Robot controller and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot controller and a robot. The circuit specifically comprises a logic control circuit board and a power supply control circuit board. And the logic control circuit board and the power supply control circuit board are in layered connection. The logic control circuit board and the power supply control circuit board are designed in a layered manner, so that the space utilization efficiency of the robot controller can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot controller and a robot. Background Art

[0002] Robots (especially humanoid robots) are relatively complex motion control systems, usually consisting of three parts: drivers, motion controllers, and sensors. Common motion controllers include: PLC (Programmable Logic Controller), stand-alone motion controllers, motion control cards, and dedicated motion controllers.

[0003] Existing dedicated motion controllers suitable for humanoid robots generally have defects such as the control circuit structure and module functions are mixed on a circuit board, the wiring harness regularity of the control circuit structure is poor, and the space utilization efficiency of the control circuit structure is low. Utility Model Content

[0004] The present application provides a robot controller and a robot.

[0005] According to one aspect of the present application, a robot controller is provided, comprising a logic control circuit board and a power control circuit board; wherein the logic control circuit board and the power control circuit board are connected in layers.

[0006] Optionally, the logic control circuit board is provided with at least one power interface, and the power control circuit board is provided with at least one power socket, and the logic control circuit board is electrically connected to the power control circuit board via the at least one power interface and the at least one power socket.

[0007] Optionally, the logic control circuit board and the power control circuit board are connected in a direction perpendicular to a board plane.

[0008] Optionally, the robot controller further includes:

[0009] A plurality of connecting columns and a plurality of screws, the logic control circuit board and the power control circuit board are connected through the plurality of connecting columns and the plurality of screws.

[0010] Optionally, the plurality of connecting columns are arranged on the power control circuit board, and the logic control circuit board is provided with first mounting holes corresponding to the plurality of connecting columns, and the plurality of screws are fixed in the corresponding connecting columns through the first mounting holes.

[0011] Optionally, the material of the plurality of connecting columns includes metal or plastic.

[0012] Optionally, at least one communication cable interface is provided on the logic control circuit board; at least one power cable interface is provided on the power control circuit board; the communication cable of the communication cable interface and the power cable of the power cable interface are combined into a composite cable through a bundling piece.

[0013] Optionally, the communication cable interface and the power cable interface are located on the same side.

[0014] Optionally, the robot controller further includes:

[0015] The absorption resistor circuit board is welded on the power control circuit board.

[0016] Optionally, the robot controller further includes:

[0017] A plurality of second mounting holes are respectively arranged on each corner of the power control circuit board;

[0018] A plurality of notches are respectively arranged on the corners of the logic control circuit board and correspond one by one to the plurality of second mounting holes.

[0019] Optionally, the logic control circuit board and the power control circuit board are both rectangular.

[0020] Optionally, the logic control circuit board and the power control circuit board have the same length and width.

[0021] According to another aspect of the present application, a robot is provided, comprising a robot controller as described in any one of the above technical solutions.

[0022] The robot controller and robot provided in the present application can improve the space utilization efficiency of the robot controller by designing the logic control circuit board and the power control circuit board in a layered manner.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.

[0025] Figure 1 is a schematic diagram of the overall structure of the robot controller in the embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the installation structure of the strapping member in the embodiment of the present application;

[0027] Figure 3Schematic diagram of the installation structure of the absorption resistor circuit board in the embodiment of the present application;

[0028] Figure 4 is a bottom view of the robot controller in the embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of a robot controller from another perspective in an embodiment of the present application;

[0030] Figure 6 It is a top view of the robot controller in an embodiment of the present application.

[0031] The reference numerals in the specific implementation manner are as follows:

[0032] Logic control circuit board 1; communication cable interface 101; communication cable 102; power control circuit board 2; power cable interface 201; power cable 202; connecting column 3; screw 4; binding piece 5; absorption resistor circuit board 6; second mounting hole 7; notch 8. DETAILED DESCRIPTION

[0033] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0034] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0035] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0036] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0037] In view of the technical problem that the space utilization efficiency of the robot controller in the prior art is low, the present application provides a robot controller such as Figure 1 As shown, it includes a logic control circuit board 1 and a power control circuit board 2; the logic control circuit board 1 and the power control circuit board 2 are connected in layers.

[0038] Specifically, the split design means that the logic control circuit and the power control circuit originally designed on the same control circuit board are designed on two different control circuit boards, namely, the logic control circuit board 1 and the power control circuit board 2. Through this layered design, the space occupied by the logic control circuit and the power control circuit is reduced, and the space utilization efficiency of the robot controller is improved.

