CN211615670U - Communication layout structure of electronic skin system - Google Patents
Communication layout structure of electronic skin system Download PDFInfo
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- CN211615670U CN211615670U CN201921265549.8U CN201921265549U CN211615670U CN 211615670 U CN211615670 U CN 211615670U CN 201921265549 U CN201921265549 U CN 201921265549U CN 211615670 U CN211615670 U CN 211615670U
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Abstract
The utility model relates to the technical field of electronic skin, and discloses a communication layout structure of an electronic skin system, which comprises a master controller, a plurality of joint servo controllers and the electronic skin system, wherein the master controller is connected and conducted with the plurality of joint servo controllers, and the electronic skin system is connected and conducted with the master controller through the joint servo controllers; the electronic skin system comprises a skin logic board, a plurality of skin sensors and a plurality of electronic skin membranes, wherein the skin logic board is connected and communicated with the joint servo controller, the plurality of skin sensors are respectively connected and communicated with the skin logic board, and each skin sensor is connected and communicated with the plurality of electronic skin membranes; the master controller inquires information of the joint servo controller and sends a control command, the joint servo controller inquires information of the electronic skin system and feeds the obtained information back to the master controller; the electronic skin system is connected and conducted with the joint servo controller, has a simple structure, and can be conveniently connected or detached.
Description
Technical Field
The patent of the utility model relates to a technical field of electron skin system particularly, relates to the communication layout structure of electron skin system.
Background
A Robot (Robot) is a machine device that automatically executes work, and can accept human commands, run pre-programmed programs, and perform actions according to principles formulated by artificial intelligence techniques. The task of a robot is to assist or replace human work, such as production, construction, or dangerous work, etc.
At present, with the development of scientific technology and high requirements on robots, robots increasingly need to simulate humans with high precision, and therefore, electronic skin systems are also appearing in robots. The electronic skin system can enable the robot to generate touch sense, has simple structure, can be processed into various shapes, is attached to the surface of the robot, and can enable the robot to sense information such as the position, the direction, the hardness and the like of an object.
Referring to fig. 1, the communication layout structure of the electronic skin system includes a master controller 300, an electronic skin system and a plurality of joint servo controllers 200, wherein the electronic skin system and the plurality of joint servo controllers 200 are respectively connected and conducted with the master controller 300 through a field bus; the electronic skin system comprises a plurality of skin sensors 101 and a plurality of electronic skin membranes 102 which are arranged in parallel, each skin sensor 101 corresponds to one of the electronic skin membranes 102, and external objects are sensed through the skin sensors 101 and the electronic skin membranes 102, so that the robot has a touch effect.
In the prior art, the communication layout structure of the electronic skin system has the defects of troublesome wiring and difficulty in randomly disassembling and assembling the electronic skin system.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a communication layout structure of electron skin system aims at solving prior art, and there is the trouble problem of wiring in the communication layout structure of electron skin system.
The utility model discloses a realize like this, the communication layout structure of electron skin system, including master controller, a plurality of joint servo controller and electron skin system, the master controller is connected with a plurality of joint servo controller and is switched on, the electron skin system is connected with the master controller through the joint servo controller and is switched on; the electronic skin system comprises a skin logic board, a plurality of skin sensors and a plurality of electronic skin membranes, wherein the skin logic board is connected and conducted with the joint servo controller, the skin sensors are respectively connected and conducted with the skin logic board, and the skin sensors are connected and conducted with the electronic skin membranes.
Furthermore, the skin logic board is connected and conducted with the joint servo controller through a 485 bus.
Furthermore, the skin sensor is connected and conducted with the skin logic board through an integrated circuit bus.
Furthermore, an analog-to-digital converter is connected between the electronic skin membrane and the skin sensor.
Furthermore, each joint servo controller is connected with and conducts one electronic skin system.
Further, a plurality of joint servo controllers are arranged in parallel.
Further, a plurality of the skin sensors are arranged in parallel.
Further, a plurality of the electronic skin membranes are arranged in parallel.
Furthermore, the skin logic board is provided with a data collector and a data filter, and the data collector is connected and conducted with the data filter.
Further, the electronic skin film is a metal film.
Compared with the prior art, the utility model provides a communication layout structure of electronic skin system, master controller regularly inquire joint servo controller information and send control command, joint servo controller regularly inquires the information of electronic skin system to when main control inquires, feed back the information that obtains to the master controller; the skin sensors are connected and conducted through the skin logic board, and the whole electronic skin system is connected and conducted with the joint servo controller, so that the structure is simple, and the electronic skin system can be conveniently connected with or detached from the robot; in addition, by connecting to the fieldbus via the electronic skin system, the addition of a series of sensors is facilitated without destroying the original procedural system.
Drawings
Fig. 1 is a schematic connection diagram of a communication layout structure of an electronic skin system according to the prior art provided by the present invention;
fig. 2 is a connection diagram of the communication layout structure of the electronic skin system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 2, the preferred embodiment of the present invention is shown.
The communication layout structure of the electronic skin system comprises a master controller 300, a plurality of joint servo controllers 200 and an electronic skin system 10; the master controller 300 is used as a control core of the robot, and controls the operation of the entire robot, data processing and transmission, and the like, and the type of the master controller 300 is different according to different actual requirements. The master controller 300 is connected to and conducted with the plurality of joint servo controllers 200 through the field bus 400, and the electronic skin system 10 is connected to and conducted with the joint servo controllers 200.
The electronic skin system 10 includes a skin logic board 100, a plurality of skin sensors 101, and a plurality of electronic skin membranes 102. The skin logic board 100 is connected and conducted with the joint servo controller 200, the plurality of skin sensors 101 are respectively connected and conducted with the skin logic board 100, and each skin sensor 101 is connected and conducted with the plurality of electronic skin membranes 102.
In the communication layout structure of the electronic skin system 10 provided above, the master controller 300 periodically queries the information of the joint servo controller 200 and sends a control command, the joint servo controller 200 periodically queries the information of the electronic skin system 10, and feeds back the obtained information to the master controller 300 when the master controller queries; the plurality of skin sensors 101 are connected and conducted through the skin logic board 100, and the whole electronic skin system 10 is connected and conducted with the joint servo controller 200, so that the structure is simple, and the electronic skin system 10 can be very conveniently connected or detached with the robot; in addition, by connecting to the fieldbus via the electronic skin system 10, the addition of a series of sensors is facilitated without destroying the original procedural system.
By using the hierarchical architecture, the electronic skin system 10 can be very easily embedded into an original robot or mechanical arm control system by accessing to an interface of an original field bus 400 of the robot on the basis of not changing the original system architecture, and the application of the electronic skin system 10 on a mechanical arm can be more conveniently and reliably realized.
In this embodiment, the skin logic board 100 is connected and conducted with the joint servo controller 200 through a 485 bus, and the skin sensor 101 is connected and conducted with the skin logic board 100 through an integrated circuit bus.
An analog-to-digital converter is connected between the electronic skin membrane 102 and the skin sensor 101, so that the analog-to-digital converter can convert the data collected by the electronic skin membrane 102.
In this embodiment, each joint servo controller 200 is connected to conduct one electronic skin system 10.
A plurality of joint servo controllers 200 are arranged in parallel; a plurality of skin sensors 101 are arranged in parallel; a plurality of the e-skin membranes 102 are arranged in parallel.
The skin logic board 100 has a data collector and a data filter, and the data collector is connected to the data filter, so that the skin logic board 100 collects data of the skin sensor 101 through the data collector and performs filtering processing through the data filter.
The e-skin membrane 102 is a copper membrane attached to the surface of the arm. Of course, other various types of metal films can be adopted according to actual needs, and the specific needs can be determined according to actual needs. In this embodiment, the master controller 300 is connected to six joint servo controllers 200, and each joint servo controller 200 is connected to the electronic skin system 10. Wherein, each skin sensor 101 is connected and conducted with four electronic skin membranes 102.
The connection and conduction mentioned in this embodiment refers to connection through a wire or the like to realize electrical signal conduction, which are common technical means in the prior art, and therefore, detailed description is not repeated in this embodiment.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The communication layout structure of the electronic skin system is characterized by comprising a master controller, a plurality of joint servo controllers and the electronic skin system, wherein the master controller is connected and conducted with the plurality of joint servo controllers, and the electronic skin system is connected and conducted with the master controller through the joint servo controllers; the electronic skin system comprises a skin logic board, a plurality of skin sensors and a plurality of electronic skin membranes, wherein the skin logic board is connected and conducted with the joint servo controller, the skin sensors are respectively connected and conducted with the skin logic board, and the skin sensors are connected and conducted with the electronic skin membranes.
