CN204314723U - A kind of intelligent wheel chair robot control system - Google Patents
A kind of intelligent wheel chair robot control system Download PDFInfo
- Publication number
- CN204314723U CN204314723U CN201420872317.XU CN201420872317U CN204314723U CN 204314723 U CN204314723 U CN 204314723U CN 201420872317 U CN201420872317 U CN 201420872317U CN 204314723 U CN204314723 U CN 204314723U
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- China
- Prior art keywords
- scrambler
- motor
- drive motor
- sensor
- sides
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Abstract
The utility model discloses a kind of intelligent wheel chair robot control system, main contents are: described piston is arranged in clamping cylinder inner bore, piston is provided with two O-ring seals in left and right with clamping cylinder inner bore contact position, rack piston bar is fixedly mounted in piston inner hole, spring housing is on rack piston bar and be positioned on the left of piston, withstand in clamping cylinder cap groove floor on the left of spring, its right-hand member withstands on piston left side, clamping cylinder cap is fixedly mounted on clamping cylinder body left side by screw, rack piston bar left end external tooth engages with upper and lower both sides stem gear, upper and lower both sides stem gear is arranged on housing, upper and lower both sides stem gear engages separately with upper and lower both sides sector gear respectively, upper and lower both sides sector gear is all arranged on housing by bearing pin, upper and lower both sides finger is fixedly mounted on the sector gear of upper and lower both sides by screw.The utility model structure is simple, and cost is low, highly versatile and handling safety is reliable, is applicable to various occasion and various environment.
Description
Technical field
The utility model relates to technical field of robot control, particularly relates to a kind of intelligent wheel chair robot control system.
Background technology
Early stage due to technical limitation, analog controller uses in a large number in wheel chair robot control system comparatively early, and it is mainly added by discrete component, and a small amount of integrated circuit forms.As everyone knows, the defect that mimic channel exists is that parameter drift and parameter are inconsistent, and circuit more complicated, debug difficulties, also intelligence not, therefore its reliability and performance index all undesirable.Special integrated control system wants advanced many compared with mimic channel, which overcome the defect that the mimic channel control system that is made up of discrete component is brought, and the development of electronic fabrication processes thereupon, the entirety of integral control circuit is more and more less, and reliability but improves widely.Therefore it completes the wheel chair robot of specific function under being applicable to have large-scale production, specific environment.But also have shortcoming based on the control system of special IC, that is exactly that its range of application limitation is large, and due to highly integrated, function is also difficult to expand again.
Utility model content
According to above deficiency, the utility model provides that a kind of cost is low, highly versatile and the reliable intelligent wheel chair robot control system of handling safety.
For achieving the above object, the utility model intelligent wheel chair robot control system, main contents are: comprise handle or telepilot, left counter, left scrambler, speed adjustment module, motor driver, left sensor, left drive motor, lifting motor, steer motor, right drive motor, right sensor, display module, right scrambler, overvoltage protective module, right counter, control knob, A/D modular converter, dsp controller and D/A modular converter, is characterized in that, described handle or telepilot are all connected with A/D modular converter with control knob, described left counter, speed adjustment module, overvoltage protective module, right counter is all connected with dsp controller with A/D modular converter, and described left scrambler is connected with left counter, and described left sensor is connected with left scrambler, and described left drive motor is connected with left sensor, described left drive motor, lifting motor, steer motor is all connected with motor driver with right drive motor, described motor driver is connected with D/A modular converter, described D/A modular converter is all connected with dsp controller with display module, described right sensor is connected with right drive motor, described right scrambler is connected with right sensor, and described right counter is connected with right scrambler.
As preferably, described left sensor and left scrambler are all arranged on left drive motor.
As preferably, described right sensor and right scrambler are all arranged on right drive motor.
As preferably, described dsp controller is provided with radio receiving transmitting module and GPS locating module.
As preferably, described steer motor is connected with double trapezoid gear-rack steering mechanism.
The utility model beneficial effect is: structure is simple, and cost is low, highly versatile and handling safety is reliable.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Description of reference numerals:
1-handle or telepilot, the left counter of 2-, the left scrambler of 3-, 4-speed adjustment module; 5-motor driver, the left sensor of 6-, the left drive motor of 7-; 8-lifting motor, 9-steer motor, the right drive motor of 10-; the right sensor of 11-, 12-display module, the right scrambler of 13-; 14-overvoltage protective module, the right counter of 15-, 16-control knob; 17-A/D modular converter, 18-DSP controller, 19-D/A modular converter.
Embodiment
Below in conjunction with drawings and Examples, the utility model embodiment is described:
These system main contents are: comprise handle or telepilot 1, left counter 2, left scrambler 3, speed adjustment module 4, motor driver 5, left sensor 6, left drive motor 7, lifting motor 8, steer motor 9, right drive motor 10, right sensor 11, display module 12, right scrambler 13, overvoltage protective module 14, right counter 15, control knob 16, A/D modular converter 17, dsp controller 18 and D/A modular converter 19, is characterized in that, described handle or telepilot 1 are all connected with A/D modular converter 17 with control knob 16, described left counter 2, speed adjustment module 4, overvoltage protective module 14, right counter 15 is all connected with dsp controller 18 with A/D modular converter 17, and described left scrambler 3 is connected with left counter 2, and described left sensor 6 is connected with left scrambler 3, and described left drive motor 7 is connected with left sensor 6, described left drive motor 7, lifting motor 8, steer motor 9 is all connected with motor driver 5 with right drive motor 10, described motor driver 5 is connected with D/A modular converter 19, described D/A modular converter 19 is all connected with dsp controller 18 with display module 12, described right sensor 11 is connected with right drive motor 10, described right scrambler 13 is connected with right sensor 11, and described right counter 15 is connected with right scrambler 13.
Described control system is primarily of three part compositions: operating rod simulating signal turns signal process part, drive motor controls and monitoring running state part; Wheel chair robot user is synthesized as starting and the speed control curve of braking and the speed of wheelchair drive motor and direction set-point by the simulating signal handled operating rod and produce after the process of joystick signal processing section, this user's set-point be exactly wheel chair robot user to the steering order of servomotor controller, servo drive motor control section comes Synthetic motor drive singal and other control signal by the instruction (i.e. the simulating signal of operating rod change into digital signal) and collection feedback signal receiving user; Electric machines test part passes through the duty of scrambler sum counter monitoring driving motor and controller, and these are used as the synthesis of the control signal of motor and the control signal of other parts by the feedback signal of sensor collection.
By reference to the accompanying drawings the utility model preferred implementation is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from the utility model aim.
Do not depart from design of the present utility model and scope can make many other and change and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (5)
1. an intelligent wheel chair robot control system, comprises handle or telepilot (1), left counter (2), left scrambler (3), speed adjustment module (4), motor driver (5), left sensor (6), left drive motor (7), lifting motor (8), steer motor (9), right drive motor (10), right sensor (11), display module (12), right scrambler (13), overvoltage protective module (14), right counter (15), control knob (16), A/D modular converter (17), dsp controller (18) and D/A modular converter (19), it is characterized in that, described handle or telepilot (1) are all connected with A/D modular converter (17) with control knob (16), described left counter (2), speed adjustment module (4), overvoltage protective module (14), right counter (15) is all connected with dsp controller (18) with A/D modular converter (17), described left scrambler (3) is connected with left counter (2), described left sensor (6) is connected with left scrambler (3), described left drive motor (7) is connected with left sensor (6), described left drive motor (7), lifting motor (8), steer motor (9) is all connected with motor driver (5) with right drive motor (10), described motor driver (5) is connected with D/A modular converter (19), described D/A modular converter (19) is all connected with dsp controller (18) with display module (12), described right sensor (11) is connected with right drive motor (10), described right scrambler (13) is connected with right sensor (11), and described right counter (15) is connected with right scrambler (13).
2. intelligent wheel chair robot control system as claimed in claim 1, is characterized in that: described left sensor (6) and left scrambler (3) are all arranged on left drive motor (7).
3. intelligent wheel chair robot control system as claimed in claim 1, is characterized in that: described right sensor (11) and right scrambler (13) are all arranged on right drive motor (10).
4. intelligent wheel chair robot control system as claimed in claim 1, is characterized in that: described dsp controller (18) is provided with radio receiving transmitting module and GPS locating module.
5. intelligent wheel chair robot control system as claimed in claim 1, is characterized in that: described steer motor (9) is connected with double trapezoid gear-rack steering mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872317.XU CN204314723U (en) | 2014-12-30 | 2014-12-30 | A kind of intelligent wheel chair robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872317.XU CN204314723U (en) | 2014-12-30 | 2014-12-30 | A kind of intelligent wheel chair robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204314723U true CN204314723U (en) | 2015-05-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420872317.XU Expired - Fee Related CN204314723U (en) | 2014-12-30 | 2014-12-30 | A kind of intelligent wheel chair robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204314723U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106064381A (en) * | 2016-07-27 | 2016-11-02 | 重庆峰创科技有限公司 | A kind of industrial robot Servocontrol device |
-
2014
- 2014-12-30 CN CN201420872317.XU patent/CN204314723U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106064381A (en) * | 2016-07-27 | 2016-11-02 | 重庆峰创科技有限公司 | A kind of industrial robot Servocontrol device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150506 Termination date: 20151230 |
|
| EXPY | Termination of patent right or utility model |