CN105082136A - Plug-and-play tentacle robot control system - Google Patents
Plug-and-play tentacle robot control system Download PDFInfo
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- CN105082136A CN105082136A CN201510648950.XA CN201510648950A CN105082136A CN 105082136 A CN105082136 A CN 105082136A CN 201510648950 A CN201510648950 A CN 201510648950A CN 105082136 A CN105082136 A CN 105082136A
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- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 206010002320 anencephaly Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
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- 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
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
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- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a plug-and-play tentacle robot control system which comprises a central controller and control chips, wherein the central controller is arranged inside a tentacle robot terminal; each control chip is correspondingly arranged inside each joint component of the tentacle robot; the central controller is connected with all the control chips; the central controller comprises an operational treatment module used for controlling operation, an ID management module used for marking and managing ID of various control chips, and a female terminal used for being connected with the various control chips; each control chip comprises a signal feedback module used for signal feedback, an electromagnetic control module used for controlling movement of joint components, and a sub-terminal used for being connected with the central controller. According to the invention, the plug-and-play of all the joint components of the tentacle robot is realized, and the quantity and assembly sequence of the joint components can be changed at will.
Description
Technical field
The present invention relates to robot controlling field, be specifically related to a kind of plug and play tentacle robot control system.
Background technology
General industrial robot realizes the activity of the multiaxis free degree by the combination of various displacement carriage, whirligig.The integrated level of this robot architecture is high, is generally directly directly controlled by special independently robot control system.But the structural particularity of tentacle robot, combined by the identical multiple joint assembly of structure, each joint assembly is coordinated and separate mutually, and the combination order of joint assembly, number are all uncertain, if it is quite disadvantageous for arranging with the control of debugging control system to tentacle robot respectively according to Mei Tai tentacle robot.Such as, when joint assembly increases or reduces or joint assembly carries out dismounting restructuring in maintenance process, due to the change of joint assembly quantity or the actual assembled order change of joint assembly, all need again debugging control system with Adaptive change, the use of control system becomes very loaded down with trivial details.
Being not difficult to find out, also there is certain defect in prior art.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of plug and play tentacle robot control system, and realizing each joint assembly of tentacle robot can plug and play, arbitrarily can change quantity and the sequence of joint assembly.
For achieving the above object, the present invention is by the following technical solutions:
A kind of plug and play tentacle robot control system, comprises central controller and control chip; It is inner that tentacle robot terminal is located at by central controller; The inner correspondence of each joint assembly of tentacle robot arranges one piece of control chip; Central controller is connected with every block control chip;
Central controller comprises for the calculation process module of control algorithm, for marking and managing the ID administration module of each control chip ID and the female terminal for being connected with each control chip; ID administration module and calculation process model calling; Calculation process module is connected with all control chips by female terminal;
Control chip comprises for the signal feedback module of signal feedback, for controlling the Electromagnetic Control module of joint assembly activity and the sub-terminal for being connected with central controller; Signal feedback module is connected with the female terminal of central controller respectively by sub-terminal with Electromagnetic Control module.
Further, connected in series successively between described central controller and each control chip.
Further, parallel join between described central controller and each control chip, and connected in series successively between each control chip.
Further, described female terminal and sub-terminal are that wire communication is connected.
Further, described female terminal and sub-terminal are that wireless telecommunications are connected.
Further, described central controller also comprises memory body and lead-out terminal, memory body and lead-out terminal respectively with calculation process model calling.
A kind of plug and play tentacle robot control system provided by the present invention, has the following advantages:
There is special ID programmed function, accomplish all joint assemblies all plug and play, arbitrarily can change the joint assembly number of tentacle robot and order is installed;
Possess wireless communication function, simplify syndeton, be conducive to the weight alleviating tentacle robot;
Have all joint assemblies of memory body record action and can derived record, maintain easily and malfunction elimination.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of tentacle robot.
Fig. 2 is the schematic diagram of plug and play tentacle robot control system of the present invention.
Fig. 3 is the configuration diagram connected in series of the embodiment of the present invention one.
Fig. 4 is the parallel join configuration diagram of the embodiment of the present invention two.
