CN106564052A - Intelligent motor and robot - Google Patents
Intelligent motor and robot Download PDFInfo
- Publication number
- CN106564052A CN106564052A CN201610911485.9A CN201610911485A CN106564052A CN 106564052 A CN106564052 A CN 106564052A CN 201610911485 A CN201610911485 A CN 201610911485A CN 106564052 A CN106564052 A CN 106564052A
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- China
- Prior art keywords
- sensor
- electric machine
- intelligent electric
- circuit
- control module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot equipment, in particular to an intelligent motor and a robot. The intelligent motor comprises a direct current motor, a steering gear control unit, a reduction mechanism and an output mechanism. The steering gear control unit comprises a control module and a control circuit connected with the control module. The control circuit is connected with the direct current motor and the reduction mechanism. The reduction mechanism is connected with the output mechanism. The control module is further connected with a sampling and signal interface which is connected with a sensor set and/or a display device through a circuit. The invention further provides the robot. By arranging the sampling and signal interface and arranging the sensor set and the display device directly connected with the sampling and signal interface through the circuit, the number and lengths of cables inside a humanoid robot in the prior art are effectively reduced, and the reliability of the robot is improved.
Description
Technical field
The present invention relates to robot device's technical field, more particularly to a kind of intelligent electric machine and robot.
Background technology
Robot (Robot) is the installations for performing work automatically.It can both receive mankind commander, can run again
The program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, produce industry, building industry, or the work of danger.
Robot is divided into two classes：The service under industrial robot and non-fabrication environment under manufacturing environment and apery type machine
People.So-called industrial robot is exactly the multi-joint manipulator or multi-freedom robot towards industrial circle.And apery type machine
People is then in addition to industrial robot, for nonmanufacturing industry and serve the various sophisticated machine people of the mankind.
The intelligent electric machine that the driving means of current humanoid robot are adopted, as shown in figure 1, the control system of robot
1 ' by each intelligent electric machine 3 ' of the connection on communication interface 2 ', only Motor drive function, it is impossible to extension sensor.Such as
Fruit needs to connect outer sensor, needs connection control system 1 ' and sensor, needs longer cable, and cabling is to human-like
Robot architecture has certain adverse effect：Need to increase routing device and through wires hole, it is longer that this allows for length of cable, increases
Robot integrally-built complexity and the difficulty of maintenance.
The content of the invention
It is an object of the invention to propose a kind of intelligent electric machine, by the sampling and the setting of signaling interface and with sampling
The setting of the sensor group and display device that are directly connected by circuit with signaling interface, in effectively reducing prior art
The Internal cable quantity of humanoid robot and length, improve machine human reriability.Accurately and rapidly gather human-like machine
The information of all kinds of outer sensors of people, improves the motility of the extensibility of intelligent electric machine and the access of outer sensor.
It is that, up to this purpose, the present invention is employed the following technical solutions：
A kind of intelligent electric machine, including：Direct current generator, servos control unit, reducing gear and output mechanism, the steering wheel control
Unit processed includes control module and the control circuit being connected with control module, the control circuit connection direct current generator and reductor
Structure, the reducing gear connects output mechanism, and sampling and signaling interface, the sampling and letter are also associated with the control module
There are sensor group and/or display device by connection on number interface.
One of preferred version as the technical program, it is described sampling and signaling interface be I/O interfaces, with it is described sampling and
The circuit that signaling interface is connected is A/D sampling circuits, I2C total lines, the combination of one or more of Uart data wires.
One of preferred version as the technical program, the sensor group include piezoelectric transducer, multi-dimension force sensor,
Ultrasonic sensor, temperature sensor, infrared ray sensor, touch sensor, color sensor, one kind of imageing sensor or
Several combinations, the display device includes LED multi-color lamps.
One of preferred version as the technical program, the display device includes LED multi-color lamps.
One of preferred version as the technical program, the sensor is connected by circuit and is connected with control module,
For the feedback information of each sensor to be sent to servos control module.
One of preferred version as the technical program, is connected by circuit after multiple sensor parallels with control module
Connect, for the feedback information of each sensor to be sent to servos control module.
