CN208084387U - A kind of steering engine error reporting system, steering engine assembly and intelligent robot - Google Patents
A kind of steering engine error reporting system, steering engine assembly and intelligent robot Download PDFInfo
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- CN208084387U CN208084387U CN201820448593.1U CN201820448593U CN208084387U CN 208084387 U CN208084387 U CN 208084387U CN 201820448593 U CN201820448593 U CN 201820448593U CN 208084387 U CN208084387 U CN 208084387U
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- steering engine
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Abstract
The utility model discloses a kind of steering engine error reporting systems,Steering engine assembly and intelligent robot,The steering engine error reporting system includes central processing module,Alarm unit and multiple helm gears,One end interface of central processing module connects the steering engine processor and and detection unit of helm gear by system bus,Another end interface of central processing module connects the alarm processor of alarm unit by data line,Central processing module is instructed by system bus to the steering engine processor sending action of connected helm gear,The detection unit detection steering engine processor of helm gear is converted into normal/failure code with/without the execution action command and by testing result and is transferred to central processing module by system bus,The failure code that central processing module receives the detection unit transmission of connected helm gear then judges that helm gear breaks down,Then alarm signal is sent to alarm unit,Alarm unit receives the alarm signal of central processing module and start warning device by data line sends out alarm.
Description
Technical field
The utility model is related to intelligent robot steering engine technical fields, and in particular to a kind of steering engine error reporting system further relates to
A kind of steering engine assembly and device with the steering engine error reporting system have the intelligent robot of this steering engine assembly.
Background technology
With the development of modern science and technology, set electromechanics, sensor, the technologies such as computer in one with swing, sounding,
The humanoid deformable intelligent robot product for adjusting movement is rapidly developed.In intelligent robot product, steering engine
As important component, intelligent robot is controlled, realizes the steering of intelligent robot and all kinds of joint motions.Steering engine and its control mould
Block is the important research and development field of intelligent robot product.
The Chinese utility model patent of Patent No. ZL201020545509.1 discloses a kind of steering engine for unmanned plane, including electricity
Machine, gear set, steering engine output shaft and potentiometer, the motor are minisize dc servo motor, and gear set is level Four reduction gearing
Group has one section of taper surface on the upper axis pole face of steering engine output shaft, and the final-stage gear centre bore of gear set is also taper surface, two cones
Shape face matches, and steering engine output shaft is connected with final-stage gear by spring-piece type clutch pack, final reduction gear and output
Axis transmits torque by the frictional force between the taper surface；Motor and potentiometer are connect with an IC control circuit board.IC
Control circuit board controls the rotation of motor, is rotated by gear set drive output shaft.The utility model is compact-sized, small,
Light-weight, output torque is big, and has the function of Real-time Feedback and self-protection function, safe and reliable to operation.
Although steering engine in the prior art can reduce spoilage in failure with self-protection, cannot be by failure code
It is uploaded to master controller, cannot timely be alarmed and stop motion, the damage of robot other component is be easy to cause, be easy to cause
Security risk.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of steering engine error reporting system, additionally provides to have and be somebody's turn to do
The steering engine assembly and device of steering engine error reporting system have the intelligent robot of this steering engine assembly.The steering engine of the utility model reports an error
What system can not only realize traditional steering engine encounters failure self-shield to reduce the function of spoilage, but also can be by failure generation
Code is uploaded to master controller and alarm and stop motion, avoids the damage of robot other component, eliminates safe hidden trouble.
To achieve the goals above, the utility model adopts the following technical solution.
The utility model discloses a kind of steering engine error reporting system, it includes system bus and at least one helm gear, it
Further include power supply unit, central processing module and alarm unit, the central processing module has at least two end interfaces, the report
Alert unit is provided with alarm processor and warning device, the helm gear include steering engine processor and with steering engine processor phase
The detection unit of connection；
One end interface of the central processing module by system bus connect the helm gear steering engine processor and
And detection unit, another end interface of the central processing module connect the alarm processor of alarm unit by data line；
The central processing module is instructed by system bus to the steering engine processor sending action of connected helm gear, rudder
The detection unit detection steering engine processor of machine device is converted into normal/failure with/without the execution action command and by testing result
Code is transferred to central processing module by system bus；
The failure code that the central processing module receives the detection unit transmission of connected helm gear then judges steering engine
Device breaks down, and then sends alarm signal to the alarm unit；
The alarm unit receives the alarm signal of the central processing module by data line and starts warning device hair
Go out alarm.
Preferably, the power supply unit connects central processing module, and the power supply unit is used to be central processing module
And each helm gear being connect with central processing module provides power supply.
