 pin (OUT1) are exported low, driving power forms path through OUT2 → K1 → MOTOR → K2 → OUT1, motor forward, manipulator positive movement, the spacing reversion afterflow of forward module 5 be arranged on manipulator positive movement oppositely on, if manipulator does not stop positive movement when out of control () continuously, will meet forward limitation travel switch K2, K2 disconnects, due to now polar orientation and the current opposite in direction of diode D2, in cut-off state (unilateral conduction of diode), so the current loop of motor is disconnected, motor stops, limit mechanical hand continues mobile, although now K2 disconnects, and applies reverse driving power, still controls manipulator counter motion, apply reverse drive power supply, 2 pin (OUT1) that are LMD18200T are exported high, 10 pin (OUT2) are exported low, and the polar orientation of diode D2 is consistent with the sense of current, enters conducting state, driving power forms path through OUT1 → D2 → MOTOR → K1 → OUT2, motor reversal, manipulator counter motion, leaves after limit switch, K2 recovers closure state by diode D2 short circuit, and electric current keeps current path by K2, in counter motion process, position limitation protection principle is identical with the spacing principle of positive movement, and the function of diode D1 is the same with D2, the opposite direction being used in conjunction with after spacing control and limited the stopping of realizing the forward and reverse motion of manipulator of travel switch K1, D1 in circuit, K2, tetra-devices of D2 restarts.

Wherein, described spacing afterflow module refers to the parallel circuit being made up of the diode of the travel switch of arbitrary model, specification and arbitrary model specification, model; Described H bridge drive circuit refers to the H bridge circuit being made up of transistor, FET, and the H bridge circuit being made up of LMD18200T, L298, BTN7960, BTS7960 motor driving integrated circuit (that adopt in figure is LMD18200T).

When use; Manipulator Controller with position limitation protection is as a part for robot control circuit; the signal of instruction input module 1 is produced by control centre of robot; driving power module 3 is provided by the electric power system of robot self; the spacing forward afterflow module 4 of reversing is arranged on the extreme position of manipulator counter motion permission stroke; the spacing reversion afterflow of forward module 5 is arranged on the extreme position of manipulator positive movement permission stroke, is then connected to the motor 6 of driving device hand, as shown in Figure 2.

Claims

1. the Manipulator Controller with position limitation protection, it is characterized in that: the electric loop of this controller comprises instruction input module (1), H bridge driver module (2), driving power module (3), the spacing forward afterflow module (4) of reversing, the spacing reversion afterflow of forward module (5) composition, instruction input module (1) connects H bridge driver module (2), driving power module (3) connects the driving power input of H bridge driver module (2), two driving power outputs of H bridge driver module (2) connect respectively the input of the spacing reversion afterflow of forward module (5) and the spacing forward afterflow module of reversion (4), the spacing reversion afterflow of forward module (5) is connected respectively and controls mechanical chirokinesthetic direct current generator (6) with the output of the spacing forward afterflow module of reversion (4), entirety forms the electric loop of the Manipulator Controller with position limitation protection.

2. the Manipulator Controller with position limitation protection according to claim 1, the physical circuit that it is characterized in that this controller connects as follows: instruction input module (1) is the interface between robot and its Manipulator Controller, and command signal is produced by control centre of robot; The VCC1 of instruction input module (1) is connected with the VCC1 of H bridge driver module (2), and the GND of instruction input module (1) is connected with the GND of H bridge driver module (2); The DIR of instruction input module (1) is connected with the 3 pin DIR of the driving chip LMD18200T in H bridge driver module (2), and is connected with resistance R 2 one end, and the R2 other end is connected to GND, and R2 provides biasing circuit for DIR signal; DIR signal is digital logic signal, controls and drives the polarity of exporting driving power between chip LMD18200T output 2 pin OUT1 and 10 pin OUT2, for the direction of motion control of manipulator; The PWM of instruction input module (1) is connected with the 5 pin PWM of the driving chip LMD18200T in H bridge driver module (2), and is connected with one end of resistance R 1, and the other end of R1 is connected to VCC1, and R1 provides biasing circuit for pwm signal; PWM is data signal, in the time of PWM=1 high level, and motor operation, robot movement, in the time of PWM=0 low level, motor stops, and manipulator does not move, and in the time that PWM is pulse signal, the dutycycle that changes pwm signal is carried out speed regulating control to motor; The 4 pin BREA of H bridge driver module 2 chips LMD18200T are connected to GND, and BREA is the brake control signal of chip, and BREA is data signal, in the time of BREA=1, LMD18200T output stops, in the time of BREA=0, LMD18200T allows output, and output is subject to PWM, DIR signal controlling; BREA is directly connected to GND, makes LMD18200T always in allowing output state, by the forward and reverse speed regulating control realizing motor that is used in conjunction with of PWM, DIR signal, thereby forward and reverse motion control of control manipulator and movement velocity regulate; The 8 pin SOUT of H bridge driver module (2) chips LMD18200T are connected to GND by resistance R 3, and R3 is the current signal sample resistance of chip LMD18200T; The 1 pin BOT1 of H bridge driver module (2) chips LMD18200T is connected to 2 pin OUT1 of chip by capacitor C 1,11 pin BOT2 of chip are connected to 10 pin OUT2 of chip by capacitor C 2, C1, C2 are bootstrap capacitor, form charge pump circuit with the circuit of chip internal, for the DMOS power device of LMD18200T inside provides grid-control voltage; In H bridge driver module (2), C3, R4 are together in series, and are connected between the 2 pin OUT1 and 10 pin OUT2 of LMD18200T the interfering signal producing at make and break process for absorbing external inductive load, protection LMD18200T chip in parallel; Driving power module (3) provides motor drive power supply, is provided by robot electric power system; The VCC2 of driving power module (3) is connected with the 6 pin VS of the driving chip LMD18200T in H bridge driver module (2), the GND of driving power module (3) is connected with the 7 pin GND of the driving chip LMD18200T in H bridge driver module (2), under the PWM of instruction input module (1), DIR signal controlling, the controlled output driving power of output polarity between 2 pin OUT1, the 10 pin OUT2 of LMD18200T; The D1 reversing in spacing forward afterflow module (4) is diode, K1 is travel switch normally-closed contact, D1, K1 are together in parallel and form spacing freewheeling circuit, diode cathode end connects the 10 pin OUT2 of the LMD18200T in H bridge driver module (2), and diode cathode end is connected to "+" of MOTOR; D2 in the spacing reversion afterflow of forward module (5) is diode, K2 is travel switch normally-closed contact, D2, K2 are together in parallel and form spacing freewheeling circuit, diode cathode end connects the 2 pin OUT1 of the LMD18200T in H bridge driver module (2), and diode cathode end is connected to "-" of MOTOR; Output driving power carries out spacing control through the spacing forward afterflow module of reversion (4) and the spacing reversion afterflow of forward module (5) to manipulator.

3. the Manipulator Controller with position limitation protection according to claim 1, is characterized in that: described spacing afterflow module refers to the parallel circuit being made up of the diode of the travel switch of arbitrary model, specification and arbitrary model specification, model; Described H bridge drive circuit refers to the H bridge circuit being made up of transistor, FET, and the H bridge circuit being made up of LMD18200T, L298, BTN7960, BTS7960 motor driving integrated circuit.