One of preferred version as the technical program, is also associated with communication module, the communication in the control module
Communication interface is also associated with module, the communication interface connects the information mould of robot control system by circuit or wifi
Block.
One of preferred version as the technical program, also includes the position sensor being connected with reducing gear, for inciting somebody to action
Motor speed signal, position signalling feed back to control circuit, and the position sensor is connect by connection in sampling and signal
On mouth.
One of preferred version as the technical program, the control circuit also includes current protecting circuit, the electric current
Protection circuit is connected with the direct current generator, and whether the driving current for feeding back direct current generator exceedes given threshold, and will be anti-
Feedforward information is sent to control module.
A kind of robot, including control system and driving means, the driving means include described intelligent electric machine, and institute
The information module for stating intelligent electric machine is connected with information interface, and described information interface is connected with the communication module of the intelligent electric machine.
Beneficial effect：Directly pass through circuit phase by the sampling and the setting of signaling interface and with sampling and signaling interface
The sensor group of connection and the setting of display device, effectively reduce the Internal cable quantity of humanoid robot in prior art
And length, improve machine human reriability.The information of all kinds of outer sensors of humanoid robot accurately and is rapidly gathered, is carried
The high motility of the access of the extensibility and outer sensor of intelligent electric machine.The setting of the display device, further
Improve the communication and application in human-like computer and the external world.
Description of the drawings
Fig. 1 is the structural representation of the intelligent electric machine that prior art is provided；
Fig. 2 is the structural representation of the intelligent electric machine that the embodiment of the present invention 1 is provided；
Fig. 3 is the structured flowchart of the intelligent electric machine that the embodiment of the present invention 1 is provided；
Fig. 4 is the structural representation of the robot that the embodiment of the present invention 2 is provided.
In figure：
1 ', control system；2 ', communication interface；3', intelligent electric machine；1st, control system；2nd, information interface；3rd, intelligent electric machine；
30th, direct current generator；31st, servos control unit；32nd, reducing gear；33rd, output mechanism；310th, control module；311st, electricity is controlled
Road；312nd, communication module；340th, piezoelectric transducer (340)；341st, multi-dimension force sensor；342nd, temperature sensor；343rd, tactile
Sensor；344th, color sensor；345th, imageing sensor；346th, position sensor；347th, ultrasonic sensor；348th, it is infrared
Line sensor；349th, LED multi-color lamps；3101st, sampling and signaling interface；3121st, communication interface.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
Embodiment 1
The invention provides a kind of intelligent electric machine, as Figure 2-3, including：Direct current generator 30, servos control unit 31,
Reducing gear 32 and output mechanism 33, the servos control unit 31 includes control module 310 and is connected with control module 310
Control circuit 311, the connection direct current generator 30 of the control circuit 311 and reducing gear 32, the connection output of the reducing gear 32
Mechanism 33, the control module 310 is used to receive control information and temperature, the feedback information of current protecting circuit of steering wheel, and
Motor control parameters are calculated according to control information and feedback information, then control parameter is transmitted to control circuit, the control
Sampling and signaling interface 3101 are also associated with molding block 310, are had by connection on the sampling and signaling interface 3101
Sensor group and/or display device.
Directly pass through circuit phase by the sampling and the setting of signaling interface 3101 and with sampling and signaling interface 3101
The sensor group of connection and the setting of display device, effectively reduce the Internal cable quantity of humanoid robot in prior art
And length, improve machine human reriability.The information of all kinds of outer sensors of humanoid robot accurately and is rapidly gathered, is carried
The high extensibility of intelligent electric machine, and the motility of the access of outer sensor.The setting of the display device, further
Improve the communication and application in human-like computer and the external world.
The direct current generator 30 is used to receive the control parameter information of the output of control circuit 311, and according to specified rotating speed
Rotation；The reducing gear 32 is connected with the output shaft of direct current generator 30, for the high rotating speed of direct current generator 30, low torque to be turned
The output of the slow-speed of revolution, high torque is turned to, the output mechanism 33 being connected with reducing gear 32 exports the slow-speed of revolution, high torque
To steering wheel.
