A control box for robot execution drive

Abstract

The present invention discloses a control box for robot execution drive, including a chassis, a control mainboard, a communication interface, an execution component, a power module and a power supply interface; the execution component includes a motor drive module, a DC motor, an execution unit, and an angle sensor; the control mainboard interacts with the robot's control system via the communication interface to monitor information, and realizes the analog execution drive of the pull wire or pull rod in the engine, gear box or clutch through the execution unit, and the control mainboard provides a digital opening and closing drive signal to the robot's power equipment through the drive unit and relay, and forms feedback monitoring through the sensor. The present invention can not only accept the control instructions of the robot's control system to realize remote precision drive, but also perform functional testing and local control through the human-computer interaction module, with a high degree of automation and easy to use.

Description

Technical Field

[0001] The present invention relates to robot power system control technology, mainly engine throttle control, gear box or clutch gear position control, and in particular to a control box used for robot execution drive. Background Art

[0002] With the continuous development of robotics technology, more and more intelligent unmanned equipment has emerged. Existing robotic equipment such as unmanned ships, drones or unmanned vehicles generally use remote control and autonomous driving power systems to complete designated tasks.

[0003] The power system of a robot usually includes: engines, gearboxes, clutches, steering gears and other power equipment, which are combined to achieve different power outputs. In order to meet the real-time change requirements of power output, the power equipment needs to be mechanically controlled. The operation method in traditional machines is manual control, using wires, rods and other methods to adjust the position or angle. Generally, robots need to set a drive unit for each controlled object, which makes the drive unit complex and scattered, which is not conducive to management and maintenance. The above methods cannot meet the needs of highly integrated robots and streamlined equipment.

[0004] Therefore, it is necessary to provide a control box that integrates the overall execution drive requirements of the robot, can remotely respond to the robot's control signals, and provide analog and digital drive functions.

[0005] In view of this, overcoming the defects of the above-mentioned prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0006] The technical problem to be solved by the present invention is: to solve the problem of complex and dispersed driving of robot power equipment by providing analog and digital execution driving functions through a control box.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions.

[0008] A control box used for robot execution drive comprises a chassis, a control mainboard, a communication interface, an execution component, a human-machine interaction module, a power module and a power supply interface.

[0009] The control mainboard is arranged inside the chassis and is used to receive monitoring information and generate control instructions; the control mainboard includes a processing unit, a feedback unit, a decision unit, a drive unit and a relay.

[0010] The communication interface is arranged on the outside of the chassis and is used for the robot control system to exchange information with the control mainboard; the communication interface includes a CAN interface, an RS232 / RS422 interface, an ADC input interface, a PWM input interface, a relay output interface and a threshold position input interface.

[0011] The relay output interface outputs an opening and closing signal to satisfy the opening and closing control of the robot power equipment circuit.

[0012] The CAN network interface is connected to the robot control system CAN network to obtain the robot's control commands for the power equipment and feedback the working status of the control mainboard.

[0013] The RS232 / RS422 interface is connected to the RS232 / RS422 serial port of the robot control system to obtain the robot's control commands for the power equipment and feedback the working status of the control mainboard.

[0014] The ADC input interface receives control signals such as voltage, current, potentiometer, etc. of the robot control system.

[0015] The PWM input interface receives the PWM pulse control signal of the robot control system.

[0016] The actuator comprises a motor drive module, a DC motor, an actuator unit and an angle sensor; wherein the motor drive module is arranged inside the chassis, electrically connected to the control mainboard, and used to drive the DC motor to move; the DC motor is arranged inside the chassis, and its output shaft vertically passes through the top of the chassis; the actuator unit comprises a swing arm, a transmission flexible shaft and a limit plate; a pin hole and a fastening hole are arranged at the tail end of the swing arm, and the swing arm is vertically inserted into the top of the output shaft of the DC motor through the pin hole, and the aperture of the pin hole is adjusted through the fastening hole. When the aperture becomes smaller, the pin hole tightly clamps the top of the output shaft of the DC motor so that the swing arm is firmly connected to the output shaft of the DC motor; a connecting hole is arranged at the head end of the swing arm, which is used to connect the head end connecting rod of the transmission flexible shaft;

