CN215968790U - Robot motion control device and robot - Google Patents
Robot motion control device and robot Download PDFInfo
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- CN215968790U CN215968790U CN202120555007.5U CN202120555007U CN215968790U CN 215968790 U CN215968790 U CN 215968790U CN 202120555007 U CN202120555007 U CN 202120555007U CN 215968790 U CN215968790 U CN 215968790U
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- 239000007788 liquid Substances 0.000 claims abstract description 35
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Abstract
The utility model discloses a robot walking control device which comprises a power circuit, an MCU (microprogrammed control unit), a walking control assembly liquid level switch, a propeller motor driving module, a propeller motor, a propeller angle driving module and a propeller angle adjusting motor, wherein the power circuit is connected with the MCU; the sensing end of the liquid level switch is arranged at the bottom of the robot, and the sensing signal output end is connected with the MCU control unit; the instruction receiving end of the propeller motor driving module is connected with the MCU, and the driving end of the propeller motor driving module is connected with the control end of the propeller motor; the instruction receiving end of the propeller angle driving module is connected with the MCU, and the driving end of the propeller angle driving module is connected with the control end of the propeller angle adjusting motor; the propeller motor is arranged at the driving end of the propeller angle adjusting motor, and the propeller is connected to the driving end of the propeller motor and arranged at the top of the robot. The utility model can cross the ponding area and higher obstacles, and avoid the robot from being damaged or out of control.
Description
Technical Field
The utility model belongs to the technical field of electric control and automation, and particularly relates to a robot motion control device and a corresponding robot.
Background
With the social demands and the development of science and technology, various robots come into wide range, and the robots are characterized by automatic mobility and additional operation functions, such as a sweeping robot, a temperature measuring robot, a terminal service robot, and the like. The robot mainly comprises two modes of action, namely action wheel driving and joint driving imitating the lower limbs of a human body. In any driving mode, the core is the motor as the driving power source.
It can be understood that the working environment of the robot, especially the ground environment, is not well predetermined, and when the robot walks in a close-to-ground manner, the ground is accumulated with water, which may threaten the movement of the robot, on one hand, the robot is easy to slip, on the other hand, the accumulated water may make the bottom of the robot damp and go moldy, and even affect the normal operation of mechanical devices and electronic circuits. In addition, the obstacle crossing ability of both the humanoid robot and the mobile wheel robot is limited in terms of the ability to cross obstacles.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a robot motion control device and a robot, which can cross a ponding area and a higher obstacle and avoid the robot from being damaged or out of control. The utility model is realized by the following technical scheme:
a robot motion control device comprises a power circuit, an MCU control unit and a motion control assembly; the propeller angle adjusting device is characterized by further comprising a liquid level switch, a propeller motor driving module, a propeller motor, a propeller angle driving module and a propeller angle adjusting motor; the sensing end of the liquid level switch is arranged at the bottom of the robot, and the sensing signal output end is connected with the liquid level signal acquisition end of the MCU control unit; the instruction receiving end of the propeller motor driving module is connected with the propeller control signal output end of the MCU control unit, and the driving end of the propeller motor driving module is connected with the control end of the propeller motor; the instruction receiving end of the propeller angle driving module is connected with the angle control signal output end of the MCU control unit, and the driving end of the propeller angle driving module is connected with the control end of the propeller angle adjusting motor; the propeller motor is arranged at the driving end of the propeller angle adjusting motor, and the propeller is connected to the driving end of the propeller motor and arranged at the top of the robot.
As a specific technical scheme, the liquid level switch is a photoelectric liquid level switch or an electrode type liquid level switch.
As a further technical scheme, the robot is a humanoid robot, and the advancing control assembly comprises motors which are arranged between the lower limbs and the waist and at joints of the lower limbs; or, the robot is a mobile wheel robot, and the traveling control assembly comprises a mobile wheel driving motor and a mobile wheel steering motor.