When being embodied as, the sampling and signaling interface 3101 are I/O interfaces, with the sampling and the phase of signaling interface 3101
The circuit of connection is A/D sampling circuits, I2C total lines, the combination of one or more of Uart data wires.With the sensor group
In the circuit that is connected of each sensor can be A/D sampling circuits, I2C total lines, one kind of Uart data wires, also may be used
To be that the sensor in the sensor group is divided three classes, each class adopts above-mentioned A/D sampling circuits, I2C total lines, Uart
One kind in data wire these three circuits, or the sensor in the sensor group is divided into into two classes, is passed described in two classes
Circuit corresponding to sensor is any two kinds in above-mentioned A/D sampling circuits, I2C total lines, Uart data wires these three circuits.
Multiple sensors are connected by circuit and are connected with control module 310, for by the feedback of each sensor
Information is sent to servos control module 310.The sensor group includes but is not limited to piezoelectric transducer 340, multi-dimension force sensor
341st, ultrasonic sensor 347, temperature sensor 342, infrared ray sensor 348, touch sensor 343, color sensor
344th, imageing sensor 345, the sensor that each intelligent electric machine 3 is connected can be as needed in above-mentioned sensor group
Multiple sensors the combination of one or more, or whole.
Can also be connected with control module 310 by circuit after multiple sensor parallels when being embodied as, for inciting somebody to action
The feedback information of each sensor is sent to servos control module 310.The temperature sensor 342 is used to feed back current operation temperature
Whether degree exceedes given threshold, and feedback information is sent to control module 310.
The sensor group also includes the position sensor 346 being connected with reducing gear 32, for by motor speed signal,
Position signalling feeds back to control circuit 311, and the position sensor 346 is by connection in sampling and signaling interface 3101
On.The display device includes LED multi-color lamps, plays a part of warning, reminds and extraneous communication.
Communication module 312 is also associated with the control module 310, communication is also associated with the communication module 312 and is connect
Mouth 3121, the communication interface 3121 connects the information module of robot control system 1 by circuit or wifi.The communication connects
Mouth 3121 is disposed side by side on the housing of steering wheel with sampling and signaling interface 3101.
The control circuit 311 also includes current protecting circuit, and the current protecting circuit is gone here and there with the direct current generator 30
Whether connection, the threshold value of setting is exceeded, and feedback information is sent to control module for feeding back the driving current of direct current generator 30
310。
Embodiment 2
Present invention also offers a kind of robot, as shown in figure 4, including control system 1 and driving means, the driving dress
Put including the intelligent electric machine 3 as described in any one of claim 1-9, and the information module of the intelligent electric machine 3 is connected with information
Interface 2, described information interface 2 is connected with the communication module 312 of the intelligent electric machine, and described information interface 2 passes through respectively circuit
Connect multiple intelligent electric machines 3, need to connect by sampling and signaling interface 3101 according to specific on multiple intelligent electric machines 3
N number of sensor (N is natural number), the information that N number of sensor is collected is by sampling and signaling interface 3101, communication mould
Block 321 and communication interface 3121 are sent to the information module of robot, and the control system 1 of robot passes through its information module by phase
The instruction answered is transferred to control module 310, is transferred to control circuit 311 by control module 310 and performs.
In sum, circuit phase is directly passed through by the sampling and the setting of signaling interface and with sampling and signaling interface
The sensor group of connection and the setting of display device, effectively reduce the Internal cable quantity of humanoid robot in prior art
And length, improve machine human reriability.The information of all kinds of outer sensors of humanoid robot accurately and is rapidly gathered, is carried
The high motility of the access of the extensibility and outer sensor of intelligent electric machine.The setting of the display device, further
Improve the communication and application in human-like computer and the external world.
The know-why of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and can not by any way be construed to limiting the scope of the invention.Based on explanation herein, the technology of this area
Personnel associate other specific embodiments of the present invention by need not paying performing creative labour, these modes fall within
Within protection scope of the present invention.