2. The communication layout structure of electronic skin system according to claim 1, wherein the skin logic board is connected to and conducted with the joint servo controller through 485 bus.
3. The communication topology of an electronic skin system of claim 1, wherein said skin sensor is electrically connected to said skin logic board via an integrated circuit bus.
4. A communication arrangement of an electronic skin system according to any of claims 1 to 3, characterized in that an analog-to-digital converter is connected between the electronic skin membrane and the skin sensor.
5. The communication arrangement of electronic skin systems according to any of claims 1 to 3, wherein each of said joint servo controllers is connected to conduct one of said electronic skin systems.
6. The communication topology of electronic skin system according to any of claims 1 to 3, wherein a plurality of said joint servo controllers are arranged in parallel.
7. A communication arrangement of an electronic skin system according to any of claims 1 to 3, characterized in that a plurality of said skin sensors are arranged in parallel.
8. A communication arrangement of an electronic skin system according to any of claims 1 to 3, wherein a plurality of said electronic skin membranes are arranged in parallel.
9. The communication layout structure of the electronic skin system according to any one of claims 1 to 3, wherein the skin logic board has a data collector and a data filter, and the data collector is connected and conducted with the data filter.
10. The communication topology of an electronic skin system according to any of claims 1 to 3, wherein said electronic skin membrane is a metal membrane.
Priority Applications (17)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921265549.8U CN211615670U (en) | 2019-08-02 | 2019-08-02 | Communication layout structure of electronic skin system |
| EP19940388.2A EP3842189A4 (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method for apparatus, and apparatus and controller |
| PCT/CN2019/106043 WO2021022629A1 (en) | 2019-08-02 | 2019-09-17 | Housing, housing module and mechanical arm of mechanical equipment, and robot |
| EP19940864.2A EP3842733A4 (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
| PCT/CN2019/106040 WO2021022626A1 (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
| PCT/CN2019/106041 WO2021022627A1 (en) | 2019-08-02 | 2019-09-17 | Housing of mechanical device and robot |
| CN201980041854.5A CN112513558B (en) | 2019-08-02 | 2019-09-17 | Mechanical equipment's casing, casing subassembly, arm and robot |
| PCT/CN2019/106039 WO2021022625A1 (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method for apparatus, and apparatus and controller |
| CN201980041855.XA CN112512752A (en) | 2019-08-02 | 2019-09-17 | Obstacle avoidance method and device of device and controller |
| EP19940902.0A EP3842732A4 (en) | 2019-08-02 | 2019-09-17 | Housing, housing module and mechanical arm of mechanical equipment, and robot |
| CN201980041853.0A CN112512761B (en) | 2019-08-02 | 2019-09-17 | Housing assembly of mechanical equipment and robot |
| CN201980042452.7A CN112513580A (en) | 2019-08-02 | 2019-09-17 | Mechanical equipment shell and robot |
| CN201980041894.XA CN112400143B (en) | 2019-08-02 | 2019-09-17 | Sensing circuit, logic circuit board, joint control board, master controller board and robot |
| PCT/CN2019/106042 WO2021022628A1 (en) | 2019-08-02 | 2019-09-17 | Housing module of mechanical equipment, and robot |
| US17/213,173 US20210237271A1 (en) | 2019-08-02 | 2021-03-25 | Method and device of avoiding robot from obstacle, and controller |
| US17/213,163 US20210255350A1 (en) | 2019-08-02 | 2021-03-25 | Housing, housing assembly, mechanical arm, and robot of mechanical equipment |
| US17/214,718 US20210237286A1 (en) | 2019-08-02 | 2021-03-26 | Sensing circuit, logic circuit board, joint control board, main controller board, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921265549.8U CN211615670U (en) | 2019-08-02 | 2019-08-02 | Communication layout structure of electronic skin system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211615670U true CN211615670U (en) | 2020-10-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921265549.8U Active CN211615670U (en) | 2019-08-02 | 2019-08-02 | Communication layout structure of electronic skin system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211615670U (en) |
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2019
- 2019-08-02 CN CN201921265549.8U patent/CN211615670U/en active Active
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