[0039] As an optional implementation, at least one power interface is provided on the logic control circuit board 1, and at least one power socket is provided on the power control circuit board 2. The logic control circuit board 1 is electrically connected to the power control circuit board 2 through at least one power interface and at least one power socket, that is, the power input end of the logic control circuit board 1 is connected to the output end of the power control circuit board 2, so that the power control circuit board 2 supplies power to the logic control circuit board 1.

[0040] As an optional implementation, Figure 1 As shown, the logic control circuit board 1 and the power control circuit board 2 are connected in a direction perpendicular to the board plane.

[0041] Specifically, the logic control circuit board 1 and the power control circuit board 2 can be designed as multi-layered. The logic control circuit board 1 and the power control circuit board 2 can be designed in parallel, with the logic control circuit board 1 being arranged on the upper layer and the power control circuit board 2 being arranged on the lower layer; or, the power control circuit board 2 being arranged on the upper layer and the logic control circuit board 1 being arranged on the lower layer. This layered design can reduce the occupied space in the horizontal direction. For example, the total area of ​​the original integrated design of the logic control circuit board 1 and the power control circuit board 2 is 12cm 2 After the split design, the total area of ​​the controller is reduced to 6cm 2 .

[0042] As an optional implementation, Figure 1 As shown, the robot controller also includes:

[0043] A plurality of connection columns 3 and a plurality of screws 4 , the logic control circuit board 1 and the power control circuit board 2 are connected via the plurality of connection columns 3 and the plurality of screws 4 .

[0044] Specifically, the logic control circuit board 1 and the power control circuit board 2 in this embodiment can be rectangular, and a number of connection columns 3 (the number is 4 in this embodiment) can be respectively arranged on the four corners of the power control circuit board 2; a number of screws 4 (the number is 4 in this embodiment) can be respectively arranged on the four corners of the logic control circuit board 1, and the logic control circuit board 1 and the power control circuit board 2 are fixedly connected by the connection columns 3 and the screws 4. Among them, when the power control circuit board 2 is designed in the lower layer, the number of connection columns 3 can be designed on the four corners of the power control circuit board 2 in an integrated manner, so that the logic control circuit board 1 can be installed on the power control circuit board 2.

[0045] As an optional implementation, a plurality of connecting columns 3 are arranged on the power control circuit board 2, a first mounting hole corresponding to the plurality of connecting columns 3 is provided on the logic control circuit board 1, and a plurality of screws 4 are fixed in the corresponding connecting columns 3 through the first mounting holes.

[0046] As an optional implementation, several connecting columns 3 can be made of materials with a certain hardness such as metal or plastic. For example, in this embodiment, copper columns can be optionally used as connecting columns 3. The copper columns can be integrally formed with the power control circuit board 2, without the need for welding and splicing, thus reducing connecting components, reducing manufacturing costs, and enhancing the overall stability of the controller structure.

[0047] As an optional implementation, Figure 2 As shown, at least one communication cable interface 101 is provided on the logic control circuit board 1; at least one power cable interface 201 is provided on the power control circuit board 2; the communication cable 102 of the communication cable interface 101 and the power cable 202 of the power cable interface 201 are combined into a composite wire through a bundling piece 5.

[0048] Specifically, in this embodiment, the wiring harness of the communication cable 102 and the power cable 202 is optimized through the bundling piece 5. The communication cable 102 and the power cable 202 are bundled in pairs to facilitate the connection of the composite wire (the communication cable and the power cable form a composite wire), which can enhance the regularity of the wiring harness connected to the control circuit structure and optimize the wiring space in the controller, thereby further improving the space utilization efficiency of the controller.

[0049] As an optional implementation, Figure 2As shown, the communication cable interface 101 and the power cable interface 102 are located on the same side, so as to facilitate bundling of the communication cable 102 and the power cable 202 .

[0050] As an optional implementation, Figure 3 As shown, the robot controller also includes: an absorption resistor circuit board 6, which is welded on the power control circuit board 2.

[0051] Specifically, Figure 4 The figure shows a bottom view of the robot controller structure. In this embodiment, the absorption resistor circuit board 6 is welded on the downward side of the power control circuit board 2, that is, the side facing away from the power cable interface 201, so as to make full use of the space of the power control circuit board 2. In the traditional controller structure, the absorption resistor is independent of the power control circuit board, and the absorption resistor needs to be connected to the power control circuit board through a resistor connector, which occupies a large space and has a low space utilization efficiency. In this embodiment, by directly welding the absorption resistor circuit board 6 on the power control circuit board 2, the space utilization efficiency of the controller circuit structure can be further improved.

[0052] As an optional implementation, Figure 5 As shown, the robot controller also includes:

[0053] A plurality of second mounting holes 7 are respectively arranged on each corner of the power control circuit board 2;

[0054] A plurality of notches 8 are respectively arranged on the corners of the logic control circuit board 1 and correspond one-to-one to a plurality of second mounting holes 7 .

