CN209566129U - A kind of more coordination controllers of robot - Google Patents

Abstract

The utility model discloses a kind of more coordination controllers of robot, it includes touch screen, kernel control module, power driver module and robot motor's group.Touch screen is connected with kernel control module, and robot motion control information is transferred to kernel control module.Kernel control module is connected with power driver module, controls power driver module driving signal.Power control module is connected with robot motor's group, driving robot motor's rotation.The control that the utility model cooperates for the more motors of robot, the characteristic exported using programmable gate array multichannel precision, realize the accurate sequential export of hundreds of road robot motor driving signals, it can be used for driving hundreds of robot motors, solve the problems, such as robot mostly movement, multifreedom controlling and robot cluster Collaborative Control.

Description

A kind of more coordination controllers of robot

Technical field

The utility model relates to robot control fields, act for robot, multivariant precise flange more And the cooperative motion control of the robot cluster of multiple robots compositions.

Background technique

Robot is a kind of with automatic control operation and locomotive function, the machine that can complete various operations, and artificial Under intelligent historical background, robot plays increasingly important role in every field as execution unit.Robot is in work For automobile assembling, exterior trim spray painting, intermetallic composite coating and packaging joint sealing etc. in industry field, in military field for the explosive removal of mines, Night investigation and rocket bomb transmitting etc., for cleaning ground, transporting cargo and amusement etc. of chatting in housekeeping service field.

In recent years, robot using more and more abundant, the movement of robot also becomes increasingly complex.Robot motion's answers Miscellaneous degree depends on the freedom degree of robot, and the freedom degree of robot corresponds to its motor number that can independently rotate, so, machine The control of people's compound movement is substantially the accurate control to robot motor's group.But it is continuous with robot complexity It is promoted and the appearance of robot cluster, the number of motors for needing to control sharply increases, the accuracy of each motor rotation is also mentioned Higher requirement is gone out.

Utility model content

The purpose of this utility model is that a kind of robot for providing for prior art deficiency and practical application request is more Coordination controller, the control which cooperates for the more motors of robot are more using programmable gate array The characteristic of road precision output, realizes the accurate sequential export of hundreds of road robot motor driving signals, can be used for driving up to a hundred A robot motor makes the linkage of robot cluster execution, solves machine so that robot be made to complete complicated movement The problem of people mostly movement, multifreedom controlling and robot cluster Collaborative Control.

Technical scheme of realizing the purpose of the utility model is that

A kind of more coordination controllers of robot, the controller include touch screen, kernel control module, power drive mould Block and robot motor's group, the kernel control module are connect with power driver module, touch screen respectively, and power driver module drives Mobile robot motor group.Touch screen is connect with kernel control module, and the configuration information that user is arranged on the touchscreen is transmitted to Kernel control module, kernel control module output a control signal to power driver module to control the output of power driver module letter Number, the output signal driving robot motor of power driver module organizes rotation.

The kernel control module include touch screen interface module, fpga chip, the first power module, FLASH memory, Clock module, reseting module and jtag interface.Touch screen interface module is connect with touch screen A, fpga chip, touch screen interface mould Block includes rgb interface and IIC interface, and on the one hand rgb interface control that fpga chip passes through touch screen interface module touches screen display Show human-computer interaction interface, on the other hand the operation from the IIC interface captures user of touch screen interface module on the touchscreen, and turns It is changed to the configuration information of robot current action.First power module and touch screen interface module, fpga chip and FLASH store Device connection, fpga chip are connect with FLASH memory, clock module, reseting module and jtag interface.Clock module is FPGA core Piece provides working frequency, and reseting module ensure that fpga chip original operating state is normal.First power module is used to touch Shield interface module, fpga chip and FLASH memory power supply.FLASH memory be used to power on after to the hardware of fpga chip Processing logic is configured, and jtag interface is for being downloaded the hardware processing logic in FLASH memory.

The configuration information specifically includes the rotation time point for each motor of robot that the controller is controlled, rotation Duration, rotational frequency and rotational angle etc..By the operation of user on the touchscreen, the hardware handles in fpga chip are patrolled Collect the configuration information for obtaining active user depending on the user's operation.

The hardware processing logic includes touch screen control logic, configuration information conversion logic and power driving circuit Control logic.After the power-up, touch screen control logic controls touch screen by the rgb interface of touch screen interface module and shows user Interactive interface, after user operates on the touchscreen, hardware processing logic is used by the IIC interface of touch screen interface module The coordinate information of family pressing operation on the touchscreen.Then configuration information conversion logic combines the coordinate information and screen to show Human-computer interaction interface obtains the operation of active user, to obtain the configuration information of user.Then, configuration information conversion logic is again By configuration information by calculate be converted to per the frequency of power driving circuit output signal all the way, phase, duty ratio and it is lasting when Between equal time sequence parameters information.Finally, when power driving circuit control logic generates control according to the time sequence parameter information after conversion Sequential signal, for controlling the output drive signal per power driving circuit all the way.Hardware processing logic is deposited in FLASH chip Storage, and work in fpga chip, hardware processing logic is configured to by fpga chip by FLASH memory after the power-up In.