As a specific technical scheme, the power supply circuit comprises a charging circuit, a storage battery, a first-stage DC-DC circuit and a second-stage DC-DC circuit; the charging circuit rectifies and transforms a conventional power supply into a 12V direct-current power supply and inputs the direct-current power supply into a storage battery, the 12V direct-current power supply output by the storage battery supplies power for the propeller motor driving module and the propeller angle driving module, the 12V direct-current power supply output by the storage battery is transformed into a 5V direct-current power supply through the first-stage DC-DC circuit, the 5V direct-current power supply output by the first-stage DC-DC circuit is transformed into a 3.3V direct-current power supply through the second-stage DC-DC circuit, and the 3.3V direct-current power supply output by the second-stage DC-DC circuit supplies power for the MCU control unit and the liquid level switch.
As a specific technical scheme, the MCU control unit adopts an STM8S207C8T6 chip, and the STM8S207C8T6 chip is configured with a forward rotation control signal output terminal and a reverse rotation control signal output terminal for the propeller motor driving module and the propeller angle driving module, respectively.
As a specific technical scheme, the propeller motor driving module and the propeller angle driving module respectively comprise triodes T1, T2, T3 and T4; the input electrodes of the triodes T1 and T2 are connected to the 12V direct current power supply, the output electrodes of the triodes T3 and T4 are respectively connected to the input electrodes of the triodes T3 and T4, and the output electrodes of the triodes T3 and T4 are grounded; the control electrodes of the triodes T1 and T3 are respectively connected with the forward rotation control signal output end and the reverse rotation signal output end, and the control electrodes of the triodes T2 and T4 are respectively connected with the reverse rotation control signal output end and the forward rotation signal output end; the output poles of the triodes T1 and T2 are connected with the control end of the corresponding motor.
As a specific technical scheme, one end of the liquid level switch is connected with the 3.3V direct-current power supply, and the other end of the liquid level switch is connected with a liquid level signal acquisition end configured by an STM8S207C8T6 type chip.
As a further technical solution, the power supply further comprises a power supply output interface, and the power supply output interface is connected with one or more of the first stage DC-DC circuit and the second stage DC-DC circuit.
A robot comprises a machine body and a motion control device, and is characterized in that the motion control device adopts the motion control device.
The utility model mainly aims at the actual use environment that the ground is concave and convex and the concave is easy to accumulate water, the liquid level switch is arranged to detect whether the bottom of the robot has a water accumulation area, if the water accumulation area exists, the propeller motor is controlled to drive the propeller to lift the whole robot, and then the propeller angle is adjusted by the propeller angle adjusting motor to fly away from the water accumulation area and nearby obstacles.
Drawings
Fig. 1 is a block diagram showing a control device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a robot provided in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a two-stage DC-DC circuit in the control device provided by the present invention.
Fig. 4 is a schematic diagram of a singlechip and a liquid level switch in the control device provided by the utility model.
Fig. 5 is a schematic diagram of a driving module and a motor portion in the control device provided by the present invention.
Detailed Description
The method of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the robot motion control apparatus provided in this embodiment includes a power circuit, an MCU control unit, a motion control module, a liquid level switch, a propeller motor driving module, a propeller motor, a propeller angle driving module, and a propeller angle adjusting motor.
The traveling control assembly refers to a related driving assembly for driving the robot to move forwards, backwards and turn on the ground. For the humanoid robot, the advancing control assembly comprises corresponding motors which are arranged between the lower limbs and the waist and at joints of the lower limbs; for a mobile wheel robot, the travel control assembly includes a mobile wheel drive motor and a mobile wheel steering motor. The MCU control unit drives the corresponding motor to operate through the corresponding motor driving module, so that the travel control assembly belongs to the prior art, and has various implementation manners, which are not described herein again.
Referring to fig. 1 and 2, a sensing end of a liquid level switch S is arranged at the bottom of the robot, and a sensing signal output end is connected with a liquid level signal acquisition end of the MCU control unit; the instruction receiving end of the propeller motor driving module is connected with the propeller control signal output end of the MCU control unit, and the driving end of the propeller motor driving module is connected with the control end of a propeller motor M1; the instruction receiving end of the propeller angle driving module is connected with the angle control signal output end of the MCU control unit, and the driving end of the propeller angle driving module is connected with the control end of a propeller angle adjusting motor M2; the propeller motor is arranged at the driving end of the propeller angle adjusting motor, and the propeller J1 is connected to the driving end of the propeller motor and arranged at the top of the robot.
As shown in fig. 1, the power supply circuit includes a charging circuit, a storage battery, a first stage DC-DC circuit, and a second stage DC-DC circuit; the charging circuit rectifies and transforms a conventional power supply into a 12V direct-current power supply and inputs the direct-current power supply into a storage battery, the 12V direct-current power supply output by the storage battery supplies power for the propeller motor driving module and the propeller angle driving module, the 12V direct-current power supply output by the storage battery is transformed into a 5V direct-current power supply through the first-stage DC-DC circuit, the 5V direct-current power supply output by the first-stage DC-DC circuit is transformed into a 3.3V direct-current power supply through the second-stage DC-DC circuit, and the 3.3V direct-current power supply output by the second-stage DC-DC circuit supplies power for the MCU control unit and the liquid level switch. As shown in FIG. 3, the voltage dropping chips N1 and N2 in the first stage DC-DC circuit and the second stage DC-DC circuit adopt an AMS1117 type device, and respectively drop the voltages of output DC5V and DC3.3V.
As shown in FIG. 4, the MCU control unit adopts an STM8S207C8T6 type chip, a liquid level switch S is a photoelectric liquid level switch or an electrode type liquid level switch, one end of the liquid level switch S is connected to the 3.3V direct-current power supply, and the other end of the liquid level switch S is connected to a liquid level signal acquisition end configured by the STM8S207C8T6 type chip. When there is the ponding district ground surface, and liquid when not crossing liquid level switch S, liquid level switch S switches on, and the liquid level signal acquisition end input signal for STM8S207C8T6 type chip, STM8S207C8T6 type chip then sends control command to screw motor drive module screw angle drive module according to this signal to with the whole promotion of robot and cross the obstacle.
The propeller control signal output end of the STM8S207C8T6 type chip configured for the propeller motor driving module comprises a forward rotation control signal output end CL1Z and a reverse rotation signal output end CL 1F; the angle control signal output ends of the STM8S207C8T6 type chip respectively configured for the propeller angle driving module comprise a forward rotation control signal output end CL2Z and a reverse rotation signal output end CL 2F. The propeller motor driving module and the propeller angle driving module are identical in structure and principle and respectively comprise triodes T1, T2, T3 and T4; the input electrodes of the triodes T1 and T2 are connected to the 12V direct current power supply, the output electrodes of the triodes T3 and T4 are respectively connected to the input electrodes of the triodes T3 and T4, and the output electrodes of the triodes T3 and T4 are grounded; the control electrodes of the triodes T1 and T3 are respectively connected with the forward rotation control signal output end and the reverse rotation signal output end, and the control electrodes of the triodes T2 and T4 are respectively connected with the reverse rotation control signal output end and the forward rotation signal output end; the output poles of the triodes T1 and T2 are connected with the control end of the corresponding motor.
With continued reference to fig. 1, the robot motion control apparatus provided in this embodiment further includes a power output interface, which is connected to one or more of the first stage DC-DC circuit and the second stage DC-DC circuit, and is configured to output a direct current power to other devices.
The present embodiment further provides a robot, which includes a body and a motion control device, wherein the motion control device is the motion control device described above.
The above embodiments are merely provided for full disclosure and not for limitation, and any replacement of equivalent technical features based on the gist of the present invention without creative efforts should be considered as the scope of the present disclosure.