Claims (10)
1. a kind of intelligent electric machine, it is characterised in that include：Direct current generator (30), servos control unit (31), reducing gear (32)
With output mechanism (33), the servos control unit (31) includes control module (310) and the control being connected with control module (310)
Circuit (311) processed, the control circuit (311) connection direct current generator (30) and reducing gear (32), the reducing gear (32)
Connection output mechanism (33), is also associated with sampling and signaling interface (3101), the sampling and letter on the control module (310)
There are sensor group and/or display device by connection on number interface (3101).
2. intelligent electric machine according to claim 1, it is characterised in that the sampling and signaling interface (3101) connect for I/O
Mouthful, the circuit being connected with the sampling and signaling interface (3101) is A/D sampling circuits, I2C total lines, Uart data wires
The combination of one or more.
3. intelligent electric machine according to claim 1, it is characterised in that the sensor group include piezoelectric transducer (340),
Multi-dimension force sensor (341), ultrasonic sensor (347), temperature sensor (342), infrared ray sensor (348), tactile are passed
Sensor (343), color sensor (344), the combination of one or more of imageing sensor (345).
4. intelligent electric machine according to claim 1, it is characterised in that the display device includes LED multi-color lamps (349).
5. the intelligent electric machine according to any one of claim 1-4, it is characterised in that the sensor is connected simultaneously by circuit
It is connected with control module (310), for the feedback information of each sensor to be sent to control module (310).
6. the intelligent electric machine according to any one of claim 1-4, it is characterised in that pass through after multiple sensor parallels
Circuit is connected with control module (310), for the feedback information of each sensor to be sent to servos control module (310).
7. the intelligent electric machine according to any one of claim 1-4, it is characterised in that also connect on the control module (310)
Communication module (312) is connected to, on the communication module (312) communication interface (3121), the communication interface are also associated with
(3121) information module of robot control system is connected by circuit or wifi.
8. intelligent electric machine according to claim 7, it is characterised in that also include that the position being connected with reducing gear (32) passes
Sensor (346), for motor speed signal, position signalling to be fed back to into control circuit (311), the position sensor (346)
By connection in sampling and signaling interface (3101).
9. the intelligent electric machine according to any one of claim 1-4, it is characterised in that the control circuit (311) also includes
Current protecting circuit, the current protecting circuit is connected with the direct current generator (30), for feeding back the drive of direct current generator (30)
Whether streaming current exceedes given threshold, and feedback information is sent to control module (310).
10. a kind of robot, including control system (1) and driving means, it is characterised in that the driving means are included such as right
The intelligent electric machine (3) described in any one of 1-9 is required, and the information module of the intelligent electric machine (3) is connected with information interface (2),
Described information interface (2) is connected with the communication module (312) of the intelligent electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610911485.9A CN106564052A (en) | 2016-10-19 | 2016-10-19 | Intelligent motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610911485.9A CN106564052A (en) | 2016-10-19 | 2016-10-19 | Intelligent motor and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106564052A true CN106564052A (en) | 2017-04-19 |
Family
ID=58533963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610911485.9A Pending CN106564052A (en) | 2016-10-19 | 2016-10-19 | Intelligent motor and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106564052A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305867A (en) * | 2021-05-20 | 2021-08-27 | 上海纳深机器人有限公司 | Robot control circuit and control system supporting various AI (Artificial Intelligence) programming |
| CN113524212A (en) * | 2021-06-29 | 2021-10-22 | 智动时代(北京)科技有限公司 | Three-body robot composition method |
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| CN206085042U (en) * | 2016-10-19 | 2017-04-12 | 上海未来伙伴机器人有限公司 | Intelligent motor and robot |
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| KR100925177B1 (en) * | 2008-02-20 | 2009-11-05 | (주)로봇앤드디자인 | Power module structure for robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305867A (en) * | 2021-05-20 | 2021-08-27 | 上海纳深机器人有限公司 | Robot control circuit and control system supporting various AI (Artificial Intelligence) programming |
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| CN113524212A (en) * | 2021-06-29 | 2021-10-22 | 智动时代(北京)科技有限公司 | Three-body robot composition method |
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Application publication date: 20170419 |