CN219522126U - Drive controller of composite robot and composite robot - Google Patents
Drive controller of composite robot and composite robot Download PDFInfo
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- CN219522126U CN219522126U CN202222779765.2U CN202222779765U CN219522126U CN 219522126 U CN219522126 U CN 219522126U CN 202222779765 U CN202222779765 U CN 202222779765U CN 219522126 U CN219522126 U CN 219522126U
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Abstract
In one aspect, the present utility model provides a drive controller for a compound robot, comprising: the device comprises a shell, a main control board and a motor for driving the compound robot to move. The driving controller of the composite robot comprises a laser sensor, a main control board and a safety control board. The laser sensor is capable of acquiring point cloud data in a first direction of movement and first occlusion information from a scene object. The communication interface of the main control board is connected with the cloud data transmission end and can receive the point cloud data. And obtaining first driving control information of the motor according to the point cloud data. The safety control board is connected with the first output end and can receive first shielding information. And obtaining second driving control information of the motor according to the first shielding information and transmitting the communication output interface. The first drive control information and the second drive control information can control the motor to slow down or stop rotating. The state of the motor is controlled through multiple control boards and multiple control information, so that the effective obstacle avoidance of the composite robot is ensured, accidents are prevented, and the reliability and the safety are high.
Description
Technical Field
The utility model relates to a driving controller of a compound robot, which can be used for obstacle avoidance control in the movement of the compound robot. The utility model also relates to a driving controller with the composite robot and the composite robot.
Background
The composite robot adopts an obstacle avoidance detection mode of laser SLAM navigation, calculates the distance of an obstacle through single laser feedback data, and further takes measures to avoid collision. Anti-collision strips are arranged around the composite robot body, and the composite robot is informed of taking measures through switching value when an external object contacts with the body, so that the safety operation of the composite robot is ensured.
However, the laser sensor data processing requires time and the inertia of the vehicle body causes delay of the protection measures adopted by the robot, so that the reliability is low. The protection principle of the anti-collision strip is easy to know, and the robot is collided when the anti-collision strip acts, so that the protection effect is very limited. Therefore, it is difficult to effectively avoid potential safety hazards caused by failure of the motor or motor driver.
Disclosure of Invention
The utility model aims to provide a driving controller of a composite robot, which controls the state of a motor through multiple control boards and multiple control information, ensures effective obstacle avoidance of the composite robot, prevents accidents and has high reliability and safety.
Another object of the present utility model is to provide a composite robot which has a good obstacle avoidance effect, operates stably and has high reliability and safety.
In one aspect of the present utility model, there is provided a drive controller of a compound robot including: the device comprises a shell, a main control board and a motor for driving the compound robot to move.
The driving controller of the composite robot comprises a laser sensor, a main control board and a safety control board.
The laser sensor comprises an output signal switching device and is arranged at a position of the casing towards the first moving direction. The output signal switching device can acquire first shielding information of an obstacle existing in the protection area. The protection area is an area which is extended outwards by a first set distance by taking the composite robot as a center. The laser sensor comprises a point cloud data transmission end capable of outputting point cloud data and a first output end capable of outputting first shielding information.
The main control board has a communication interface and an output. The communication interface of the main control board is connected with the cloud data transmission end and can receive the point cloud data. And obtaining first driving control information of the motor according to the point cloud data and transmitting the first driving control information to an output end. The first drive control information can control the motor to slow down or stop.
The security control board has a communication output interface and an input. The input end is connected with the first output end and can receive first shielding information. And obtaining second driving control information of the motor according to the first shielding information and transmitting the communication output interface. The second drive control information can control the motor to slow down or stop.
In another exemplary embodiment of the drive controller of the compound robot, the laser sensor is further capable of collecting second occlusion information of the presence of an obstacle in the warning area. The warning area is an area which is extended outward by a second set distance with the composite robot as a center. The warning area is outside the protection area. The laser sensor includes a second output capable of outputting second shielding information.
The input end of the safety control board is connected with the second output end and can receive second shielding information. And obtaining third driving control information of the motor according to the second shielding information and transmitting the communication output interface. The third drive control information can control the motor to slow down or stop running
In another exemplary embodiment of the drive controller of the compound robot, further comprising: a motor driver. The first driving input end of the motor driver is connected with the output end of the main control board, and can generate three-phase driving information for driving the motor to rotate according to the first driving control information.