Claims (10)
1. A robot motion control device comprises a power circuit, an MCU control unit and a motion control assembly; the propeller angle adjusting device is characterized by further comprising a liquid level switch, a propeller motor driving module, a propeller motor, a propeller angle driving module and a propeller angle adjusting motor; the sensing end of the liquid level switch is arranged at the bottom of the robot, and the sensing signal output end is connected with the liquid level signal acquisition end of the MCU control unit; the instruction receiving end of the propeller motor driving module is connected with the propeller control signal output end of the MCU control unit, and the driving end of the propeller motor driving module is connected with the control end of the propeller motor; the instruction receiving end of the propeller angle driving module is connected with the angle control signal output end of the MCU control unit, and the driving end of the propeller angle driving module is connected with the control end of the propeller angle adjusting motor; the propeller motor is arranged at the driving end of the propeller angle adjusting motor, and the propeller is connected to the driving end of the propeller motor and arranged at the top of the robot.
2. A robotic motion control device as claimed in claim 1, in which the level switch is a photoelectric level switch or an electrode level switch.
3. A robot motion control apparatus according to claim 1 or 2, wherein the robot is a humanoid robot, and the motion control unit includes motors mounted between the lower limbs and the waist and at joints of the lower limbs.
4. A robot motion control apparatus according to claim 1 or 2, wherein the robot is a mobile wheel robot, and the motion control means includes a mobile wheel drive motor and a mobile wheel steering motor.
5. The robot motion control apparatus of claim 2, wherein the power circuit comprises a charging circuit, a battery, a first stage DC-DC circuit, a second stage DC-DC circuit; the charging circuit rectifies and transforms the accessed power into a 12V direct-current power supply and inputs the power supply into the storage battery, the 12V direct-current power supply output by the storage battery supplies power for the propeller motor driving module and the propeller angle driving module, the 12V direct-current power supply output by the storage battery is transformed into a 5V direct-current power supply through the first-stage DC-DC circuit, the 5V direct-current power supply output by the first-stage DC-DC circuit is transformed into a 3.3V direct-current power supply through the second-stage DC-DC circuit, and the 3.3V direct-current power supply output by the second-stage DC-DC circuit supplies power for the MCU control unit and the liquid level switch.
6. A robot motion control apparatus according to claim 5, wherein the MCU control unit employs an STM8S207C8T6 type chip, and the STM8S207C8T6 type chip is provided with a forward rotation control signal output terminal and a reverse rotation control signal output terminal for the propeller motor drive module and the propeller angle drive module, respectively.
7. The robot motion control apparatus of claim 6, wherein the propeller motor drive module and propeller angle drive module each comprise a transistor T1, T2, T3, T4; the input electrodes of the triodes T1 and T2 are connected to the 12V direct current power supply, the output electrodes of the triodes T3 and T4 are respectively connected to the input electrodes of the triodes T3 and T4, and the output electrodes of the triodes T3 and T4 are grounded; the control electrodes of the triodes T1 and T3 are respectively connected with the forward rotation control signal output end and the reverse rotation signal output end, and the control electrodes of the triodes T2 and T4 are respectively connected with the reverse rotation control signal output end and the forward rotation signal output end; the output poles of the triodes T1 and T2 are connected with the control end of the corresponding motor.
8. The robot motion control device of claim 7, wherein one end of the liquid level switch is connected to the 3.3V direct current power supply, and the other end of the liquid level switch is connected to a liquid level signal acquisition end of an STM8S207C8T6 type chip configuration.
9. The robot motion control apparatus of claim 5, further comprising a power output interface coupled to one or more of the first stage DC-DC circuit, the second stage DC-DC circuit.
10. A robot comprising a body and a motion control device, wherein the motion control device is the motion control device according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120555007.5U CN215968790U (en) | 2021-03-18 | 2021-03-18 | Robot motion control device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120555007.5U CN215968790U (en) | 2021-03-18 | 2021-03-18 | Robot motion control device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215968790U true CN215968790U (en) | 2022-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120555007.5U Expired - Fee Related CN215968790U (en) | 2021-03-18 | 2021-03-18 | Robot motion control device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215968790U (en) |
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2021
- 2021-03-18 CN CN202120555007.5U patent/CN215968790U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220308 |
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| CF01 | Termination of patent right due to non-payment of annual fee |