CN204287982U - A kind of built-in miniature programmable robot cradle head controllor - Google Patents
A kind of built-in miniature programmable robot cradle head controllor Download PDFInfo
- Publication number
- CN204287982U CN204287982U CN201420821935.1U CN201420821935U CN204287982U CN 204287982 U CN204287982 U CN 204287982U CN 201420821935 U CN201420821935 U CN 201420821935U CN 204287982 U CN204287982 U CN 204287982U
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- cloud terrace
- microcontroller
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- cradle head
- head controllor
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- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Abstract
The utility model discloses a kind of built-in miniature programmable robot cradle head controllor, comprise the microcontroller, The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and the The Cloud Terrace torque sensor that are packaged into integrative-structure; Described The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and The Cloud Terrace torque sensor gather the speed parameter of The Cloud Terrace, acceleration parameter and moment parameter respectively, and are sent to microcontroller; Described microcontroller is provided with DLL (dynamic link library).The utility model have employed collection, control, drives mode integrally, modules is integrated in a circuit board, greatly reduces the volume of cradle head controllor, be convenient to controller to be built in The Cloud Terrace, reduce the volume and weight of The Cloud Terrace simultaneously.
Description
Technical field
The utility model relates to a kind of cradle head controllor, particularly relates to a kind of built-in miniature programmable robot cradle head controllor.
Background technology
The device that The Cloud Terrace is installation, fixed cameras carries out horizontal and vertical directions rotation, for carrying out scanning monitoring on a large scale, expanding the monitoring range of video camera, being widely used in supervisory system.
Along with machine man-based development, The Cloud Terrace is more and more applied to robot system, and some special machine people requires more and more higher to the weight of The Cloud Terrace, volume and motion control, and traditional The Cloud Terrace exists following problem:
(1) traditional The Cloud Terrace is too large due to controller size, and result in The Cloud Terrace volume general all comparatively large, quality is too heavy, cannot meet the demand of robot lightness;
(2) traditional heads controller has fixing agreement to realize The Cloud Terrace action, cannot change the Motion of The Cloud Terrace according to the needs of developer;
(3) traditional heads controller generally only has motion control up and down, cannot the accurate variable such as control rate, acceleration and moment, also cannot feedback load state parameter.
Utility model content
For solving the problem, the utility model provides a kind of built-in miniature programmable robot cradle head controllor.
The utility model takes following concrete scheme:
A kind of built-in miniature programmable robot cradle head controllor, comprises the microcontroller, The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and the The Cloud Terrace torque sensor that are packaged into integrative-structure; Described The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and The Cloud Terrace torque sensor gather the speed parameter of The Cloud Terrace, acceleration parameter and moment parameter respectively, and are sent to microcontroller; Described microcontroller is provided with DLL (dynamic link library).
Microcontroller also connects one drive circuit, is used for driving The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor.
The output shaft afterbody of described The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor is all provided with scrambler, and it detects horizontal stage electric machine rotating speed and exports microcontroller to.
The output shaft afterbody of described The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor is all also provided with mechanical stop limiter, and it is for judging the The Cloud Terrace anglec of rotation, produces level skip signal and is sent to microcontroller.
Described microcontroller is also provided with bus interface, for robot communication.
The beneficial effects of the utility model:
(1) have employed collection, control, drive mode integrally, modules is integrated in a circuit board, greatly reduces the volume of cradle head controllor, be convenient to controller to be built in The Cloud Terrace, reduce the volume and weight of The Cloud Terrace simultaneously;
(2) controller is integrated with The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer, The Cloud Terrace torque sensor and scrambler multiple sensors, can read the parameter such as speed, angle, moment of The Cloud Terrace easily, be convenient to the perception of robot to The Cloud Terrace state;
(3) cradle head controllor internal processes can be rewritten easily by DLL (dynamic link library), be convenient to the cloud platform control system needed for customized development;
(4) robot can be communicated more convenient interchange by bus interface and The Cloud Terrace.
Accompanying drawing explanation
Fig. 1 is the utility model control system schematic diagram.
Wherein, 11, The Cloud Terrace speed pickup; 12, The Cloud Terrace degree of adding sensor; 13, The Cloud Terrace torque sensor; 14, scrambler; 15, mechanical stop limiter; 21, driving circuit; 22, The Cloud Terrace horizontal motor; 23, The Cloud Terrace pitching motor; 24, DLL (dynamic link library); 25, RS485 bus interface; 30, microcontroller.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in Figure 1, a kind of built-in miniature programmable robot cradle head controllor, comprises the microcontroller 30, The Cloud Terrace speed pickup 11, The Cloud Terrace acceleration transducer 12 and the The Cloud Terrace torque sensor 13 that are packaged into integrative-structure.
Wherein, microcontroller 30 is main control units of this built-in miniature programmable robot cradle head controllor, and the signal be responsible for scrambler 14 and mechanical stop limiter 15 export gathers and arranges and calculates the angle of The Cloud Terrace level, pitch freedom.
Described The Cloud Terrace speed pickup 11, The Cloud Terrace acceleration transducer 12 and The Cloud Terrace torque sensor 13 are used for detecting the speed parameter of The Cloud Terrace, acceleration parameter and moment parameter respectively, and microcontroller 30 gathers these parameters to judge the running status that The Cloud Terrace is current.