The second driving input end of the motor driver is connected with the communication output interface of the safety control board, and can generate three-phase driving information capable of driving the motor to rotate according to the second driving control information.
In yet another exemplary embodiment of the drive controller of the compound robot, further comprising: the first encoder and the second encoder are sequentially arranged along the axial direction of the motor main shaft and can collect first speed information and second speed information of the main shaft. The first encoder and the second encoder each have an encoded output.
The encoding output end of the first encoder is connected with the encoding input end of the motor driver, and first speed information is input to the encoding input end, so that the motor driver can servo-adjust three-phase driving information of the motor.
The encoding output end of the second encoder is connected with the input end of the safety control board, second speed information is input to the input end, and the safety control board obtains fourth driving control information of the motor according to the second speed information and transmits a communication output interface. The fourth drive control information can control the motor to stall. The output end of the safety control board is connected with the power supply control end of the motor, so that the motor can be powered off.
In a further exemplary embodiment of the drive controller of the compound robot, the first encoder is powered via a first power supply line. The output end of the motor driver is connected with the switch control end of the first power supply circuit. The second encoder is powered by a second power supply line. The output end of the safety control board is connected with the switch control end of the second power supply circuit.
In yet another exemplary embodiment of the drive controller of the compound robot, further comprising: and the charger is provided with an external plug. Two terminals in the external plug are conducted.
The two input ends of the safety control board can be connected with an external plug and can be communicated with two terminals. When the two input ends are detected to be in a conducting state, the safety control board stops driving information to the communication output interface. The stall drive information can control motor stall.
In yet another exemplary embodiment of the drive controller of the compound robot, an output of the safety control board is connected to a switch control end of the motor driver.
And if the safety control board receives the first shielding information, generating and outputting control information for enabling the switch control end to be turned off to the output end. If the safety control board receives the second shielding information, judging whether the second speed information is within the set speed, and if not, generating and outputting control information for enabling the switch control end to be turned off to the output end.
In a further exemplary embodiment of the drive controller of the compound robot, the motor drive is supplied with power via a motor drive power supply line. The motor driver power supply circuit is internally provided with a motor driver power supply switch, and the output end of the safety control board is connected with the motor driver power supply switch.
And judging whether the second speed information is within the set safety speed, and if not, generating and outputting control information for enabling the power supply switch of the motor driver to be disconnected to the output end.
In a further exemplary embodiment of the drive controller of the compound robot, the laser sensor is provided as two laser sensors, which are located at positions of the housing facing the first and the second movement direction, respectively. The motors are arranged as two motors. The motor drivers are provided as two motor drivers.
In another aspect of the present utility model, there is provided a compound robot including the drive controller of the present utility model.
Drawings
Fig. 1 is a circuit schematic diagram for explaining a drive controller of a compound robot in one embodiment.
Fig. 2 is an external schematic view for explaining a compound robot in one embodiment.
Fig. 3 is a schematic diagram for explaining the composition of a drive controller of the hybrid robot in another embodiment.
Fig. 4 is a schematic view for explaining connection of a safety control board in a drive controller of a hybrid robot in still another embodiment.
Detailed Description
For a clearer understanding of the technical features, objects and effects of the present utility model, embodiments of the present utility model will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.
In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution.
For simplicity of the drawing, only the portions related to the present exemplary embodiment are schematically shown in the drawings, and they do not represent actual structures and actual proportions thereof as products.
In one aspect of the present utility model, there is provided a drive controller of a compound robot, the compound robot 90 including: the machine shell 91, the main control board U1, the safety control board U4 and the motors M1 and M2 for driving the compound robot to move.
As shown in fig. 1 and 2, the drive controller of the hybrid robot includes a laser sensor (laser sensor 10, laser sensor 20), a main control board U1, and a safety control board U4. The laser sensor 10 is provided at a position of the housing 91 in the first moving direction.
As shown in fig. 1 and 2, an Output Signal Switching Device (OSSD) is provided in the laser sensor 10. The Output Signal Switching Device (OSSD) is a level signal that changes (changes from high to low) when an obstacle approaches the compound robot.
