CN204235552U - A kind of reconstruction robot modular system based on DSP2811 - Google Patents
A kind of reconstruction robot modular system based on DSP2811 Download PDFInfo
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- CN204235552U CN204235552U CN201420522933.2U CN201420522933U CN204235552U CN 204235552 U CN204235552 U CN 204235552U CN 201420522933 U CN201420522933 U CN 201420522933U CN 204235552 U CN204235552 U CN 204235552U
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Abstract
The utility model discloses a kind of reconstruction robot modular system based on DSP2811, this module has good universality, also needs to have certain intelligent characteristic.Be combined into different configurations by the external world, different tasks can be completed.The utility model adopts DSP as its main operational device, is made up of DSP master controller, photoelectric isolation module, relative type motor photoelectric encoder, driver module, CAN module, Hall element and insulating power supply.The pulse signal that photoelectric encoder exports as feedback, and is carried out voltage division processing by the photoelectric encoder of relative type motor, adopts LMD18200 as driving chip, motor circle is sticked magnet, with Hall element as feedback, adopts CAN as communication.
Description
Technical field
the utility model relates to the system of a kind of robotics, particularly a kind of imbedded reconfigurable robot module system.
Background technology
reconstruction robot generally refers to and is made up of some modules possessing certain capacity of self-government and perception, has unified interface environment, can be used for transmitting force, motion, energy and communicate between modules.By the connection between module, opening operation and mutually move, reconstruction robot can change overall configuration automatically, extension movement form, and then completes multi-motion and operation task.
the research of reconstruction robot needs advanced mechanical analysis, outstanding machinery and Electronic Design, and advanced control strategy etc. is the research direction of a cross-synthesis.Its important breakthrough will drive the development of computer technology, microelectric technique, the communication technology, mechanical analysis and modeling and intelligent control technology etc., and significance of scientific research is great.Have developed many model machines abroad, walk before this field.Domestic only achievement to some extent in theoretical research, little a guy or unit make model machine to test.By external applicable cases, Technology of Reconfigurable Robot can be applied in the numerous areas such as space flight, military affairs, nuclear industry, Production line and high-risk operations, so this research can not only fill up the technological gap of internal and overseas, have more deep using value and market prospects.
compare with conventional industrial robot, reconstruction robot have be easy to safeguard, adaptable, cost is low, the feature that function is many, and this allows it be suitable for the production requirement of New Times.But, under the prerequisite of reconfigurable modular robot development, but seldom there are a restructural that can be suitable for, modular control system.
Utility model content
the purpose of this utility model is to provide a kind of restructural mechanical module system of reality, and this module has good universality, also needs to have certain intelligent characteristic.Be combined into different configurations by the external world, different tasks can be completed.
the purpose of this utility model is achieved in that
the utility model adopts DSP as its main operational device, is made up of DSP master controller, photoelectric isolation module, relative type motor photoelectric encoder, driver module, CAN module, Hall element and insulating power supply.
first power supply we adopt insulating power supply, while transferring 24V to 5V, by motor and digitally carry out first time isolation, the 5V after isolating is inputed to the components and parts of 5V, as photoelectric encoder etc.By DSP output pwm signal, brake signal and direction signal do second time isolation.The pulse signal that photoelectric encoder exports as feedback, and is carried out voltage division processing by the photoelectric encoder of relative type motor, adopts LMD18200 as driving chip, motor circle is sticked magnet, with Hall element as feedback, adopts CAN as communication.
power module is the foundation stone of whole system, because DSP is very high to the stability requirement of voltage, and need 3.3V, 1.8V powers respectively, and whole system also needs 5V and 24V to power.Adopt this DC-to-dc module of WRB2405CS with isolation features, it has isolation features, 24V direct current can be converted into 5V direct current, rated power 3W.