Description of reference numerals:
1, terminal 2, joint assembly
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the embodiment of the present invention and accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.It should be noted that, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
Referring to Fig. 1, is the overall structure of tentacle robot.Tentacle robot comprises terminal 1 and at least one joint joint assembly 2; Between joint assembly 2 with joint assembly 2, ball pivot is connected, and more piece joint assembly 2 mutually ball pivot connects to form an articulated chain, and joint joint assembly 2 ball pivot be positioned at bottom articulated chain is connected on terminal 1.By plug and play tentacle robot control system of the present invention, tentacle robot is controlled, realize each joint assembly 2 co-ordination, reach overall high-freedom degree motion as bionical tentacle.Control activity by permanent magnet and electromagnetism winding between joint assembly 2, once electrically winding energising produces adsorption magnetic force to permanent magnet, joint assembly 2 will produce corresponding swing.Therefore, the control of tentacle robot is actual is control the rule of electromagnetism winding.
Refer to Fig. 2, the invention discloses a kind of plug and play tentacle robot control system, comprise central controller and control chip; It is inner that tentacle robot terminal 1 is located at by central controller; The inner correspondence of each joint assembly 2 of tentacle robot arranges one piece of control chip; Central controller is connected with every block control chip;
Central controller comprises for the calculation process module of control algorithm, for marking and managing the ID administration module of each control chip ID and the female terminal for being connected with each control chip; ID administration module and calculation process model calling; Calculation process module is connected with all control chips by female terminal;
Control chip comprises for the signal feedback module of signal feedback, for controlling the Electromagnetic Control module of joint assembly 2 activity and the sub-terminal for being connected with central controller; Signal feedback module is connected with the female terminal of central controller respectively by sub-terminal with Electromagnetic Control module.
Due to the particularity of tentacle robot architecture, common control system is difficult to meet demand for control.First, all joint assemblies 2 are structurally identical, and the motion of each joint assembly 2 is separate and mutual coordinations, and each joint assembly 2 configures one piece of special control chip to control the electromagnetism winding in this joint assembly 2.If the control of tentacle robot adopts the control system of prior art, directly controlling the programming that each joint assembly 2 is fixed, is so all very inconvenient to the installation of joint assembly 2 and maintenance in the future.Such as, joint assembly 2 is assembled according to a specific order successively when installing first, needs to dismantle joint assembly 2 if safeguarded in the future, then needs to re-assembly successively according to sequence originally when so re-assemblying; Or in maintenance process, find that some joint assemblies 2 have damaged, if the joint assembly 2 that so replacing one is new replaces original joint assembly 2, the identification of original control system certainly will be have impact on, cause control system to need again to debug; Or in the process safeguarded, in order to lengthen or shorten the entire length of tentacle robot, when increasing or reduce the joint assembly 2 of respective numbers, in the control program that original control system is write, the number of joint assembly 2 does not conform to the actual conditions, cause some joint assembly 2 None-identified to control, largely reducing the expanded compatibility of tentacle robot.
Plug and play tentacle robot control system of the present invention has then abandoned traditional fixing control model completely, automatically identify after adopting assembling and the mode controlled controls, how the sequence of joint assembly 2 changes, how quantity changes or how to replace be all impregnable.
Its operation principle is: after tentacle robot has been assembled, start whole control system, by the ID administration module of central controller, a signal is provided to every block control chip, feed back after the signal feedback module of every block control chip receives signal, ID administration module can generate a unique mark ID automatically, the ID of every block control chip is unique, so just can carry out independently controlling according to the control chip of different I D.Even if joint assembly 2 quantity has increase and decrease, order modification or has replacement, the mark of ID completes all again, therefore can not be affected, accomplish plug and play.Central controller completes the control to all joint assemblies 2, although joint assembly 2 is provided with control chip, control chip self does not possess calculation function, and it is " the taking follower " of one " anencephaly ", and all accept the unified command of central controller.Control chip controls electromagnetism winding after the instruction receiving central controller by means of only the Electromagnetic Control module of self, thus controls the action of each joint assembly 2.
Refer to Fig. 3, as preferably, connected in series successively between described central controller and each control chip.Each piece of control chip connected in series and central controller, structure is comparatively simple, signal is sent by ID administration module during identification, feedback signal is provided with the control chip that central controller is directly connected, mark first ID, then each piece of control chip also provides feedback signal successively, and so ID administration module just can write out the ID of each piece of control chip successively.This mode is simply direct, but its drawback is: if certain block control chip damages just cannot write out ID, and its control chip connected below also can lose connection.
As preferably, described female terminal and sub-terminal are that wire communication is connected or wireless telecommunications connect.Wire communication needs wiring, certain degree reduces packaging efficiency, and wiring also needs certain space, also increases the volume of equipment to a certain extent, adds the weight of equipment simultaneously.Wireless telecommunications avoid the problems referred to above, but wireless signal is likely interfered, and there is certain risk.Which kind of communication connected mode of concrete employing can according to circumstances be chosen.
