CN208207575U - Multi-robot coordination control system - Google Patents
Multi-robot coordination control system Download PDFInfo
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- CN208207575U CN208207575U CN201820913038.1U CN201820913038U CN208207575U CN 208207575 U CN208207575 U CN 208207575U CN 201820913038 U CN201820913038 U CN 201820913038U CN 208207575 U CN208207575 U CN 208207575U
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- robot
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Abstract
The utility model relates to a multi-robot coordination control systems, including master control borad, first positioning plate, second positioning plate, first Hall sensor, revolver motor, revolver motor drive module, second Hall sensor, right wheel motor, right wheel motor drive module and power circuit, the master control borad includes CPU processor, first positioning plate includes that the first fibre optic gyroscope and first compile photoelectric code device, second positioning plate includes that the second fibre optic gyroscope and second compile photoelectric code device, the utility model is by using control panel+more positioning plates Technical Architecture scheme, it realizes and coordinated control is carried out to multiple robots, the use cost of enterprise is saved, with very strong promotional value.
Description
Technical field
The utility model belongs to robot device field, and in particular to a kind of multi-robot coordination control system.
Background technique
With a series of the practicable of the policies in industrial 4.0 and made in China 2025 etc. and implement, industrial information manufacturing industry welcomes
Rapidly develop, the important ring industry multi-axis robot as intelligence manufacture, automated manufacturing has begun is widely applied
The cargo handling operation of high-precision, high complexity, high risk, high duplication is needed in industrial production line.Industrial robot
Application, positive meaning suffered from for the raising of actual product quality, production efficiency, working condition, reduces human cost
While also reduce the labor intensity of people.When production line You Duotai robot, need to be assisted by an equipment
Regulation system, thus guarantee each robot can sequential working, robot still takes the mode of respective Operation control at present, in this way
The increase for not only causing user cost, also will affect whole work efficiency.
Utility model content
The purpose of the utility model is to overcome the technical problems present on, provide a kind of multi-robot coordination control system
System.
To achieve the above object, the utility model adopts the following technical solutions:
Multi-robot coordination control system, including master control borad, the first positioning plate, the second positioning plate, the first Hall sensor,
Revolver motor, revolver motor drive module, the second Hall sensor, right wheel motor, right wheel motor drive module and power circuit,
The master control borad includes CPU processor, and first positioning plate includes the first fibre optic gyroscope and first compiles photoelectric code device, described
Second positioning plate includes the second fibre optic gyroscope and second compiles photoelectric code device, and first fibre optic gyroscope and first that includes compiles photoelectricity
Code device is to acquire the information of robot revolver motor and be sent to CPU processor；It is described to include the second fibre optic gyroscope and second
Photoelectric code device is compiled to acquire the information of robot right wheel motor and be sent to CPU processor；The revolver motor drive module
To drive revolver motor to walk；The right wheel motor drive module is to drive right wheel motor to walk；First Hall passes
Sensor is sent to CPU processor to acquire revolver motor parameter；Second Hall sensor is to acquire right wheel motor ginseng
Number is sent to CPU processor, and the power circuit is to provide working power to the master control borad.
Further, the model ARM9020 chip of the CPU processor.
Further, the also onboard buzzer of the master control borad, the buzzer and the CPU processor are electrically connected.
Further, the also onboard serial port module of the master control borad, the serial port module electrically connect with the CPU processor
It connects.
Further, the serial port module is RS422 serial ports.
Further, also onboard on the master control borad to have RTC clock module, the RTC clock module and the CPU are handled
Device is electrically connected.
Further, also onboard on the master control borad to have debugging interface, the debugging interface and the CPU processor are electrical
Connection.
The beneficial effects of the utility model are: by using control panel+more positioning plates Technical Architecture scheme, realize pair
Multiple robots carry out coordinated control, have saved the use cost of enterprise, have very strong promotional value.
Detailed description of the invention
Fig. 1: the utility model internal circuit configuration block diagram.
Fig. 2: the interface principle figure of the first fibre optic gyroscope of the utility model.
Fig. 3: the interface principle figure of the volume photoelectric code device of the utility model first.
Fig. 4: the interface principle figure of the utility model debugging interface.
Specific embodiment
With reference to the accompanying drawing and the utility model is described in detail in embodiment.
As shown in Figure 1, multi-robot coordination control system, including master control borad, the first positioning plate, the second positioning plate, first
Hall sensor, revolver motor, revolver motor drive module, the second Hall sensor, right wheel motor, right wheel motor drive module
And power circuit, the master control borad include CPU processor, the model ARM9020 chip of CPU processor.First positioning
Plate includes the first fibre optic gyroscope and first compiles photoelectric code device, and second positioning plate includes that the second fibre optic gyroscope and second are compiled
Photoelectric code device.
As shown in Fig. 2, first fibre optic gyroscope is to acquire the information of robot revolver motor and be sent at CPU
Manage device.