In any of the above-described technical solution preferably, the power supply unit uses rechargeable battery.
In any of the above-described technical solution preferably, the central processing module is integrated with data communication equipment.
In any of the above-described technical solution preferably, the steering engine processor is integrated with steering engine communication module.
In any of the above-described technical solution preferably, the central processing module connects steering engine by system bus and handles
Device and with detection unit, the action command that the central processing module generates is sent to by the data communication equipment that module integrates
Steering engine processor, the action command that central processing module is sent out instruct for digital signal, and data communication equipment believes the number
Number instruction morphing steering engine communication module instructed for electronic signal and steering engine processor is sent to by system bus, steering engine are logical
Letter module is instructed for digital signal the electronic signal received is instruction morphing and is sent to steering engine processor.
In any of the above-described technical solution preferably, the action command includes the steering engine solution for unlocking helm gear
Lock instruction completes the steering engine movement instruction of joint action for controlling steering engine and stops the steering engine of joint action for controlling steering engine
Halt instruction.
In any of the above-described technical solution preferably, the central processing module connects steering engine by system bus and handles
Device and and detection unit, the detection unit is by the steering engine processor detected with/without executing action command and by testing result
Be converted into normal/failure code and be transmitted to central processing module, normal/failure code that detection unit is transmitted out be number just
Often/failure code, steering engine processor by its steering engine communication module by the number it is normal/failure code be converted into electronics it is normal/
Failure code, and data communication equipment is transmitted to by system bus, data communication equipment by the electronics received it is normal/failure
Code is converted into digital normal/failure code and is sent to central processing module.
In any of the above-described technical solution preferably, the normal/failure code includes that normal generation is completed in steering engine action
Code signal and steering engine action do not complete fault code signal.
In any of the above-described technical solution preferably, the central processing module is also connected with alarm processor, institute
State alarm processor connection warning device；When central processing module receives the failure of the detection unit transmission of connected helm gear
Code then judges that helm gear breaks down, and alarm processor receives the alarm signal of the central processing module by data line
And warning device is started by alarm processor and sends out alarm.
In any of the above-described technical solution preferably, the system bus line is bidirectional bus, more by Transistor-Transistor Logic level
Layer connection type connects multiple helm gears, realizes that central processing module instructs and/or more to multiple helm gear sending actions
A helm gear transmits the bidirectional information processing of normal/failure code to central processing module.
In any of the above-described technical solution preferably, the helm gear is detachable helm gear.
In any of the above-described technical solution preferably, multiple helm gears connect central processing mould by system bus
Block, central processing module connect the steering engine processor and detection unit of each helm gear；When any helm gear goes out in system
Existing failure, the failure code that central processing module receives the detection unit transmission of connected helm gear then judge that helm gear goes out
Existing failure, alarm processor are received the alarm signal of central processing module and are started by alarm processor and alarmed by data line
Device sends out alarm.
The invention also discloses a kind of steering engine assembly, which connects with robot body, operation control system
It connects, which includes any one of them steering engine error reporting system as above.
The invention also discloses a kind of intelligent robot, which has steering engine assembly, the intelligent machine
Device people's device has the steering engine assembly as described above with steering engine error reporting system.
Compared with prior art, the above-mentioned technical proposal of the utility model can not only realize traditional steering engine encounter failure from
Failure code can be uploaded to master controller and alarm and stop transporting by protection to reduce the function of spoilage
It is dynamic, the damage of robot other component is avoided, is eliminated safe hidden trouble.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the system structure diagram according to a preferred embodiment of the steering engine error reporting system of the utility model；
Fig. 2 is the course of work schematic diagram according to the embodiment illustrated in fig. 1 of the steering engine error reporting system of the utility model.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1
Existing in theprior art, the utility model embodiment proposition one is detected in order to overcome the problems, such as that steering engine action executes
Kind steering engine error reporting system, can not only realize traditional steering engine encounters failure self-shield to reduce the function of spoilage, but also
Failure code can be uploaded to master controller and alarm and stop motion, avoid the damage of robot other component, eliminated
Security risk.