The power driver module includes several power driving circuits, and a power driving circuit includes photoelectrical coupler mould Block, half-bridge drive circuit module, NMOS tube one, NMOS tube two and second power supply module.Photoelectric coupler module and half-bridge driven Circuit module be connected, half-bridge drive circuit module is connected with NMOS tube one, NMOS tube two, second power supply module respectively with photoelectricity coupling Clutch module, half-bridge drive circuit module and NMOS tube one, NMOS tube two are connected.Photoelectric coupler module receives core and controls mould + 3.3V precision control the signal of block output is simultaneously converted to the control signal of+10V and is output to half-bridge drive circuit module, for pair The different kernel control module of control voltage is isolated with power driver module.Half-bridge drive circuit module is for driving first The NMOS half-bridge circuit structure that NMOS tube, the second NMOS tube are constituted, the output drive signal company of the first NMOS tube, the second NMOS tube It is connected to robot motor and organizes progress motor driven.Second power supply module is for supplying each module inside power driver module Electricity.

The utility model uses core processing device of a piece of fpga chip as core processing module, gives full play to The numerous feature of the advantage and output pin of FPGA timing control precision, so that the precision of output drive signal is high, when response Between it is low, while the number of output drive signal is more, can control hundreds of motors while rotating, to realize multiple degrees of freedom machine The control of people's compound action and the control of robot cluster linkage action.

Detailed description of the invention

Fig. 1 is the block diagram of the utility model；

Fig. 2 is the core processing module structural block diagram of the utility model；

Fig. 3 is the single channel driving circuit structure block diagram of the power driver module of the utility model；

Fig. 4 is the power driver module single channel driver circuit schematic diagram of the utility model；

Fig. 5 is utility model works flow chart.

Specific embodiment

Refering to fig. 1, the utility model includes touch screen A, kernel control module 1, power driver module 2 and robot B electricity Unit, the kernel control module 1 are connect with power driver module 2 and touch screen A respectively, power driver module 2 and robot B The connection of motor group.

Referring to Fig.2, the kernel control module 1 includes touch screen interface module 11, fpga chip 12, the first power module 13, FLASH memory 14, clock module 15, reseting module 16 and jtag interface 17.Touch screen interface module 11 and fpga chip 12 connections, the first power module 13 are connect with touch screen interface module 11, fpga chip 12 and FLASH memory 14, FPGA core Piece 12 is connect with FLASH memory 14, clock module 15, reseting module 16 and jtag interface 17.Core processing device FPGA core The model XC7A100T-1FFG484C that piece 12 uses, possesses hundreds of user's pins, can be used for driving power drive module 2 In hundreds of road half-bridge drive circuits.Touch screen A is made of rgb interface LED screen and the capacitance touch external screen of IIC interface, is touched Screen interface module 11 is connected to the RGB earphone hole and IIC interface of touch screen A simultaneously.The chip model that FLASH memory 14 uses For N25Q128A13ESE40, for storing the hardware processing logic of fpga chip.

Refering to Fig. 3, the power driver module 2 includes several power driving circuits, each power driving circuit includes Photoelectric coupler module 21, half-bridge drive circuit module 22, the first NMOS tube 23, the second NMOS tube 25 and second power supply module 24.Photoelectric coupler module 21 is connected with half-bridge drive circuit module 22, half-bridge drive circuit module 22 and the first NMOS tube 23, Second NMOS tube 25 is connected, second power supply module 24 and photoelectric coupler module 21, half-bridge drive circuit module 22, the first NMOS Pipe 23 and the second NMOS tube 25 are connected.

Refering to Fig. 4, the photoelectric coupler module 21 of each power driving circuit includes two model ACPL- 345 photoelectrical coupler；Half-bridge drive circuit module 22 includes the half-bridge driven chip of a model IR2101；First The model IRLL024 of NMOS tube 23, the second NMOS tube 25.Two 12 pins of fpga chip are connected to two photoelectricity couplings respectively 3 feet of clutch ACPL-345 ,+3.3V driving signal of two photoelectrical couplers respectively by the output of two 12 pins of fpga chip turn It is changed to the driving signal of+10V, is connected to 2 feet and 3 feet of half-bridge driven chip by 5 feet of photoelectrical coupler respectively.Half-bridge drives Dynamic chip I R2101 controls the first NMOS tube, the second NMOS tube in its 5 foot and the output of 7 feet according to the+10V driving signal of input Driving signal, 6 feet in power driver module 2 per half-bridge drive circuit all the way by half-bridge driven chip IR2101 export control The driving signal of motor rotation.The drain electrode of first NMOS tube is connected to motor driven voltage+Vmotor, the source electrode of the first NMOS tube It is connected with 6 feet of the drain electrode of the second NMOS tube, half-bridge driven chip IR2101, the source electrode of the second NMOS tube is connected to ground.Resistance R1 and R2 is connected between+3.3V and 1 foot of photoelectrical coupler ACPL-345, is played current limliting to the pin of fpga chip 12 and is made With.Resistance R3 and R4 are connected between+10V and 5 feet of photoelectrical coupler ACPL-345, play pull-up resistor in optocoupler output Effect.Capacitor C2 and C3 are connected between 6 feet of photoelectrical coupler ACPL-345 and ground, and capacitor C4 is connected in half-bridge driven Between 1 foot and ground of chip I R2101, play the role of power supply decoupling.The 1 of diode D1 connection half-bridge driven chip IR2101 Between foot and 6 feet, between 6 feet and 8 feet of capacitor C5 connection half-bridge driven chip IR2101, diode D1 and capacitor C5 are constituted certainly Lift circuit.Between 5 feet of resistance R6 connection half-bridge driven chip IR2101 and the grid of the second NMOS tube, resistance R7 connection half-bridge Between 7 feet of driving chip IR2101 and the grid of the first NMOS tube, for reducing the overshoot of NMOS tube gate drive signal.