driver module: drive and adopt LMD18200 chip (U2_3), the highest withstand voltage is 55V, peak point current 6A, and normal operating current is asked up to 3A.Only need a road pwm signal, this chip has brake signal input and steering controling signal input, as long as just can control turning to and braking of motor to high level or low level.One end of C2_3_2 is connected with 1 pin of U2_3, and the other end is connected with 2 pin of U2_3.2 pin of U2_3 are also connected with OUT1.3 pin of U2_3,4 pin, 5 pin are connected with SDIR, SBRAKE, SPWM1 respectively.6 pin of U2_3 are connected with 24V power supply.C2_3_1 mono-pin is connected with 11 pin of U2_3, and 10 pin of other end U2_3 are connected, and 10 pin of U2_3 are connected with OUT2.9 pin of U2_3 are unsettled, and a pin of R2_3_1 is connected with 8 pin of U2_3, and the other end is connected to QDGND together with 7 pin of U2_3.
bottom control algorithm flow: photoelectric encoder output pulse signal enters the relevant pins of DSP, is counted by the T4 counter of DSP.Because the motor that we use is with the reduction box of 512:1, that is motor turns around, and through speed reducing ratio, exports only have 360 °/512=0.703125 °, so need the number of turns that another counter rotates to count motor through reduction box.Use T3 counter to interrupt counting the number of turns of motor, T3 and T4 just can obtain the actual speed of motor together in unit interval inside counting, as the value of feedback of speed closed loop PID.Angular speed through integration passable to angle value, as the value of feedback of angle closed loop PID.Use the comparator function of T1 as PWM output comparator.Write control algolithm in CPU timer interruption 0, the control cycle of whole system just can be set by the frequency arranging CPU timer 0.
advantage of the present utility model and effect:
(1) the utility model adopts TMS320F2811 to adopt Harvard bus structures, and each memory space can independent access, and program bus is separated with data/address bus, makes the treatment effeciency of data improve one times, improves the processing speed of whole system.
(2) build this modular mechanical arm in the utility model, experimental verification can be carried out to some configuration method for solving that educational circles newly proposes.If cost can be pressed enough low, output torque is enough large, and that this robot can also be applied in the automatic production of industrial quarters.
Accompanying drawing explanation
fig. 1 is single module system composition diagram.
fig. 2 is power module schematic diagram.
fig. 3 is driving circuit principle figure.
fig. 4 is bottom control program structure diagram.
Detailed description of the invention
below in conjunction with accompanying drawing citing, the utility model is described in more detail:
composition graphs 1, Fig. 1 is single module system composition diagram.The utility model adopts DSP as its main operational device, is made up of DSP master controller, photoelectric isolation module, relative type motor photoelectric encoder, driver module, CAN module, Hall element and insulating power supply.
first power supply we adopt insulating power supply, while transferring 24V to 5V, by motor and digitally carry out first time isolation, the 5V after isolating is inputed to the components and parts of 5V, as photoelectric encoder etc.By DSP output pwm signal, brake signal and direction signal do second time isolation.The pulse signal that photoelectric encoder exports as feedback, and is carried out voltage division processing by the photoelectric encoder of relative type motor, adopts LMD18200 as driving chip, motor circle is sticked magnet, with Hall element as feedback, adopts CAN as communication.
composition graphs 2, Fig. 2 is power module schematic diagram.Power module is the foundation stone of whole system, because DSP is very high to the stability requirement of voltage, and need 3.3V, 1.8V powers respectively, and whole system also needs 5V and 24V to power.Adopt this DC-to-dc module of WRB2405CS with isolation features, it has isolation features, 24V direct current can be converted into 5V direct current, rated power 3W.