[0055] Specifically, the logic control circuit board 1 and the power control circuit board 2 in this embodiment are both rectangular, and a corresponding second mounting hole 7 is set at the corresponding position of the power control circuit board 2, which is used to install the entire control circuit structure of the controller on the robot through screws and the second mounting hole 7. In this embodiment, four notches 8 are opened at the four corners of the logic control circuit board 1 (i.e., the positions corresponding to the second mounting holes 7). The main function of designing the notches 8 is to facilitate the installation of the entire control circuit structure of the controller (logic control circuit board 1 + power control circuit board 2) on the robot. Figure 6 As shown, since the notch 8 is provided, the screw can enter the second mounting hole 7 through the notch, thereby preventing the corner of the logic control circuit board 1 from blocking the second mounting hole 7 below and causing interference.

[0056] As an optional implementation, the logic control circuit board and the power control circuit board are both rectangular and have the same length and width. The four corners of the two rectangular circuit boards are fixedly connected to enhance the stability of the structure. In addition to rectangles, other shapes such as discs, trapezoids, etc. can also be used. This application aims to design the logic control circuit board and the power control circuit board into a hierarchical control circuit structure to improve the space utilization efficiency of the control circuit structure.

[0057] The present application also provides a robot, comprising the robot controller described in any one of the above embodiments, such as Figure 1 As shown, it includes a logic control circuit board 1 and a power control circuit board 2; the logic control circuit board 1 and the power control circuit board 2 are connected in layers.

[0058] Specifically, the hierarchical design refers to designing the logic control circuit and the power control circuit, which were originally designed on the same control circuit board, on two different control circuit boards, namely, the logic control circuit board 1 and the power control circuit board 2. Through this hierarchical design, the space occupied by the logic control circuit and the power control circuit is reduced, and the space utilization efficiency of the robot controller is improved. Especially for humanoid robots, improving the space utilization efficiency of the controller can improve the flexibility and adaptability of the robot and meet the diversified needs of the development of the robot industry.

[0059] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0060] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A robot controller, comprising a logic control circuit board (1) and a power control circuit board (2); characterized in that: The logic control circuit board (1) and the power control circuit board (2) are connected in layers; at least one communication cable interface (101) is provided on the logic control circuit board (1); and at least one power cable interface (201) is provided on the power control circuit board (2).

2. The robot controller according to claim 1, characterized in that: The logic control circuit board (1) is provided with at least one power interface, and the power control circuit board (2) is provided with at least one power socket. The logic control circuit board (1) is electrically connected to the power control circuit board (2) via the at least one power interface and the at least one power socket.

3. The robot controller according to claim 1, characterized in that: The logic control circuit board (1) and the power control circuit board (2) are connected in a direction perpendicular to the board plane.

4. The robot controller according to claim 1, characterized in that: The robot controller also includes: A plurality of connection columns (3) and a plurality of screws (4), wherein the logic control circuit board (1) and the power control circuit board (2) are connected via the plurality of connection columns (3) and the plurality of screws (4).

5. The robot controller according to claim 4, characterized in that: The plurality of connection columns (3) are arranged on the power control circuit board (2), the logic control circuit board (1) is provided with first mounting holes corresponding to the plurality of connection columns (3), and the plurality of screws (4) are fixed in the corresponding connection columns (3) through the first mounting holes.

6. The robot controller according to claim 5, characterized in that: The material of the plurality of connecting columns (3) includes metal or plastic.

7. The robot controller according to claim 1, characterized in that: The communication cable (102) of the communication cable interface (101) and the power cable (202) of the power cable interface (201) are combined into a composite cable via a binding member (5).

8. The robot controller according to claim 7, characterized in that: The communication cable interface (101) and the power cable interface (201) are located on the same side.

9. The robot controller according to claim 1, characterized in that: The robot controller also includes: An absorption resistor circuit board (6) is welded on the power control circuit board (2).

10. The robot controller according to any one of claims 1 to 9, characterized in that: The robot controller also includes: A plurality of second mounting holes (7) are respectively arranged on each corner of the power control circuit board (2); A plurality of notches (8) are respectively arranged on the corners of the logic control circuit board (1) and correspond one-to-one to the plurality of second mounting holes (7).

11. The robot controller according to claim 1, characterized in that: The logic control circuit board (1) and the power control circuit board (2) are both rectangular.

12. The robot controller according to claim 10, characterized in that: The logic control circuit board (1) and the power control circuit board (2) have the same length and width.

13. A robot, characterized in that: A robot controller comprising any one of claims 1-12.

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