[0017] A clamping slot is arranged on the connecting rod at the head end of the transmission flexible shaft; the limiting plate is installed at the top end of the outer side of the chassis, and a limiting slot matching the clamping slot is arranged on the upper side of the limiting plate, and the connecting rod at the head end of the transmission flexible shaft can be limited to the limiting slot by the limiting plate;

[0018] The angle sensor is installed at the tail of the DC motor output shaft to monitor the rotation angle of the swing arm; a limit pin is respectively arranged on both sides of the swing arm, and the limit pin limits the rotation range of the swing arm to 5 degrees-175 degrees.

[0019] The processing unit is responsible for receiving the control signal instructions of the communication interface and processing them into signals that can be recognized by the decision-making unit; specifically, the processing unit processes the monitoring information of the CAN interface, RS232 / RS422 interface, ADC input interface, PWM interface, position threshold input interface and human-computer interaction module.

[0020] The feedback unit is responsible for receiving feedback signals such as the state and position of the power equipment, and processing them into signals that can be recognized by the decision unit; specifically, the feedback unit processes the feedback information of the angle sensor and the position threshold input interface.

[0021] The decision unit is responsible for analyzing and comprehensively processing the signals of the processing unit and the feedback unit, and generating a digital drive signal or an analog drive signal. Specifically, the decision unit generates a monitoring instruction according to the processing results of the processing unit and the feedback unit and forwards it to the CAN interface, RS232 / RS422 interface, PWM interface, drive unit, motor drive module or human-computer interaction module, specifically, the relay digital drive signal is transmitted to the drive unit, and the analog drive signal is transmitted to the motor drive module.

[0022] The driving unit is responsible for driving the relay to operate according to the execution instruction of the decision unit, providing a switch signal for the power equipment to meet the start or stop requirements of the power equipment in the robot.

[0023] The motor drive module drives the DC motor to move according to the execution instruction of the decision unit, and provides an analog control signal to the execution unit to meet the linear execution drive requirements of the throttle or pull rod in the robot.

[0024] The human-computer interaction module includes buttons, light-emitting elements and sound-emitting elements. The buttons and light-emitting elements of the human-computer interaction module are attached to the top of the chassis, and the sound-emitting element is installed inside the chassis; the button signal is transmitted to the processing unit, and the light-emitting element and the sound-emitting element act according to the instructions of the decision-making unit. The light-emitting element is a diode lamp, and the sound-emitting element is a buzzer.

[0025] The power supply interface is arranged outside the chassis and connected to the input end of the power module, and is used to connect the power module to an external power source.

[0026] The power module is arranged inside the chassis, and the output end of the power module is connected to the control mainboard, the execution component, and the electrical components in the human-computer interaction module through a wire. The power module converts the voltage into voltages of different levels and provides working power according to the requirements of the control mainboard, the execution component, and the electrical components in the human-computer interaction module.

[0027] Compared with the prior art, the present invention has the following advantages: the technology of the present invention can enable the drive system of the robot's power equipment to be friendly connected to the original control system of the robot, and can satisfy the analog execution drive of devices such as throttles or pull rods through the execution unit, and satisfy the digital execution drive of devices such as engines, ignition switches or motors through relays. Robot control integration can be achieved without large-scale transformation of the original power equipment, greatly improving the robot's controllability, intelligence, modularity and automation.

[0028] The present invention can access a wide variety of control signals and is compatible with a variety of control modes of the robot control system. The communication interface realizes remote control, and the human-computer interaction module is convenient for on-site testing.

[0029] The present invention has flexible control modes for the execution drive of the power equipment and feedback signal combinations, and can realize the control of robot power equipment in water, on the ground, in the air, etc., and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a three-dimensional state diagram of a control box used for robot execution driving in an embodiment of the present invention.