As shown in fig. 2, the laser sensor 10 is disposed at a position of the housing in the first moving direction. The output signal switching device OSSD is capable of acquiring first shielding information of the obstacle object existing in the protection area A1, such as sensing information of the obstacle object B1 in fig. 2. The protection area A1 is an area extended outward by a first set distance with the center of the composite robot 90. The laser sensor comprises a point cloud data transmission end capable of outputting point cloud data and a first output end capable of outputting first shielding information.
The laser sensor comprises point cloud data transmission terminals LAN1 and LAN2 capable of outputting point cloud data, and first output terminals 1, 2, 3 and 4 capable of outputting first shielding information.
As shown in fig. 1 and 2, the main control board U1 has communication interfaces LAN3 and LAN4 and output terminals O1 and O2. The communication interfaces LAN3 and LAN4 of the main control board U1 are connected to the cloud data transmission terminals LAN1 and LAN2, respectively, and are capable of receiving the point cloud data. First driving control information of the motors M1 and M2 is obtained according to the point cloud data and transmitted to the output ends O1 and O2. The first driving control information can control the motors M1, M2 to slow down or stop.
As shown in fig. 1 and 2, the security control board U4 has communication output interfaces and input terminals PE0 to PE3 and PE4 to PE7. The input terminals PE0 to PE3 are connected to the first output terminals 1, 2, 3, 4 of the laser sensor 10 and are capable of receiving the first shielding information. The input terminals PE 4-PE 7 are connected to the first output terminals 1, 2, 3, 4 of the laser sensor 20 and are capable of receiving the first shielding information. And obtaining second driving control information of the motors M1 and M2 according to the first shielding information and transmitting the communication output interface. The second drive control information can control the motors M1, M2 to slow down or stop.
Therefore, when an obstacle is in the protection area of the composite robot, the output signal switching device OSSD arranged in the laser sensor can output high-low level first shielding information to the safety control board, and the motor control information can be sent out without further judgment of the safety control board, so that the processing and driving speeds are high. Meanwhile, the main control board can also acquire shielding information of the obstacle according to the point cloud data, so that effective obstacle avoidance is ensured, and the control reliability is high.
In another exemplary embodiment of the drive controller of the compound robot, as shown in fig. 1, 2, the laser sensor is also capable of collecting second occlusion information of the presence of an obstacle object in the warning area A2, such as the sensing information of the obstacle object B2 in fig. 2. The warning area A2 is an area that extends outward by a second set distance centering on the composite robot. The warning area A2 is outside the protection area A1. The laser sensor comprises a second output I/O1 (1, 2, 3, 4) capable of outputting second occlusion information.
The input end of the safety control board is connected with the second output end I/O1 and can receive second shielding information. And obtaining third driving control information of the motor according to the second shielding information and transmitting the communication output interface. The third drive control information can control the motor to slow down or stop. Therefore, when the composite robot runs at a high speed, the object to be collided can be effectively avoided, the composite robot can run safely, and the collision risk is reduced.
As shown in fig. 1 and 2, in another exemplary embodiment of the drive controller of the compound robot, the method further includes: motor driver A U and motor driver B U which can drive motors M1 and M2. The first driving input terminal U51 of the motor driver A U is connected to the output terminal 01 of the main control board U1, and can generate three-phase driving information capable of driving the motor M1 to rotate according to the first driving control information.
The first drive input terminal U61 of the motor driver B U is connected to the output terminal 02 of the main control board U1, and is capable of generating three-phase drive information capable of driving the motor M2 to rotate based on the first drive control information. Slave drives M1, M2.
As shown in fig. 1 and 2, the second driving input terminal U52 of the motor driver A U is connected to the communication output interface PA12 of the safety control board U4, and can generate three-phase driving information capable of driving the motor M1 to rotate according to the second driving control information, that is, output from the U, V, W port. The second driving input terminal U62 of the motor driver B U is connected to the communication output interface PA11 of the safety control board U4, and is capable of generating three-phase driving information capable of driving the motor M2 to rotate according to the second driving control information, that is, outputting from the U, V, W port.
Therefore, the driving controller of the composite robot can generate control information according to the point cloud and the obstacle avoidance information, and the preparation for obstacle avoidance is ensured.
In still another exemplary embodiment of the drive controller of the compound robot, as shown in fig. 1, each motor further includes: a first Encoder01 and a second Encoder02, which are sequentially disposed along the axial direction of the main shaft of the motor M1 or M2 and are capable of collecting first speed information and second speed information of the main shaft. The encoded output end Encoder021 of the first Encoder01 and the encoded output end Encoder022 of the second Encoder 02.