As further preferably, described central controller also comprises memory body and lead-out terminal, memory body and lead-out terminal respectively with calculation process model calling.All control instructions can be recorded by memory body, are convenient to thumb in the future, can be transferred in other equipment carry out observation analysis by lead-out terminal.Memory body is conducive to the working condition record of tentacle robot, is also more conducive to the investigation of fault in the process safeguarded.
Embodiment two
Refer to Fig. 4, unique difference of the present embodiment and embodiment one is: as preferably, parallel join between described central controller and each control chip, and connected in series successively between each control chip.The connection mode of what the present embodiment totally adopted is parallel join, connected in series different from simple, even if certain block control chip breaks down, the control chip connected below also there will not be dropout and out of control situation.Relatively, framework is connected comparatively complicated.
Its operation principle is, the ID administration module of central controller provides signal to all control chips, because all control chips are all in parallel, all the same with the connection reality of central controller, ID mark cannot be carried out so merely, after the signal feedback module of control chip receives calling-on signal, then conduct interviews to adjacent control chip, then feed back result.So ID administration module to receive what return will be a sequence, just can sequentially carry out ID and identify, and then determine can controlling along inverse of sequence artificially.As expansion, if tentacle robot carries be connected with functional module group, so just more easily determine along backward.Only need also to send signal toward functional module group, the signal of functional module group is done special identifier process, and the direction along backward just directly determines.
Comparatively embodiment one is more complicated for the connection framework of the present embodiment, and which kind of specifically selects connect framework can carry out choosing design according to actual conditions.
A kind of plug and play tentacle robot control system provided by the present invention, adopt bionic design, there is special ID programmed function, accomplish all joint assemblies 2 all plug and play, arbitrarily can change joint assembly 2 number of tentacle robot and order is installed.Possess wireless communication function, simplify syndeton, be conducive to the weight alleviating tentacle robot.And have all joint assemblies 2 of memory body record action and can derived record, maintain easily and malfunction elimination.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. a plug and play tentacle robot control system, is characterized in that: comprise central controller and control chip; It is inner that tentacle robot terminal is located at by central controller; The inner correspondence of each joint assembly of tentacle robot arranges one piece of control chip; Central controller is connected with every block control chip;
Central controller comprises for the calculation process module of control algorithm, for marking and managing the ID administration module of each control chip ID and the female terminal for being connected with each control chip; ID administration module and calculation process model calling; Calculation process module is connected with all control chips by female terminal;
Control chip comprises for the signal feedback module of signal feedback, for controlling the Electromagnetic Control module of joint assembly activity and the sub-terminal for being connected with central controller; Signal feedback module is connected with the female terminal of central controller respectively by sub-terminal with Electromagnetic Control module.
2. plug and play tentacle robot control system according to claim 1, is characterized in that: connected in series successively between described central controller and each control chip.
3. plug and play tentacle robot control system according to claim 1, is characterized in that: parallel join between described central controller and each control chip, and connected in series successively between each control chip.
4. plug and play tentacle robot control system according to claim 1, is characterized in that: described female terminal and sub-terminal are that wire communication is connected.
5. plug and play tentacle robot control system according to claim 1, is characterized in that: described female terminal and sub-terminal are that wireless telecommunications are connected.
6. plug and play tentacle robot control system according to claim 1, is characterized in that: described central controller also comprises memory body and lead-out terminal, memory body and lead-out terminal respectively with calculation process model calling.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510648950.XA CN105082136A (en) | 2015-10-07 | 2015-10-07 | Plug-and-play tentacle robot control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124872A (en) * | 2018-08-30 | 2019-01-04 | 上海西地众创空间管理有限公司 | Femtosecond laser ophthalmology operation for myopia auxiliary joint |
| CN109746914A (en) * | 2018-12-29 | 2019-05-14 | 北京镁伽机器人科技有限公司 | Method for constructing robot, robot control device, system and storage medium |
| CN111273631A (en) * | 2020-04-01 | 2020-06-12 | 西安热工研究院有限公司 | An intelligent control platform for thermal power units with octopus-shaped architecture |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109124872A (en) * | 2018-08-30 | 2019-01-04 | 上海西地众创空间管理有限公司 | Femtosecond laser ophthalmology operation for myopia auxiliary joint |
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| CN111273631A (en) * | 2020-04-01 | 2020-06-12 | 西安热工研究院有限公司 | An intelligent control platform for thermal power units with octopus-shaped architecture |
| CN111273631B (en) * | 2020-04-01 | 2025-01-24 | 西安热工研究院有限公司 | An octopus-shaped intelligent control platform for thermal power units |
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Application publication date: 20151125 |