As shown in Figure 1, the steering engine error reporting system of the present embodiment include central processing module, alarm unit, system bus and
One helm gear.There are central processing module two end interfaces, alarm unit to be provided with alarm processor and warning device, steering engine
Device includes steering engine processor and the detection unit that is connected with steering engine processor.One end interface of central processing module passes through
System bus connection helm gear steering engine processor and and detection unit, another end interface of central processing module pass through data
Line connects the alarm processor of alarm unit.Central processing module is by system bus to the steering engine processor of connected helm gear
Sending action instructs, and the detection unit of helm gear detection steering engine processor is with/without executing the action command and by testing result
It is converted into normal/failure code and central processing module is transferred to by system bus.Central processing module receives connected steering engine
The failure code of the detection unit transmission of device then judges that helm gear breaks down, and then sends alarm signal to alarm unit
Number.Alarm unit receives the alarm signal of central processing module and start warning device by data line sends out alarm.
The steering engine error reporting system of the present embodiment further includes power supply unit, and power supply unit connects central processing module, power supply list
Each helm gear of the member for being connect for central processing module and with central processing module provides power supply.
The steering engine error reporting system of the present embodiment, power supply unit use rechargeable battery.
The steering engine error reporting system of the present embodiment, central processing module are integrated with data communication equipment, and data communication equipment is adopted
With TTL communication devices.
The steering engine error reporting system of the present embodiment, steering engine processor are integrated with steering engine communication module, and steering engine communication module uses
TTL communication modules.
In conjunction with Fig. 1, Fig. 2, illustrate the system principle and the course of work of the present embodiment：
When steering engine error reporting system works, power supply unit starts, and system enters working condition.
Central processing module by system bus connect steering engine processor and and detection unit, central processing module generate
Action command is sent to steering engine processor by the data communication equipment that module integrates, and the action that central processing module is sent out refers to
It is that digital signal instructs to enable, and data communication equipment is instructed for electronic signal the digital signal is instruction morphing and passes through system bus
It is sent to the steering engine communication module of steering engine processor, steering engine communication module is instruction morphing for number by the electronic signal received
Signal instruction is simultaneously sent to steering engine processor.Action command includes for unlocking the steering engine unlock instruction of helm gear, for controlling
Steering engine processed completes the steering engine movement instruction of joint action and stops the steering engine halt instruction of joint action for controlling steering engine.
Central processing module connects steering engine processor by system bus and will be detected with detection unit, detection unit
Steering engine processor is converted into normal/failure code with/without execution action command and by testing result and is transmitted to central processing module,
Normal/failure code that detection unit is transmitted out is digital normal/failure code, and steering engine processor passes through its steering engine communication module
By the number it is normal/failure code be converted into electronics it is normal/failure code, and data communication dress is transmitted to by system bus
Set, data communication equipment by the electronics received it is normal/failure code is converted into digital normal/failure code and is sent to center
Processing module.Normally/failure code includes that normal code signal and the unfinished failure code letter of steering engine action are completed in steering engine action
Number.
Central processing module is also connected with alarm processor, and alarm processor connects warning device；When central processing mould
The failure code that block receives the detection unit transmission of connected helm gear then judges that helm gear breaks down, alarm processor
It receives the alarm signal of central processing module by data line and warning device is started by alarm processor and send out alarm.
In addition, the steering engine error reporting system of the present embodiment, helm gear is detachable helm gear.With prior art phase
Than, the present embodiment steering engine error reporting system can not only realize traditional steering engine encounter failure self-shield to reduce the work(of spoilage
Can, but also failure code can be uploaded to master controller and alarm and stop motion, avoid robot other component
Damage, eliminates safe hidden trouble.The steering engine assembly of the device steering engine error reporting system of the present embodiment can prolong the service life, into one
Step, the intelligent robot of this steering engine assembly of device improves product service life.
Embodiment 2
Include that power supply unit, central processing module, alarm unit, system are total the present embodiment provides a kind of steering engine error reporting system
Line and multiple helm gears.There are central processing module two end interfaces, alarm unit to be provided with alarm processor and warning device,
Each helm gear includes steering engine processor and the detection unit that is connected with steering engine processor.In power supply unit connection
Processing module, each helm gear of the power supply unit for being connect for central processing module and with central processing module is entreated to provide electricity
Source.Central processing module is integrated with data communication equipment, and data communication equipment uses TTL communication devices.Steering engine processor is integrated
There are steering engine communication module, steering engine communication module to use TTL communication modules.One end interface of central processing module passes through system bus
It connects the steering engine processor of each helm gear and is connected by data line with detection unit, another end interface of central processing module
The alarm processor of unit taking alarm.Central processing module is sent by system bus to the steering engine processor of connected helm gear
The detection unit detection steering engine processor of action command, helm gear with/without the execution action command and converts testing result
Central processing module is transferred to by system bus for normal/failure code.Central processing module receives connected helm gear
Detection unit transmission failure code then judge helm gear break down, then to alarm unit send alarm signal.Report
Alert unit receives the alarm signal of central processing module and start warning device by data line sends out alarm.