The code output terminal of the first Encoder01 is connected to the code input terminal U53 of the motor driver A U5, and first speed information is input to the code input terminal U53 to enable the motor driver A U to servo-adjust the three-phase driving information of the motor M1. So that the motor driver B U6 can servo-adjust the three-phase driving information of the motor M2 to be servo-controlled by the encoder.
The code output end of the second Encoder Encoder02 is connected with the input end of the safety control board U4, second speed information is input to the input end, and the safety control board U4 obtains fourth driving control information of the motors M1 and M2 according to the second speed information and transmits a communication output interface. The fourth drive control information can control the motors M1, M2 to stop rotating. The output end of the safety control board U4 is connected with the power supply control ends of the motors M1 and M2, and the motors M1 and M2 can be powered off. Therefore, when the motor stalls and does not rotate or run away according to the normal setting, the motor can be effectively controlled and is not influenced by the first encoder.
Because the first encoder and the second encoder are independently arranged in the utility model, when any one encoder fails, the other encoder can measure the speed of the motor, thereby ensuring the reliability of motor rotation information acquisition and further ensuring the accuracy of motor control.
In a further exemplary embodiment of the drive controller of the compound robot, the first Encoder01 is supplied with power via a first power supply line. An output terminal of the motor driver A U is connected to a switch control terminal of the first power supply line. The second Encoder02 is supplied with power via a second supply line. The output end of the safety control board U4 is connected with the switch control end of the second power supply circuit. The first encoder and the second encoder are powered by different power supply lines, so that when a single encoder fails, the use of the other encoder is not affected.
In yet another exemplary embodiment of the drive controller of the compound robot, further comprising: and the charger is provided with an external plug. Two terminals in the external plug are conducted.
The two input ends of the safety control board U4 can be connected with an external plug and can be communicated with two terminals. When the two input ends are detected to be in a conducting state, the safety control board U4 stops driving information to the communication output interface. The stall driving information can control the motors M1, M2 to stall. Thereby ensuring the safety during charging.
In yet another exemplary embodiment of the drive controller of the compound robot, the output of the safety control board U4 is connected to the switch control end of the motor driver A U5.
And if the safety control board U4 receives the first shielding information, generating and outputting control information for enabling the switch control end to be turned off to the output end. If the safety control board U4 receives the second shielding information, judging whether the second speed information is within the set speed, and if not, generating and outputting control information for enabling the switch control end to be turned off to the output end. Therefore, the motor driver is controlled to effectively control the motor to run, and the control efficiency and reliability are ensured.
In yet another exemplary embodiment of the drive controller of the compound robot, the motor driver A U is powered by a motor driver A U power supply line. The motor driver A U5 power supply switch is arranged in the motor driver A U5 power supply circuit, and the output end of the safety control board U4 is connected with the motor driver A U power supply switch.
Whether the second speed information is within the set safe speed is determined, and if not, control information for turning off the power supply switch of the motor driver A U is generated and output to the output terminal. The motor driver B and the motor driver a have the same actual mode and are not described in detail.
In still another exemplary embodiment of the drive controller of the compound robot, the laser sensor is provided as two laser sensors, which are located at positions of the cabinet 91 toward the first moving direction and the second moving direction, respectively. The motors M1, M2 are provided as two motors M1, M2. The encoder is provided as two encoders, and the motor driver A U5 is provided as two motor drivers A U.
In another aspect of the present utility model, there is provided a compound robot including the drive controller of the present utility model.
In another embodiment of the utility model, a driving controller of a composite robot is provided, which is invented for the characteristics and problems of the prior art scheme, and based on the current protection strategy of a laser sensor, a safety laser Output Signal Switching Device (OSSD) is utilized to quickly feed back the event information of an obstacle approaching the composite robot to a safety control board, so that the response time is effectively shortened, the braking distance is reduced, and the safety protection function is further played.
Meanwhile, the events can be divided into warning events and protection events, different strategies are adopted for different events, the normal operation of the composite robot is not affected, and the safety can be improved to the greatest extent.
The second encoder is arranged on the motor to monitor the running state of the motor, and when the motor works abnormally, the enabling state and even the power supply state of the motor are cut off rapidly, so that accidents are prevented, and the reliability and the safety are improved.