Described microcontroller 30 modulating output pin is connected with the input end of driving circuit 21, the output terminal of driving circuit 21 is connected with The Cloud Terrace pitching motor 23 respectively with The Cloud Terrace horizontal motor 22, driving circuit 21 judges to need the size of current to The Cloud Terrace horizontal motor 22 by the analog voltage size collecting microcontroller 30 output respectively, and the speed of control The Cloud Terrace horizontal motor 22 realizes the driving to The Cloud Terrace horizontal motor 22; Equally, driving circuit 21 judges to need the size of current to The Cloud Terrace pitching motor 23 by the analog voltage size collecting microcontroller 30 output respectively, and the speed of control The Cloud Terrace pitching motor 23 realizes the driving to The Cloud Terrace pitching motor 23; Final realization is to the motion control of The Cloud Terrace.
The output shaft afterbody of described The Cloud Terrace horizontal motor 22 and The Cloud Terrace pitching motor 23 is all provided with scrambler 14, and export RS422 code device signal by grating, this signal is connected to microcontroller 30 and gathers pin, is convenient to microcontroller 30 capturing and coding device signal.
The output shaft of described The Cloud Terrace horizontal motor 22 and The Cloud Terrace pitching motor 23 is also provided with mechanical stop limiter 15, when the The Cloud Terrace anglec of rotation arrives mechanical stop limiter 15, mechanical stop limiter 15 produces a level skip signal and is sent to microcontroller 30, and microcontroller 30 gathers this level skip signal to judge the angle at The Cloud Terrace output shaft place.
Described microcontroller 30 is also provided with DLL (dynamic link library) 24 and connects the RS485 bus interface 25 of The Cloud Terrace; Wherein, DLL (dynamic link library) 24 can realize the download program to microcontroller 30; Microcontroller 30 is communicated with robot by RS485 bus interface 25.
Built-in miniature programmable robot cradle head controllor specific implementation process of the present utility model is:
After powering on, The Cloud Terrace finds the zero-bit of level and pitching two degree of freedom by mechanical stop limiter 15, microcontroller 30 judges by the information of capturing and coding device 14 angle that The Cloud Terrace two degree of freedom are residing at present, and microcontroller 30 judges the motion state that The Cloud Terrace is current and loading condition by the signal gathering The Cloud Terrace speed pickup 11, The Cloud Terrace degree of adding sensor 12 and The Cloud Terrace torque sensor 13;
Microcontroller 30 is also communicated by RS485 bus interface 25 with robot, to the parameters information that robot feedback cloud stand is current, receive the control signal from robot simultaneously, this control signal is converted into the control signal to driving circuit 21 by microcontroller 30, and driving circuit 21 controls The Cloud Terrace horizontal motor 22 and The Cloud Terrace pitching motor 23 according to this control signal.
In addition, when developer needs to arrange the action of The Cloud Terrace, can will compile successful download program to microcontroller 30 at host computer by DLL (dynamic link library) 24, thus realize controlling the custom programming of The Cloud Terrace.
Claims (5)
1. a built-in miniature programmable robot cradle head controllor, is characterized in that, comprises the microcontroller, The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and the The Cloud Terrace torque sensor that are packaged into integrative-structure; Described The Cloud Terrace speed pickup, The Cloud Terrace acceleration transducer and The Cloud Terrace torque sensor gather the speed parameter of The Cloud Terrace, acceleration parameter and moment parameter respectively, and are sent to microcontroller; Described microcontroller is provided with DLL (dynamic link library).
2. a kind of built-in miniature programmable robot cradle head controllor as claimed in claim 1, it is characterized in that, microcontroller also connects one drive circuit, is used for driving The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor.
3. a kind of built-in miniature programmable robot cradle head controllor as claimed in claim 2, it is characterized in that, the output shaft afterbody of described The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor is all provided with scrambler, and it detects horizontal stage electric machine rotating speed and exports microcontroller to.
4. a kind of built-in miniature programmable robot cradle head controllor as claimed in claim 2, it is characterized in that, the output shaft afterbody of described The Cloud Terrace horizontal motor and The Cloud Terrace pitching motor is all also provided with mechanical stop limiter, it is for judging the The Cloud Terrace anglec of rotation, produces level skip signal and is sent to microcontroller.
5. a kind of built-in miniature programmable robot cradle head controllor as claimed in claim 1, is characterized in that, described microcontroller is also provided with bus interface, for robot communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420821935.1U CN204287982U (en) | 2014-12-22 | 2014-12-22 | A kind of built-in miniature programmable robot cradle head controllor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420821935.1U CN204287982U (en) | 2014-12-22 | 2014-12-22 | A kind of built-in miniature programmable robot cradle head controllor |
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| Publication Number | Publication Date |
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| CN204287982U true CN204287982U (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420821935.1U Active CN204287982U (en) | 2014-12-22 | 2014-12-22 | A kind of built-in miniature programmable robot cradle head controllor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110799422A (en) * | 2018-07-23 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
-
2014
- 2014-12-22 CN CN201420821935.1U patent/CN204287982U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110799422A (en) * | 2018-07-23 | 2020-02-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201102 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |