CN206455666U - Steering gear control system and robot - Google Patents
Steering gear control system and robot Download PDFInfo
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- CN206455666U CN206455666U CN201621202448.2U CN201621202448U CN206455666U CN 206455666 U CN206455666 U CN 206455666U CN 201621202448 U CN201621202448 U CN 201621202448U CN 206455666 U CN206455666 U CN 206455666U
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Abstract
The utility model discloses a kind of steering gear control system and robot.Steering gear control system includes：Main control module；Communication module, including the first communication interface, the second communication interface and controlling switch unit, the first communication terminal and the second communication terminal of controlling switch unit are corresponding with the first communication interface and the second communication interface to be connected, and the first enable port and the second enable port of controlling switch unit are corresponding with two Enable Pins of main control module to be connected；Main control module receives identifier or identifier and action command information from upper level steering wheel by the first enable port, the first communication terminal and the first communication interface, and the identifier or identifier and action command information of next stage steering wheel are transmitted by the second enable port, the second communication terminal and the second communication interface.By the way that with upper type, the utility model can give steering wheel distribution identifier when steering wheel is initialized, it is to avoid steering wheel identifier is fixed and causes assembling inconvenience.
Description
Technical field
The utility model is related to automatic control technology field, more particularly to a kind of steering gear control system and robot.
Background technology
With the development of science and technology robot technology has obtained greatly developing, it has little by little come into the day of people
Often in life.Robot generally includes some steering wheels, and steering wheel is the significant components of robot, controls robot to perform various fortune
Dynamic and operation.
Existing, the id information of each steering wheel of robot is fixed, i.e., after steering wheel id information is set, and the position of steering wheel is also solid
Fixed, such as the order of shoulder/leg steering wheel group can not arbitrarily connect after dismounting, be made troubles to assembling.In the steering wheel of correlation technique
In control system, the id information of steering wheel is reallocated after steering wheel is re-assemblied by communication interface, is generally led to using two
Communication interface is connected by electronic switching circuit with controller simultaneously, but the input of electronic switching circuit connects described two simultaneously
Individual communication interface, causes controller can not judge which communication interface for input, and which communication interface is output end, so that nothing
Method gives steering wheel normal allocation corresponding id information.
Utility model content
The utility model embodiment provides a kind of steering gear control system and robot, can be given when steering wheel is initialized
Steering wheel distributes identifier, it is to avoid steering wheel identifier is fixed and causes assembling inconvenience.
The utility model provides a kind of steering gear control system, and applied to a steering wheel, steering gear control system includes：Master control mould
Block, including two Enable Pins；And communication module, including the first communication interface, the second communication interface and controlling switch unit, control
Switch element processed includes the first communication terminal, the second communication terminal, the first enable port, the second enable port, the first communication terminal and the
Two communication terminals are corresponding with the first communication interface and the second communication interface to be connected, the first enable port and the second enable port and master control
Two Enable Pins correspondence of module is connected；Wherein, main control module is connect by the first enable port, the first communication terminal and the first communication
Mouth receives identifier or identifier and action command information from the upper level steering wheel being connected with steering wheel, and makes by second
Can the identifier of a next stage steering wheel that is connected with steering wheel of port, the second communication terminal and the transmission of the second communication interface or identifier and
Action command information.
Wherein, the first communication interface and the second communication interface are level detection port, and main control module detects first and led to
When communication interface is high level, output first enables signal to the first enable port, and controlling switch unit passes through the first communication interface
Communicated with upper level steering wheel, transmit corresponding identifier or identifier and action command information to main control module；Main control module is examined
When measuring the second communication interface for high level, output second enables signal to the second enable port, and controlling switch unit passes through the
Two communication interfaces are communicated with next stage steering wheel, and corresponding identifier or identifier and action command information are transmitted to next stage rudder
Machine.
Wherein, steering gear control system also includes power module and the electric power detection module being connected with main control module, power supply mould
Block is used to provide power supply for steering wheel, and electric power detection module is used for the electricity for gathering a battery inside steering wheel.
Wherein, steering gear control system also includes the angle acquisition module being connected with main control module, and angle acquisition module is used for
The angle information of steering wheel rotation is obtained, main control module further controls the motion of steering wheel according to angle information.
Wherein, steering gear control system also includes a drive module, is connected with main control module, and drive module is used to receive master control
The control signal of module transfer simultaneously exports the motor that a drive pulse signal is arranged in steering wheel to drive according to control signal
Rotation.
Wherein, control signal includes angle control signal, speed control signal and enables signal.
Wherein, steering gear control system also include an at least filter circuit, an at least filter circuit be connected to drive module with
Between motor, and for being filtered processing to drive pulse signal.
Wherein, drive module is also to the current working current for detecting motor, and feeds back the current of motor to main control module
Operating current, makes main control module adjust the waveform of drive pulse signal according to the current working current of motor.
Wherein, steering gear control system also includes temperature collect module, is connected with main control module, and for gathering the temperature of motor
Degree, if the temperature of the motor collected is more than a predetermined threshold value, master control module controls motor stops the rotation, or reduction motor
The speed of rotation.
The utility model provides a kind of robot, including central processing unit, multiple first order for being connected with central processing unit
Steering wheel and other grade of steering wheel being sequentially connected with first order steering wheel, each steering wheel include foregoing steering gear control system.
By such scheme, the beneficial effects of the utility model are：In steering gear control system of the present utility model, mould is communicated
Block includes the first communication interface, the second communication interface and controlling switch unit, and main control module passes through the first enable port, first
Communication terminal and the first communication interface receive identifier or identifier and action from the upper level steering wheel being connected with steering wheel
Command information, and be connected with steering wheel one next is transmitted by the second enable port, the second communication terminal and the second communication interface
The identifier or identifier and action command information of level steering wheel；Steering wheel distribution identifier can be given when steering wheel is initialized, it is to avoid
Steering wheel identifier is fixed and causes assembling inconvenience.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.Wherein：
Fig. 1 is the block diagram of the steering gear control system of the utility model first embodiment；
Fig. 2 is the circuit diagram of the communication module of the utility model embodiment；
Fig. 3 is the block diagram of the steering gear control system of the utility model second embodiment；
Fig. 4 is the circuit diagram of the power module of the utility model embodiment；
Fig. 5 is the circuit diagram of the filter circuit of the utility model embodiment；
Fig. 6 is the circuit diagram of the temperature detecting module of the utility model embodiment；
Fig. 7 is the block diagram of the robot of the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than it is all real
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of performing creative labour is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Referring to Fig. 1 and Fig. 2, Fig. 1 is the block diagram of the steering gear control system of the utility model first embodiment, Fig. 2
It is the circuit diagram of the communication module of the utility model embodiment.Steering gear control system 10 is applied to a steering wheel 50, the steering wheel
Control system 10 includes main control module 11 and communication module 12.Main control module 11 includes two Enable Pins.Communication module 12 includes
First communication interface 120, the second communication interface 121 and controlling switch unit 122.Controlling switch unit 122 includes first and led to
Interrogate end COM1, the second communication terminal COM2, the first enable port EN_SW1, the second enable port EN_SW2, the first communication terminal COM1
And second communication terminal COM2 and the first communication interface 120 and the second communication interface 121 is corresponding is connected, the first enable port EN_SW1
And second enable port EN_SW2 it is corresponding with two Enable Pins of main control module 11 be connected.Main control module 11 passes through the first Enable Pin
Mouth EN_SW1, the first communication terminal COM1 and the first communication interface 120 receive the knowledge from the upper level steering wheel being connected with steering wheel
Alias or identifier and action command information, and communicated by the second enable port EN_SW2, the second communication terminal COM2 and second
Interface 121 transmits the identifier or identifier and action command information for the next stage steering wheel being connected with steering wheel.
The first end 1 of first communication interface 120 and the second communication interface 121 is transmitted respectively through fuse FB1 and FB2 to be known
Alias or identifier and action command information.The first end 1 of first communication interface 120 and the second communication interface 121 is also led to respectively
Cross the first diode D1 and the second diode D2 ground connection.Second end 2 of the first communication interface 120 and the second communication interface 121 is passed through
Cross the power supply that fuse FB3 meets 8.4V, fuse is passed through at the 3rd end 3 of the first communication interface 120 and the second communication interface 121
FB4 is grounded.First communication interface 120 and the second communication interface 121 are level detection port.Main control module 11 detects first
Communication terminal COM1 is high level, i.e. the first communication interface 120 when being high level, and output first enables signal to the first enable port
EN_SW1, controlling switch unit 122 is communicated by the first communication interface 120 with upper level steering wheel, transmit corresponding identifier or
Identifier and action command information are to main control module 11.Main control module 11 detects the second communication terminal COM2 for high level, i.e., and the
When two communication interfaces 121 are high level, output second enables signal to the second enable port EN_SW2, controlling switch unit 122
Communicated by the second communication interface 121 and next stage steering wheel, corresponding identifier or identifier and action command information are transmitted
To next stage steering wheel.In the present embodiment, the identification code is to represent the unique sequence code that a certain steering wheel is different from other steering wheels.
In the utility model embodiment, more specifically, the first end of the first communication terminal COM1 and the first communication interface 120
Connection, the second communication terminal COM2 is connected with the first end of the second communication interface 121, and the first enable port EN_SW1 and second is enabled
Port EN_SW2 is connected with two Enable Pin (not shown) of main control module 11 respectively.Main control module 11 passes through the first Enable Pin
When EN_SW1 detects the first communication terminal COM1 for high level, output first enables signal to the first enable port EN_SW1, control
Switch element 122 processed is communicated by the first communication interface 120 and upper level steering wheel, transmits corresponding identifier or identifier and drive
Command information is moved to main control module 11.It is height that main control module 11 detects the second communication terminal COM2 by the second Enable Pin EN_SW2
During level, output second enables signal to the second enable port EN_SW2, and controlling switch unit 122 passes through the second communication interface
121 communicate with next stage steering wheel, transmit corresponding identifier or identifier and action command information and transmit to next stage steering wheel.I.e.
Communication module 12 uses half-duplex asynchronous serial communication.
The more specifically operation principle of communication module 12 is as follows：
During this grade of steering wheel initialization, when main control module 11 detects the first communication terminal COM1 for high level, now second leads to
News end COM2 is low level, and output first enables signal to the first enable port EN_SW1, and controlling switch unit 122 passes through first
Communication interface 120 receives the identifier that upper level steering wheel is distributed to this grade of steering wheel, while receiving action command information, and passes through letter
Number line WIRE1 is transmitted to main control module 11.When main control module 11 detects the second communication terminal COM2 for high level, now first leads to
News end COM1 is low level, and output second enables signal to the second enable port EN_SW2, and main control module 11 passes through signal wire
WIRE2 transmission identification numbers to controlling switch unit 122, controlling switch unit 122 is transmitted to next by the second communication interface 121
The corresponding identifier of level steering wheel distribution, while output action command information.Because after dismounting refitting, the order of steering wheel is held very much
Easily change, the steering wheel order for the leg such as installed originally changes, and the present embodiment leads to by the first of controlling switch unit 122
News end COM1 or the second communication terminal COM2 respectively correspond to the communication interface 121 of the first communication interface 120 or second communicate with
Transmission identification number or identifier and action command information.I.e. in the present embodiment, it is logical by first in this grade of steering wheel initialization
The communication terminal COM1 of communication interface 120 and first receives the identifier that upper level steering wheel distributes to this grade of steering wheel, and passes through the second communication
End COM2 and the second communication interface 121 transmit to next stage steering wheel distribute identifier, and then realize give each steering wheel distribution phase
The identifier answered.In this way, main control module 11 can the first communication interface of automatic identification 120 be input port and the second communication interface
121 be output port, so as to complete being sequentially allocated for the identifier in all steering wheel initialization procedures, it is to avoid the knowledge of steering wheel
Alias is fixed and causes assembling inconvenience.
After the initialization for completing this grade of steering wheel, in the normal work of this grade of steering wheel, this grade of steering wheel is connect by the first communication
Mouthfuls 120 and the first communication terminal COM1 of controlling switch unit 122 is communicated with upper level steering wheel, and transmit corresponding identifier with
Action command information；Pass through the second communication terminal COM2 and next stage steering wheel of the second communication interface 121 and controlling switch unit 122
Communicated, and transmit corresponding identifier and action command information, so that corresponding steering wheel performs corresponding action command.This level
The work of steering wheel influences each other with upper level steering wheel or next stage steering wheel.Certainly in the utility model other embodiment, normally
During work, action command information can also be only transmitted between this grade of steering wheel and upper level steering wheel or next stage steering wheel, the action refers to
Make the identifier of carrying is connected with this level steering wheel in information upper level steering wheel or next stage steering wheel.
Fig. 3 is referred to, steering gear control system 10 also includes the power module 13 and electric power detection being connected with main control module 11
Module 14.Power module 13 is used to provide power supply for this grade of steering wheel.Electric power detection module 14 is used to gather a battery inside steering wheel
Electricity.As shown in figure 4, power module 13 include the first low pressure difference linear voltage regulator 131, the first electric capacity C1, the second electric capacity C2,
3rd electric capacity C3, the 4th electric capacity C4, the 5th electric capacity C5, the 6th electric capacity C6 and the second low pressure difference linear voltage regulator 132.First electricity
Hold C1 and the second electric capacity C2 to be connected in parallel between first voltage end P_12.6V and ground, wherein, first voltage end P_12.6V provides base
Quasi- supply voltage 12.6V.Reference power supply 12.6V is converted into 5V the first power supply electricity by the first low pressure difference linear voltage regulator 131
Pressure, the 3rd electric capacity C3 and the 4th electric capacity C4 be connected in parallel between second voltage end P_5V and ground, and 5V the first supply voltage passes through the
Two low pressure difference linear voltage regulators 132 are converted into 3.3V second source voltage, and the 5th electric capacity C5 and the 6th electric capacity C6 are connected in parallel on
Between three voltage end P_3.3V and ground, wherein, second voltage end P_5V exports 5V second source voltage, tertiary voltage end P_
3.3V exports 3.3V second source voltage.Power module 13 passes through the first low pressure difference linear voltage regulator 131 and the second low voltage difference
The output of linear voltage regulator 132 5V the first supply voltage and 3.3V second source voltage, so as to provide stable for this grade of steering wheel
Reliable supply voltage.
In the utility model embodiment, with continued reference to Fig. 3, steering gear control system 10 also includes being connected with main control module 11
Angle acquisition module 15.Angle acquisition module 15 is used for the angle information for obtaining steering wheel rotation, the further root of main control module 11
The motion of steering wheel is controlled according to angle information.Angle acquisition module 15 can obtain steering wheel rotation using potentiometer or magnetic coding chip
The angle information turned.The motor anglec of rotation in steering wheel is specifically obtained, to determine that motor is rotating forward or reversion.
In the utility model embodiment, steering gear control system 10 also includes drive module 16 and an at least filter circuit
17, drive module 16 is connected with main control module 11, and filter circuit 17 is connected between drive module 16 and motor.Drive module 16
It is arranged on for receiving the control signal of the transmission of main control module 11 and exporting a drive pulse signal according to control signal with driving
Motor rotation in steering wheel.Wherein, control signal includes angle control signal, speed control signal and enables signal.Tool
Body, drive module 16 is according to angle control signal, speed control signal and enables signal output two-way drive pulse signal,
It is transmitted separately to the two ends of motor.Filter circuit 17 is used to be filtered drive pulse signal processing.Drive module 16 is also used
To detect the current working current of motor, and to the current working current of the feedback motor of main control module 11, make main control module 11
The waveform of drive pulse signal is adjusted according to electric current.
Two-way drive pulse signal OUT1 and OUT2 that filter circuit 17 is exported referring to Fig. 5, drive module 16, wherein, drive
Moving pulse signal OUT1 is connected to the M- ends of motor by fuse FB5, and drive pulse signal OUT2 is connected by fuse FB6
At the M+ ends of motor.7th electric capacity C7 is connected in parallel on the two ends of motor, and drive pulse signal OUT1 is also grounded by the 8th electric capacity C8,
Drive pulse signal OUT2 is also grounded by the 9th electric capacity C9.
With further reference to Fig. 3, steering gear control system 10 also includes temperature collect module 18, is connected with main control module 11, uses
In the temperature of collection motor.If the temperature of the motor collected is more than a predetermined threshold value, the controlled motor of main control module 11 stops
Rotation, or the speed that reduction motor rotates.Wherein, predetermined threshold value can be arranged as required to, and this is not restricted.Referring to Fig. 6,
Temperature collect module 18 includes first resistor R1, second resistance R2,3rd resistor R3, the 7th electric capacity C7 and the 8th electric capacity C8.
3rd resistor R3 one end is grounded, and the other end is connected by first resistor R1 with output terminals A IN, and the 3rd resistor R3 other end is also passed through
Cross second resistance R2 and meet tertiary voltage end P_3.3V.Output terminals A IN is connected with main control module 11, and the 7th electric capacity C7 is connected in parallel on output
Hold between AIN and ground, the 8th electric capacity C8 is connected in parallel on 3rd resistor R3 two ends.In the present embodiment, 3rd resistor R3 is subzero temperature
Spend coefficient resistance, its resistance varies with temperature, partial pressure carried out with second resistance R2, then by first resistor R1 export to
Main control module 11.
The utility model also provides a kind of robot.As shown in fig. 7, robot 20 includes central processing unit 21 and center
Multiple first order steering wheels 22 of the connection of processor 21 and other grade of steering wheel 23 being sequentially connected with first order steering wheel 22, each rudder
Machine 22,23 includes a steering gear control system respectively.And the steering gear control system includes foregoing steering gear control system 10, that is, bag
All elements of previously described steering gear control system 10, and corresponding annexation have been included, will not be repeated here.
In the utility model embodiment, any level steering wheel at most with a upper level steering wheel and/or a next stage rudder
Machine is connected.In the steering gear control system of first order steering wheel 22, main control module 11 is connect by the first communication in communication module 12
Mouth 120 is communicated with central processing unit 21, and the identifier that central processing unit 21 is distributed is received when the first order steering wheel 22 is initialized,
If next stage steering wheel, then also transmit what is distributed to next stage steering wheel by the second communication interface 121 in communication module 120
Identifier.Specifically, central processing unit 21 is transmitted to next stage steering wheel by the second communication interface 121 in communication module 120
The identifier of distribution, or transmit the identifier that the first order steering wheel 22 is distributed to next stage steering wheel.In the rudder of final stage steering wheel
In machine control system, main control module 11 is only communicated by the first communication interface 120 in communication module 12 with upper level steering wheel, just
The identifier of upper level steering wheel distribution is received during beginningization.In the intergrade steering wheel between first order steering wheel and final stage steering wheel
In, main control module 11 communicates to connect in initialization by the first communication interface 120 in communication module 12 and upper level steering wheel
Receive the identifier of upper level steering wheel distribution；Main control module 11 also by the second communication interface 121 in communication module 12 with it is next
Level steering wheel communicates to transmit the identifier distributed to next stage steering wheel in initialization.In this way, can be initialized in robot 20, i.e.,
The identifier of each steering wheel is distributed during each steering wheel initialization, steering wheel can be avoided to cause assembling inconvenience because identifier is fixed.
The first communication interface 120 and the second communication interface 121 in various embodiments above, communication module 12 can be mutual
Change, i.e., main control module 11 can also be communicated by the first communication interface 120 in communication module 12 and next stage steering wheel, by the
Two communication interfaces 121 are communicated with upper level steering wheel, and this is not restricted.
In summary, in steering gear control system of the present utility model, communication module 12 be used for different from this grade of steering wheel
Other grades of steering wheels are communicated to receive or distribute identifier and transmit action command information；When steering wheel is initialized, master control mould
Block 11 recognizes one of them of two communication interfaces for input interface to receive and set the identification of this grade of steering wheel by communication module
Number, and another be output interface to transmit corresponding identifier to next stage steering wheel, and according to identifier and action command information
Output control signal is to control the motion of this grade of steering wheel；Thus, it is possible to give steering wheel distribution corresponding identification when steering wheel is initialized
Number, it is to avoid steering wheel identifier is fixed and causes assembling inconvenience.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of steering gear control system, applied to a steering wheel, it is characterised in that the steering gear control system includes：
Main control module, including two Enable Pins；And
Communication module, including the first communication interface, the second communication interface and controlling switch unit, controlling switch unit include the
One communication terminal, the second communication terminal, the first enable port, the second enable port, first communication terminal and the second communication terminal and institute
State the first communication interface and the second communication interface correspondence is connected, first enable port and the second enable port and main control module
Two Enable Pins correspondence be connected；Wherein,
The main control module is received by first enable port, the first communication terminal and the first communication interface and come from and the rudder
The identifier or identifier and action command information of the connected upper level steering wheel of machine, and led to by the second enable port, second
The identifier or identifier and action command for the next stage steering wheel that news end and the transmission of the second communication interface are connected with the steering wheel
Information.
2. steering gear control system according to claim 1, it is characterised in that first communication interface and described second lead to
Communication interface is level detection port, when the main control module detects first communication interface for high level, output first
Signal is enabled to first enable port, the controlling switch unit passes through first communication interface and the upper level rudder
Machine is communicated, and transmits corresponding identifier or identifier and action command information to the main control module；
When the main control module detects second communication interface for high level, the enable signal of output second to described second makes
Energy port, the controlling switch unit is communicated by second communication interface and the next stage steering wheel, by corresponding identification
Number or identifier and action command information transmit to the next stage steering wheel.
3. steering gear control system according to claim 1, it is characterised in that the steering gear control system also include with it is described
The connected power module of main control module and electric power detection module, the power module are used to provide power supply for the steering wheel, described
Electric power detection module is used for the electricity for gathering a battery inside steering wheel.
4. steering gear control system according to claim 1, it is characterised in that the steering gear control system also include with it is described
The connected angle acquisition module of main control module, the angle acquisition module is used for the angle information for obtaining the steering wheel rotation, institute
State the motion that main control module further controls the steering wheel according to the angle information.
5. steering gear control system according to claim 4, it is characterised in that the steering gear control system also includes a driving
Module, is connected with the main control module, and the drive module is used for the control signal and basis for receiving the main control module transmission
The control signal exports the motor rotation that a drive pulse signal is arranged in the steering wheel to drive.
6. steering gear control system according to claim 5, it is characterised in that the control signal includes angle and controls letter
Number, speed control signal and enable signal.
7. steering gear control system according to claim 5, it is characterised in that the steering gear control system also includes at least one
Filter circuit, an at least filter circuit is connected between the drive module and the motor, and for the driving
Pulse signal is filtered processing.
8. steering gear control system according to claim 5, it is characterised in that the drive module is also to detect the electricity
The current working current of machine, and to the current working current of the main control module feedback motor, make the main control module root
The waveform of the drive pulse signal is adjusted according to the current working current of the motor.
9. steering gear control system according to claim 5, it is characterised in that the steering gear control system is also adopted including temperature
Collect module, be connected with the main control module, and for gathering the temperature of the motor, if the temperature of the motor collected is more than
One predetermined threshold value, then motor described in the master control module controls stops the rotation, or the speed that the reduction motor rotates.
10. a kind of robot, it is characterised in that the robot includes central processing unit, be connected with the central processing unit
Multiple first order steering wheels and other grade of steering wheel being sequentially connected with the first order steering wheel, each steering wheel are included such as respectively
Any described steering gear control systems of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621202448.2U CN206455666U (en) | 2016-10-28 | 2016-10-28 | Steering gear control system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621202448.2U CN206455666U (en) | 2016-10-28 | 2016-10-28 | Steering gear control system and robot |
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| CN206455666U true CN206455666U (en) | 2017-09-01 |
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ID=59690997
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| CN201621202448.2U Active CN206455666U (en) | 2016-10-28 | 2016-10-28 | Steering gear control system and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817720A (en) * | 2017-10-24 | 2018-03-20 | 深圳市创客工场科技有限公司 | A kind of steering gear control system and method |
| CN108021076A (en) * | 2018-01-24 | 2018-05-11 | 华馨晶贸易（深圳）有限公司 | A kind of serial distributed module communication and control system and method |
| CN110587590A (en) * | 2019-08-06 | 2019-12-20 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
-
2016
- 2016-10-28 CN CN201621202448.2U patent/CN206455666U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817720A (en) * | 2017-10-24 | 2018-03-20 | 深圳市创客工场科技有限公司 | A kind of steering gear control system and method |
| CN107817720B (en) * | 2017-10-24 | 2019-10-25 | 深圳市创客工场科技有限公司 | A kind of steering gear control system and method |
| CN108021076A (en) * | 2018-01-24 | 2018-05-11 | 华馨晶贸易（深圳）有限公司 | A kind of serial distributed module communication and control system and method |
| CN110587590A (en) * | 2019-08-06 | 2019-12-20 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
| CN110587590B (en) * | 2019-08-06 | 2021-04-09 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
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