As shown in fig. 3, the hybrid robot is composed of a main controller, a safety laser sensor, a motor and a motor driver, a battery, a body and the like. The main controller is the brain of the whole system and is responsible for the motion control, safety control and task processing of the whole vehicle. The laser sensor scans the surrounding environment in real time and sends the surrounding environment to the main controller, the motor driver receives instructions from the main controller to move, the safety control board monitors safety information in the running process of the composite robot and sends instructions when the composite robot is in a collision danger or other abnormal states, and safety of personnel or scenes is ensured.
The laser sensor has local inputs and outputs including an OSSD, and sets a warning event area and a protection event area. The output end of the protection event area is configured as [ OSSD ], and the output end of the warning event area is configured as [ I/O1 ], so that obstacle or human body information can be fed back to the controller quickly under the condition of avoiding contact. When an object or human body enters the warning/protection area, the output signal of the laser sensor [ I/O1 ]/[ OSSD ] changes.
The system can realize a double-layer protection mechanism. First layer protection mechanism [ software protection ]: when a person or an object approaches the composite robot, the laser sensor transmits reflected point cloud data to the main controller, and the main controller calculates and judges that the robot collides, and immediately controls the motor driver A and the motor driver B to decelerate until the robot stops running.
Second layer protection mechanism [ hardware protection ]: when a person or object approaches the compound robot and enters a warning or protection area, the [ I/O1 ] of the laser sensor changes and notifies the safety control board, and the safety control board immediately sends out a signal to stop the motor driver.
The two motors of the compound robot adopt double encoder motors. The second encoder is added at the tail end of the original motor, and the code wheel is fixed on the rotor to rotate synchronously with the motor. The first encoder is connected to the motor driver, and power supply of the first encoder is provided by the motor driver. The second encoder is connected to the safety control board, and the power supply of the second encoder is provided by the safety control board, so that the double encoders can work independently.
As shown in fig. 4, PIN3 and PIN4 on the manual charger side are short-circuited using wires, and PIN3 and PIN4 on the compound robot side are connected to input signal terminals of the security control board. The safety control board judges whether the current composite robot is charged or not by detecting the input signal. The composite robot being charged is protected from movement.
Class I protection measures: the safety control signal 1 and the safety control signal 2 control the motor driver enabling and the motor driver powering, respectively. The motor driver is disabled when a human body or object is detected to enter the laser sensor protection area. And disabling the motor driver when the human body or object is detected to enter the warning area of the laser sensor and the running speed of the composite robot is greater than 0.3m/s and the composite robot is not decelerated. The motor driver is disabled when the manual charger is detected to be inserted into the vehicle body for charging. After the detected signal is relieved abnormally, the system automatically returns to normal.
Class II protection measures: the actual speed of the motor is calculated in real time by the second encoders of motor a and motor B. And when the error between the actual speed and the target speed of the motor in unit time exceeds a certain value, the power supply of the motor driver is disconnected. The motor drive is powered off when the actual instantaneous speed of the motor is greater than a maximum value. When the protection measures occur, manual intervention is needed for fault confirmation, and the fault can be recovered manually without any error.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is intended to include only a single embodiment, and such description is for clarity only, as one skilled in the art will recognize that the embodiments may be suitably combined to form other embodiments as would be understood by one skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present utility model, and they are not intended to limit the scope of the present utility model, and all equivalent embodiments or modifications that do not depart from the spirit of the present utility model should be included in the scope of the present utility model.
Claims (10)
1. The drive controller of the compound robot, characterized in that the compound robot includes: the machine shell, the main control board and the motor for driving the compound robot to move;
the driving controller of the compound robot includes,
the laser sensor comprises an output signal switching device and is arranged at the position of the shell facing the first moving direction; the output signal switching device can acquire first shielding information of an obstacle in the protection area; the protection area is an area which extends outwards by a first set distance by taking the composite robot as a center; the laser sensor comprises a point cloud data transmission end capable of outputting point cloud data and a first output end capable of outputting the first shielding information;
the main control board is provided with a communication interface and an output end; the communication interface of the main control board is connected with the point cloud data transmission end and can receive the point cloud data; obtaining first driving control information of the motor according to the point cloud data and transmitting the first driving control information to the output end; the first driving control information can control the motor to slow down or stop running;
a security control board having a communication output interface and an input; the input end is connected with the first output end and can receive the first shielding information; obtaining second driving control information of the motor according to the first shielding information and transmitting the communication output interface; the second drive control information can control the motor to slow down or stop.