As shown in figure 3, described first compiles photoelectric code device to acquire the information of robot revolver motor and be sent at CPU
Manage device.
Second fibre optic gyroscope and second compiles information and transmission of the photoelectric code device to acquire robot right wheel motor
To CPU processor；The revolver motor drive module is to drive revolver motor to walk；The right wheel motor drive module to
Drive the walking of right wheel motor；First Hall sensor is sent to CPU processor to acquire revolver motor parameter；Described
Two Hall sensors are sent to CPU processor to acquire the right wheel parameter of electric machine, and the power circuit is to the master control borad
Working power is provided.
Preferably, the also onboard buzzer of the master control borad, the buzzer and the CPU processor are electrically connected.
Preferably, the also onboard serial port module of the master control borad, the serial port module and the CPU processor are electrically connected.
Preferably, the serial port module is RS422 serial ports.
Preferably, also onboard on the master control borad to have RTC clock module, the RTC clock module and the CPU processor
It is electrically connected.
As shown in figure 4, also onboard on the master control borad have debugging interface, the debugging interface and CPU processor electricity
Property connection.
The CPU processor of the utility model, the first fibre optic gyroscope, first compile photoelectric code device, the second fibre optic gyroscope, the
Two compile photoelectric code device, the first Hall sensor, revolver motor, revolver motor drive module, the second Hall sensor, right wheel electricity
Machine, right wheel motor drive module, power circuit, RTC clock module and debugging interface etc. are what those skilled in the art knew
Component, mutual connection type and principle are all that those skilled in the art are learnt by technical manual.
Finally, it should be noted that above embodiments are only to illustrate the utility model and not limit the utility model and retouched
The technical solution stated；Therefore, although this specification the utility model is had been carried out referring to above-mentioned each embodiment it is detailed
Illustrate, still, those skilled in the art should understand that, it still can modify to the utility model or equally replace
It changes；And the technical solution and its improvement of all spirit and scope for not departing from the utility model, it should all cover practical new at this
In the scope of the claims of type.
Claims (7)
1. multi-robot coordination control system, which is characterized in that suddenly including master control borad, the first positioning plate, the second positioning plate, first
Your sensor, revolver motor, revolver motor drive module, the second Hall sensor, right wheel motor, right wheel motor drive module and
Power circuit, the master control borad include CPU processor, and first positioning plate includes that the first fibre optic gyroscope and first compile photoelectricity
Code device, second positioning plate include the second fibre optic gyroscope and second compile photoelectric code device, it is described include the first fibre optic gyroscope and
First compiles photoelectric code device to acquire the information of robot revolver motor and be sent to CPU processor；It is described to include the second optical fiber top
Spiral shell instrument and second compiles photoelectric code device to acquire the information of robot right wheel motor and be sent to CPU processor；The revolver electricity
Machine drive module is to drive revolver motor to walk；The right wheel motor drive module is to drive right wheel motor to walk；It is described
First Hall sensor is sent to CPU processor to acquire revolver motor parameter；Second Hall sensor is to acquire
The right wheel parameter of electric machine is sent to CPU processor, and the power circuit is to provide working power to the master control borad.
2. multi-robot coordination control system according to claim 1, which is characterized in that the model of the CPU processor
For ARM9020 chip.
3. multi-robot coordination control system according to claim 1, which is characterized in that the also onboard buzzing of the master control borad
Device, the buzzer and the CPU processor are electrically connected.
4. multi-robot coordination control system according to claim 1, which is characterized in that the also onboard serial ports of the master control borad
Module, the serial port module and the CPU processor are electrically connected.
5. multi-robot coordination control system according to claim 4, which is characterized in that the serial port module is RS422
Serial ports.
6. multi-robot coordination control system according to claim 1, which is characterized in that also onboard on the master control borad to have
RTC clock module, the RTC clock module and the CPU processor are electrically connected.
7. multi-robot coordination control system according to claim 1, which is characterized in that also onboard on the master control borad to have
Debugging interface, the debugging interface and the CPU processor are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913038.1U CN208207575U (en) | 2018-06-13 | 2018-06-13 | Multi-robot coordination control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913038.1U CN208207575U (en) | 2018-06-13 | 2018-06-13 | Multi-robot coordination control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208207575U true CN208207575U (en) | 2018-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820913038.1U Active CN208207575U (en) | 2018-06-13 | 2018-06-13 | Multi-robot coordination control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704048A (en) * | 2019-02-01 | 2019-05-03 | 深圳若贝特智能机器人科技有限公司 | A kind of pallet pipeline |
-
2018
- 2018-06-13 CN CN201820913038.1U patent/CN208207575U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704048A (en) * | 2019-02-01 | 2019-05-03 | 深圳若贝特智能机器人科技有限公司 | A kind of pallet pipeline |
| CN109704048B (en) * | 2019-02-01 | 2024-04-02 | 深圳若贝特智能机器人科技有限公司 | Pallet conveying line |
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