The steering engine error reporting system of the present embodiment, system bus line are bidirectional bus, pass through Transistor-Transistor Logic level multilayer connection side
Formula connects multiple helm gears, realizes that central processing module is instructed to multiple helm gear sending actions and/or multiple steering engines fill
Set the bidirectional information processing that normal/failure code is transmitted to central processing module.
When steering engine error reporting system works, power supply unit starts, and system enters working condition.
Central processing module by system bus connect steering engine processor and and detection unit, central processing module generate
Action command is sent to steering engine processor by the data communication equipment that module integrates, and the action that central processing module is sent out refers to
It is that digital signal instructs to enable, and data communication equipment is instructed for electronic signal the digital signal is instruction morphing and passes through system bus
It is sent to the steering engine communication module of steering engine processor, steering engine communication module is instruction morphing for number by the electronic signal received
Signal instruction is simultaneously sent to steering engine processor.Action command includes for unlocking the steering engine unlock instruction of helm gear, for controlling
Steering engine processed completes the steering engine movement instruction of joint action and stops the steering engine halt instruction of joint action for controlling steering engine.
Central processing module connects steering engine processor by system bus and will be detected with detection unit, detection unit
Steering engine processor is converted into normal/failure code with/without execution action command and by testing result and is transmitted to central processing module,
Normal/failure code that detection unit is transmitted out is digital normal/failure code, and steering engine processor passes through its steering engine communication module
By the number it is normal/failure code be converted into electronics it is normal/failure code, and data communication dress is transmitted to by system bus
Set, data communication equipment by the electronics received it is normal/failure code is converted into digital normal/failure code and is sent to center
Processing module.Normally/failure code includes that normal code signal and the unfinished failure code letter of steering engine action are completed in steering engine action
Number.
Central processing module is also connected with alarm processor, and alarm processor connects warning device；When central processing mould
The failure code that block receives the detection unit transmission of connected helm gear then judges that helm gear breaks down, alarm processor
It receives the alarm signal of central processing module by data line and warning device is started by alarm processor and send out alarm.It is multiple
Helm gear connects central processing module by system bus, and central processing module connects the steering engine processor of each helm gear
And detection unit；When any helm gear breaks down in system, central processing module receives the detection of connected helm gear
The failure code of unit transmission then judges that helm gear breaks down, and alarm processor receives central processing module by data line
Alarm signal and by alarm processor start warning device send out alarm.
The above is only that preferred embodiments of the present invention are described, and is not the model to the utility model
It encloses and is defined；The foregoing is merely specific embodiment of the present utility model, it is not used to limit the utility model
Protection domain；Under the premise of not departing from the spirit of the design of the utility model, this field ordinary engineering and technical personnel is new to this practicality
Any modification, equivalent substitution, improvement and etc. that the technical solution of type is made, the claims that should all fall into the utility model determine
Protection domain in.
Claims (13)
1. a kind of steering engine error reporting system, including system bus and at least one helm gear, it is characterised in that：
The steering engine error reporting system further includes power supply unit, central processing module and alarm unit, the central processing module tool
There are at least two end interfaces, the alarm unit to be provided with alarm processor and warning device, the helm gear includes at steering engine
Reason device and the detection unit being connected with steering engine processor；
One end interface of the central processing module connects steering engine processor and and the inspection of the helm gear by system bus
Unit is surveyed, another end interface of the central processing module connects the alarm processor of alarm unit by data line；In described
Processing module is entreated to be instructed to the steering engine processor sending action of connected helm gear by system bus, the detection list of helm gear
Member detection steering engine processor is total by system with/without executing the action command and converting testing result to normal/failure code
Line is transferred to central processing module；The central processing module receives the failure generation of the detection unit transmission of connected helm gear
Code then judges that helm gear breaks down, and then sends alarm signal to the alarm unit；The alarm unit passes through data
Line, which receives the alarm signal of the central processing module and starts warning device, sends out alarm.
2. steering engine error reporting system as described in claim 1, it is characterised in that：The power supply unit connects central processing module,
Each helm gear of the power supply unit for being connect for central processing module and with central processing module provides power supply.
3. steering engine error reporting system as claimed in claim 2, it is characterised in that：The power supply unit uses rechargeable battery.
4. steering engine error reporting system as described in claim 1, it is characterised in that：The central processing module is integrated with data communication
Device.
5. steering engine error reporting system as described in claim 1, it is characterised in that：The steering engine processor is integrated with steering engine communication mould
Block.