composition graphs 3, Fig. 3 is driving circuit principle figure.Driver module: drive and adopt LMD18200 chip (U2_3), the highest withstand voltage is 55V, peak point current 6A, and normal operating current is asked up to 3A.Only need a road pwm signal, this chip has brake signal input and steering controling signal input, as long as just can control turning to and braking of motor to high level or low level.One end of C2_3_2 is connected with 1 pin of U2_3, and the other end is connected with 2 pin of U2_3.2 pin of U2_3 are also connected with OUT1.3 pin of U2_3,4 pin, 5 pin are connected with SDIR, SBRAKE, SPWM1 respectively.6 pin of U2_3 are connected with 24V power supply.C2_3_1 mono-pin is connected with 11 pin of U2_3, and 10 pin of other end U2_3 are connected, and 10 pin of U2_3 are connected with OUT2.9 pin of U2_3 are unsettled, and a pin of R2_3_1 is connected with 8 pin of U2_3, and the other end is connected to QDGND together with 7 pin of U2_3.
composition graphs 4, Fig. 4 is bottom control program structure diagram.Bottom control algorithm flow: photoelectric encoder output pulse signal enters the relevant pins of DSP, is counted by the T4 counter of DSP.Because the motor that we use is with the reduction box of 512:1, that is motor turns around, and through speed reducing ratio, exports only have 360 °/512=0.703125 °, so need the number of turns that another counter rotates to count motor through reduction box.Use T3 counter to interrupt counting the number of turns of motor, T3 and T4 just can obtain the actual speed of motor together in unit interval inside counting, as the value of feedback of speed closed loop PID.Angular speed through integration passable to angle value, as the value of feedback of angle closed loop PID.Use the comparator function of T1 as PWM output comparator.Write control algolithm in CPU timer interruption 0, the control cycle of whole system just can be set by the frequency arranging CPU timer 0.
Claims (2)
1. the reconstruction robot modular system based on DSP2811, it is characterized in that: described modular system adopts DSP as its main operational device, is made up of DSP master controller, photoelectric isolation module, relative type motor photoelectric encoder, driver module, CAN module, Hall element and insulating power supply; Power acquisition insulating power supply, while transferring 24V to 5V, by motor and digitally carry out first time isolation, the 5V after isolating is inputed to the components and parts of 5V.
2. a kind of reconstruction robot modular system based on DSP2811 according to claim 1, is characterized in that: power acquisition WRB2405CS DC-to-dc module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522933.2U CN204235552U (en) | 2014-09-12 | 2014-09-12 | A kind of reconstruction robot modular system based on DSP2811 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522933.2U CN204235552U (en) | 2014-09-12 | 2014-09-12 | A kind of reconstruction robot modular system based on DSP2811 |
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| CN204235552U true CN204235552U (en) | 2015-04-01 |
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| CN201420522933.2U Expired - Fee Related CN204235552U (en) | 2014-09-12 | 2014-09-12 | A kind of reconstruction robot modular system based on DSP2811 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260088A (en) * | 2014-09-12 | 2015-01-07 | 哈尔滨恒誉名翔科技有限公司 | DSP2811-based (digital signal processor 2811-based) reconfigurable robot module system |
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2014
- 2014-09-12 CN CN201420522933.2U patent/CN204235552U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260088A (en) * | 2014-09-12 | 2015-01-07 | 哈尔滨恒誉名翔科技有限公司 | DSP2811-based (digital signal processor 2811-based) reconfigurable robot module system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20161027 Address after: 150028, Heilongjiang province hi tech Industrial Development Zone, Harbin hi tech Industrial Development Zone, innovation and entrepreneurship Plaza, building 14, 236 bright moon street, torch e-commerce building, room 509-24 Patentee after: Harbin rice embryo Technology Co.,Ltd. Address before: 703, room 258, ship building, 150001 Nantong street, Harbin, Heilongjiang Patentee before: HARBIN HENGYU MINGXIANG TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170807 Address after: Room 1408, ship building, 258 Nantong street, Nangang District, Heilongjiang, Harbin, 150001 Patentee after: HARBIN NORTH RICE TECHNOLOGY CO.,LTD. Address before: 150028, Heilongjiang province hi tech Industrial Development Zone, Harbin hi tech Industrial Development Zone, innovation and entrepreneurship Plaza, building 14, 236 bright moon street, torch e-commerce building, room 509-24 Patentee before: Harbin rice embryo Technology Co.,Ltd. |
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| 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: 20150401 |