[0032] Figure 2 This is a three-dimensional diagram of the control box used for robot execution driving in an embodiment of the present invention after removing the left and rear side baffles.

[0033] Figure 3 It is a schematic diagram of the connection structure of the DC motor and the swing arm of the actuator in the control box used for robot execution drive in an embodiment of the present invention.

[0034] Figure 4 It is a connection diagram of the swing arm and the transmission flexible shaft of the execution component in the control box used for robot execution drive in an embodiment of the present invention.

[0035] Figure 5 Schematic diagram of communication connection of a control box system used for robot execution drive in an embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram of the communication connection between the control box used for robot execution drive and the robot payload equipment in an embodiment of the present invention.

[0037] In the figure: 1-chassis; 2-control mainboard; 3-communication interface; 4-power module; 5-power supply interface; 6-motor drive module; 7-DC motor; 8-execution unit; 9-human-computer interaction module; 10-angle sensor; 201-processing unit; 202-feedback unit; 203-drive unit; 204-decision-making unit; 205-relay; 301-CAN interface; 302-RS232 / RS422 interface; 303-A DC input interface; 304-PWM input interface; 305-relay output interface; 306-threshold position input interface; 801-swing arm; 802-transmission flexible shaft; 803-limiting plate; 804-connecting hole; 805-head end connecting rod; 806-slot; 807-limiting slot; 808-limiting plate; 809-limiting pin; 810-pin hole; 811-fastening hole; 901-button; 902-light-emitting element; 903-sounding element. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "upper", "lower", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0040] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0041] like Figure 1-5 As shown, a control box used for robot execution drive includes a chassis 1, a control mainboard 2, a communication interface 3, an execution component, a human-computer interaction module 9, a power module 4 and a power supply interface 5.

[0042] The control mainboard 2 is arranged inside the chassis 1, and is used to receive monitoring information and generate control instructions; an STM32F series CPU is arranged in the control mainboard 2; specifically, a processing unit 201, a feedback unit 202, a decision unit 204 and a drive unit 203 are arranged in the CPU, and four relays 205 are also installed on the control mainboard 2; the CPU stores a parameter table corresponding to the rotation angle of the DC motor 7 and the engine throttle or pull rod opening.

[0043] The communication interface 3 is arranged on the outside of the chassis 1, and is used to exchange information with the control main board 2; specifically, the communication interface 3 includes 2 CAN interfaces 301, 1 RS232 / RS422 interface 302, 1 ADC input interface 303, 1 PWM input interface 304, 1 relay output interface 305 and 1 threshold position input interface 306, wherein the pins of the RS232 / RS422 interface 302, the ADC input interface 303 and the PWM input interface 304 share a port.

[0044] The output interface of the relay 205 is provided with 6 groups of opening and closing signal outputs, which are used to satisfy the opening and closing control of multiple circuits of the robot.

[0045] The CAN network interface is connected to the robot control system CAN network to obtain the robot's control commands for the power equipment and feedback the working status of the control mainboard 2.

[0046] The RS232 / RS422 interface 302 is connected to the RS232 / RS422 serial port of the robot control system to obtain the robot's control commands for the power equipment and feedback the working status of the control mainboard 2.

[0047] The ADC input interface 303 receives control signals such as voltage, current, potentiometer, etc. of the robot control system.

[0048] The PWM input interface 304 receives the PWM pulse control signal of the robot control system.

[0049] Specifically, the execution component includes a motor drive module 6, a DC motor 7, an execution unit 8 and an angle sensor 10;

[0050] The motor drive module 6 is fixedly arranged inside the chassis 1 and serves as a controller of the actuator. It is electrically connected to the control mainboard 2 and is used to drive the DC motor 7 to move.