6. steering engine error reporting system as claimed in claim 4, it is characterised in that：The central processing module is connected by system bus
It connects steering engine processor and is communicated by the data that module integrates with detection unit, the action command that the central processing module generates
Device is sent to steering engine processor, and the action command that central processing module is sent out instructs for digital signal, data communication equipment
The instruction morphing steering engine for being instructed for electronic signal and being sent to steering engine processor by system bus of the digital signal is communicated
Module, steering engine communication module are instructed for digital signal the electronic signal received is instruction morphing and is sent to steering engine processor；
The action command includes the steering engine that joint action is completed for unlocking the steering engine unlock instruction of helm gear, for controlling steering engine
Movement instruction and the steering engine halt instruction for stopping joint action for controlling steering engine.
7. steering engine error reporting system as claimed in claim 4, it is characterised in that：The central processing module is connected by system bus
Connect steering engine processor and and detection unit, the detection unit by the steering engine processor detected with/without execute action command simultaneously
It converts testing result to normal/failure code and is transmitted to central processing module, normal/failure code that detection unit is transmitted out
For digital normal/failure code, steering engine processor by its steering engine communication module by the number normally/failure code is converted into electricity
Sub normal/failure code, and data communication equipment is transmitted to by system bus, data communication equipment by the electronics received just
Often/failure code is converted into digital normal/failure code and is sent to central processing module；Described normal/failure code includes
Normal code signal is completed in steering engine action and steering engine action does not complete fault code signal.
8. steering engine error reporting system as described in claim 1, it is characterised in that：The central processing module also with alarm processor
It is connected, the alarm processor connects warning device；When central processing module receives the detection unit of connected helm gear
The failure code of transmission then judges that helm gear breaks down, and alarm processor receives the central processing module by data line
Alarm signal and by alarm processor start warning device send out alarm.
9. steering engine error reporting system as described in claim 1, it is characterised in that：The system bus line is bidirectional bus, is led to
It crosses Transistor-Transistor Logic level multilayer connection type and connects multiple helm gears, realize central processing module to multiple helm gear sending actions
Instruction and/or multiple helm gears transmit the bidirectional information processing of normal/failure code to central processing module.
10. steering engine error reporting system as described in claim 1, it is characterised in that：The helm gear fills for detachable steering engine
It sets.
11. steering engine error reporting system as described in claim 1, it is characterised in that：Multiple helm gears are connected by system bus
Central processing module, central processing module connect the steering engine processor and detection unit of each helm gear；When any in system
Helm gear breaks down, and the failure code that central processing module receives the detection unit transmission of connected helm gear then judges
Helm gear breaks down, and alarm processor receives the alarm signal of central processing module by data line and passes through alert process
Device starts warning device and sends out alarm.
12. a kind of steering engine assembly, the steering engine assembly is connect with operation control system, it is characterised in that：The steering engine assembly packet
Include the steering engine error reporting system as described in any one of claim 1 to 11.
13. a kind of intelligent robot, device has steering engine assembly, it is characterised in that：The intelligent robot is wanted just like right
Seek the steering engine assembly described in 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820448593.1U CN208084387U (en) | 2018-03-27 | 2018-03-27 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820448593.1U CN208084387U (en) | 2018-03-27 | 2018-03-27 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
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| Publication Number | Publication Date |
|---|---|
| CN208084387U true CN208084387U (en) | 2018-11-13 |
Family
ID=64057287
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820448593.1U Active CN208084387U (en) | 2018-03-27 | 2018-03-27 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
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| CN (1) | CN208084387U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312182A (en) * | 2018-03-27 | 2018-07-24 | 森汉智能科技（深圳）有限公司 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
| CN112536817A (en) * | 2019-09-23 | 2021-03-23 | 深圳市优必选科技股份有限公司 | Steering engine fault processing method and device and terminal equipment |
-
2018
- 2018-03-27 CN CN201820448593.1U patent/CN208084387U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312182A (en) * | 2018-03-27 | 2018-07-24 | 森汉智能科技（深圳）有限公司 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
| CN112536817A (en) * | 2019-09-23 | 2021-03-23 | 深圳市优必选科技股份有限公司 | Steering engine fault processing method and device and terminal equipment |
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| CP03 | Change of name, title or address |
Address after: 518000 Xunmei Science and Technology Plaza, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Lesen Robot (Shenzhen) Co., Ltd. Address before: 518000 Guangdong, Shenzhen, Nanshan District, Keyuan Avenue, Xun Mei science and Technology Plaza, 3 3, 302 Patentee before: Senhan Intelligent Technology (Shenzhen) Co., Ltd. |
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