2. The drive controller of the compound robot of claim 1, wherein the laser sensor is further capable of collecting second occlusion information of the presence of an obstacle in the warning area; the warning area is an area which is expanded outwards by a second set distance by taking the composite robot as a center; the warning area is outside the protection area; the laser sensor comprises a second output end capable of outputting the second shielding information;
the input end of the safety control board is connected with the second output end and can receive the second shielding information; obtaining third driving control information of the motor according to the second shielding information and transmitting the communication output interface; the third drive control information can control the motor to slow down or stop.
3. The drive controller of the compound robot of claim 2, further comprising:
the first driving input end of the motor driver is connected with the output end of the main control board and can generate three-phase driving information for driving the motor to rotate according to the first driving control information;
the second driving input end of the motor driver is connected with the communication output interface of the safety control board, and can generate three-phase driving information capable of driving the motor to rotate according to the second driving control information.
4. The drive controller of the compound robot of claim 3, further comprising:
the first encoder and the second encoder are sequentially arranged along the axial direction of the motor main shaft and can acquire first speed information and second speed information of the main shaft;
the first encoder and the second encoder are provided with encoding output ends;
the encoding output end of the first encoder is connected with the encoding input end of the motor driver, and the first speed information is input to the encoding input end, so that the motor driver can servo-adjust the three-phase driving information of the motor;
the coding output end of the second coder is connected with the input end of the safety control board, the second speed information is input to the input end, and the safety control board obtains fourth driving control information of the motor according to the second speed information and transmits the communication output interface; the fourth driving control information can control the motor to stop rotating; the output end of the safety control board is connected with the power supply control end of the motor, so that the motor can be powered off.
5. The drive controller of the compound robot of claim 4, wherein the first encoder is powered by a first power supply line; the output end of the motor driver is connected with the switch control end of the first power supply circuit; the second encoder is powered by a second power supply line; the output end of the safety control board is connected with the switch control end of the second power supply circuit.
6. The drive controller of a compound robot of claim 1, further comprising:
a charger having an external plug; two terminals in the external plug are conducted;
the two input ends of the safety control board can be connected with the external plug and can be communicated with the two terminals; when the two input ends are detected to be in a conducting state, the safety control board stops driving information to the communication output interface; the stall drive information is capable of controlling the motor to stall.
7. The drive controller of the compound robot according to claim 4, wherein an output end of the safety control board is connected to a switch control end of the motor driver;
if the safety control board receives the first shielding information, generating and outputting control information for enabling the switch control end to be turned off to the output end;
and if the safety control board receives the second shielding information, judging whether the second speed information is within a set speed, and if not, generating and outputting control information for enabling the switch control end to be turned off to the output end.
8. The drive controller of the compound robot of claim 7, wherein the motor driver is powered by a motor driver power supply line; a motor driver power supply switch is arranged in the motor driver power supply circuit, and the output end of the safety control board is connected with the motor driver power supply switch;
and judging whether the second speed information is within a set safety speed, and if not, generating and outputting control information for disconnecting the power supply switch of the motor driver to the output end.
9. The drive controller of the compound robot according to claim 8, wherein the laser sensors are provided as two laser sensors respectively located at positions of the housing toward the first moving direction and the second moving direction;
the motors are arranged as two motors; the motor drivers are arranged as two motor drivers.
10. A compound robot comprising the drive controller according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222779765.2U CN219522126U (en) | 2022-10-21 | 2022-10-21 | Drive controller of composite robot and composite robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222779765.2U CN219522126U (en) | 2022-10-21 | 2022-10-21 | Drive controller of composite robot and composite robot |
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| Publication Number | Publication Date |
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| CN219522126U true CN219522126U (en) | 2023-08-15 |
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| CN202222779765.2U Active CN219522126U (en) | 2022-10-21 | 2022-10-21 | Drive controller of composite robot and composite robot |
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| CN (1) | CN219522126U (en) |
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- 2022-10-21 CN CN202222779765.2U patent/CN219522126U/en active Active
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