[0051] The DC motor 7 is fixedly mounted inside the chassis 1, and its output shaft vertically passes through the top of the chassis 1;

[0052] The execution unit 8 includes a swing arm 801, a transmission flexible shaft 802 and a limit plate 803; specifically, a pin hole 810 and a fastening hole 811 are arranged at the tail end of the swing arm 801, the top of the output shaft of the DC motor 7 is a D-shaped column, the shape of the pin hole 810 matches the top of the output shaft, the swing arm 801 is vertically inserted into the top of the output shaft of the DC motor 7 through the pin hole 810, and then the aperture of the fastening hole 811 is adjusted by a bolt. When the aperture becomes smaller, the pin hole 810 tightly clamps the top of the output shaft of the DC motor 7 so that the swing arm 801 is firmly sleeved on the output shaft of the DC motor 7; a connecting hole 804 is arranged at the head end of the swing arm 801, and a connecting rod 805 at the head end of the transmission flexible shaft 802 is hinged in the connecting hole 804 by a bolt;

[0053] The limiting plate 803 is installed at the top of the outer side of the chassis 1, and is used to fix the head end connecting rod 805 of the transmission flexible shaft 802; the head end connecting rod 805 of the transmission flexible shaft 802 is provided with a clamping groove 806; the upper side of the limiting plate 803 is provided with a limiting groove 807 matching the clamping groove 806. When the clamping groove 806 provided on the head end connecting rod 805 is placed in the limiting groove 807, the limiting piece 808 is clamped in the notch of the limiting groove 807, so that the head end connecting rod 805 of the transmission flexible shaft 802 is completely restricted on the limiting groove 807;

[0054] The angle sensor 10 is installed at the tail of the output shaft of the DC motor 7 to monitor the rotation of the output shaft of the DC motor 7 and obtain the rotation angle of the swing arm 801;

[0055] A limit pin 809 is set on both sides of the swing arm 801 at the top of the chassis 1, which is used to prevent the swing arm 801 from rotating and connecting in parallel with the first end connecting rod 805 of the transmission flexible shaft 802. The limit pin 809 limits the rotation range of the swing arm 801 to 5 degrees-175 degrees, wherein 5 degrees corresponds to the minimum value of the throttle or pull rod movement, and 175 degrees corresponds to the maximum value of the throttle or pull rod movement.

[0056] In the embodiment, the processing unit 201 is responsible for receiving the control signal instructions of the communication interface 3 and processing them into signals that can be recognized by the decision unit 204; specifically, the processing unit 201 processes the monitoring information of the CAN interface 301, RS232 / RS422 interface 302, ADC input interface 303, PWM interface, position threshold input interface and human-computer interaction module.

[0057] In the embodiment, the feedback unit 202 is responsible for receiving feedback signals such as the power equipment status and position, and processing them into signals that can be recognized by the decision unit 204; specifically, the feedback unit 202 processes the feedback information of the angle sensor 10 and the position threshold input interface.

[0058] In the embodiment, the decision unit 204 is responsible for analyzing and comprehensively processing the signals of the processing unit 201 and the feedback unit 202, and generating a digital drive signal or an analog drive signal. Specifically, the decision unit 204 generates a monitoring instruction according to the processing results of the processing unit 201 and the feedback unit 202 and forwards it to the CAN interface 301, the RS232 / RS422 interface 302, the PWM interface, the drive unit 203, the motor drive module 6 or the human-computer interaction module, specifically, the digital drive signal of the relay 205 is transmitted to the drive unit 203, and the analog drive signal is transmitted to the motor drive module 6.

[0059] In the embodiment, the driving unit 203 is responsible for driving the relay 205 to operate according to the execution instruction of the decision unit 204, providing a switching signal for the power equipment to meet the start or stop requirements of the power equipment in the robot, wherein one relay 205 acts on the external motor of the robot, one relay 205 acts on the ignition device of the robot, and one relay 205 acts on the engine of the robot.