Refering to fig. 1, by taking the control of robot compound action as an example, the touch screen control interface 11 of the utility model, which connects, to be touched Shield A, by robot B action control information that user configures on touch screen A from being transmitted to kernel control module 1.Core control After module 1 powers on, FLASH memory 14 configures fpga chip 12.And jtag interface 17 is for downloading and updating FLASH Hardware processing logic in memory 14, FLASH memory 14 configures updated hardware processing logic after re-powering To fpga chip 12.The delivery outlet of power driver module 2 is connected to each motor of robot B by connecting line, to drive The motor of robot B is rotated, and robot B makes corresponding actions.

The utility model works in this way:

Refering to Fig. 5, modules are connected first, in accordance with Fig. 1, Fig. 2 and Fig. 3.This controller output end connects machine People's B motor group.The motor of robot B is connected to the output of this controller, according to the type of robot B motor group, uses this The two-way power driving circuit output end of controller is connected to the robot motor driven using full-bridge, uses the one of this controller Road power driving circuit output end is connected to the robot motor using half-bridge driven.

Then kernel control module 1 and power drive mould are given respectively with second power supply module 24 by the first power module 13 Block 2 is powered.If needing to first pass through jtag interface 17 will be at hardware without write-in hardware processing logic in FLASH memory 14 Reason logic downloads in FLASH memory 14, and FLASH memory 14 will store hardware processing logic, and after power down not It can lose.After re-powering, the hardware processing logic that FLASH memory 14 is directly stored is configured to fpga chip 12 In.Hardware processing logic is configured to fpga chip 12 until FLASH memory 14 after power supply, the starting step of this controller is just It completes.

After the starting of this controller, the hardware processing logic of the fpga chip 12 of core processing module 1 is connect by touch screen Mouth mold block 11 shows human-computer interaction interface on touch screen A, and user can configure machine by the human-computer interaction interface of touch screen A The movement of people.

When user completes with postponing, the touch screen control logic of the hardware processing logic of fpga chip 12 is connect by touch screen Mouth mold block 11 obtains the robot B movement configuration information that user is arranged on the touchscreen, including when each motor rotation of robot Between point, rotation duration, rotational frequency and rotational angle etc..Then, the hardware processing logic of fpga chip 12 match confidence Configuration information is converted to per the frequency of power driving circuit output signal, phase, duty ratio all the way and is held again by breath conversion logic The time sequence parameters information such as continuous time.Finally, the power driving circuit control logic of the hardware processing logic of fpga chip 12 according to Time sequence parameter information after conversion generates control sequential signal, for controlling the output driving letter per power driving circuit all the way Number, make to generate corresponding rotation per the motor of the robot B of the connection of driving circuit all the way.

The robot compound action of user configuration is decomposed into per function all the way by the hardware processing logic of fpga chip 12 The a series of control sequential signal of rate drive module, each motor of robot is successively correspondingly rotated, to realize machine The control of device people's compound action.

Claims (1)

1. a kind of more coordination controllers of robot, which is characterized in that it includes touch screen A, kernel control module (1), function Rate drive module (2) and robot B motor group, the kernel control module (1) respectively with power driver module (2), touch screen A Connection, power driver module (2) are connect with robot B motor group；Wherein,

The kernel control module (1) include touch screen interface module (11), fpga chip (12), the first power module (13), FLASH memory (14), clock module (15), reseting module (16) and jtag interface (17), the touch screen interface module (11) connect with fpga chip (12), the first power module (13) and touch screen interface module (11), fpga chip (12) and FLASH memory (14) connection, fpga chip (12) and FLASH memory (14), clock module (15), reseting module (16) and Jtag interface (17) connection；

The power driver module (2) includes several power driving circuits, each power driving circuit includes photoelectrical coupler Module (21), half-bridge drive circuit module (22), the first NMOS tube (23), the second NMOS tube (25) and second power supply module (24), the photoelectric coupler module (21) is connected with half-bridge drive circuit module (22), half-bridge drive circuit module (22) with First NMOS tube (23), the second NMOS tube (25) are connected, second power supply module (24) respectively with photoelectric coupler module (21), half Bridge drive circuit module (22), the first NMOS tube (23) and the second NMOS tube (25) are connected.