[0060] In the embodiment, the motor driving module 6 drives the DC motor 7 to operate according to the execution instruction of the decision unit 204, and provides an analog control signal to the execution unit 8 to meet the linear execution drive requirements of the throttle or pull rod in the robot.

[0061] In the embodiment, the human-computer interaction module includes a button 901, a light-emitting element 902 and a sound-emitting element 903; the button 901 is used to input manual instructions, the light-emitting element 902 is used to indicate the current working status of the control box, and the sound-emitting element 903 is used to control the fault alarm; the button 901 and the light-emitting element 902 of the human-computer interaction module 9 are attached to the top of the chassis 1, and the sound-emitting element 903 is installed inside the chassis 1; the button 901 signal is transmitted to the processing unit 201, and the light-emitting element 902 and the sound-emitting element 903 act according to the instruction of the decision unit 204, the button 901 includes "+", "-" and "SET", the light-emitting element 902 is provided with 6 independently working diode lights, and the sound-emitting element 903 is a buzzer.

[0062] The power supply interface 5 is arranged outside the chassis 1 and connected to the input end of the power module 4 for connecting the power module 4 to a 220V AC power supply.

[0063] The power module 4 is arranged inside the chassis 1, and the output end of the power module 4 is connected to the electrical components in the control mainboard 2, the execution component, and the human-computer interaction module 9 through a wire. The power module 4 converts the voltage into different levels of voltage, including supplying 3.2V, 5V, 9V, 12V, 18V and 24V DC power supplies, and provides working power according to the requirements of the electrical components in the control mainboard 2, the execution component, and the human-computer interaction module 9.

[0064] In combination with the above structural description, the process of driving the robot of the control box of the present invention is described below. Figure 6 The specific ones are:

[0065] When the execution driving function of the control box needs to be tested remotely, the operation process of the control box acting on the engine throttle in the robot to refuel is as follows.

[0066] S1. The robot control center sends a refueling operation instruction to the control main board 2.

[0067] S2. The processing unit 201 analyzes the refueling instruction and obtains that the throttle needs to be increased by X.

[0068] S3, the feedback unit 202 reads the current angle of the swing arm 801 monitored by the angle sensor 10, the control main board 2 queries the corresponding numerical table of the engine throttle and the swing arm 801 angle, and the decision unit 204 obtains the target angle Y of the swing arm 801. If Y is greater than 175 degrees, the value is 175 degrees.

[0069] S4. In this refueling instruction, the control main board 2 sends the decision instruction to the motor drive module 6, and the motor drive module 6 controls the DC motor 7 to rotate clockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate clockwise, and when the feedback unit 202 detects that the swing arm 801 rotates clockwise to Y degrees, the control main board 2 controls the DC motor 7 to stop moving.

[0070] S5. When the swing arm 801 rotates clockwise, the throttle is continuously increased, and the engine throttle increases by X or is at the maximum.

[0071] When the execution driving function of the control box needs to be tested remotely, the operation process of the control box acting on the engine throttle in the robot to reduce fuel is as follows.

[0072] S1. The robot control center sends an oil reduction operation instruction to the control main board 2.

[0073] S2. The processing unit 201 analyzes the fuel reduction instruction and obtains that the throttle needs to be reduced by X.

[0074] S3, the feedback unit 202 reads the current angle of the swing arm 801 monitored by the angle sensor 10, the control main board 2 queries the corresponding numerical table of the engine throttle and the swing arm 801 angle, and the decision unit 204 obtains the target angle Y of the swing arm 801. If Y is less than 5 degrees, it takes a value of 5 degrees.

[0075] S4. In this oil reduction instruction, the control main board 2 sends the decision instruction to the motor drive module 6, and the motor drive module 6 controls the DC motor 7 to rotate counterclockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate counterclockwise, and when the feedback unit 202 detects that the swing arm 801 rotates counterclockwise to Y degrees, the control main board 2 controls the DC motor 7 to stop moving.

[0076] S5. When the swing arm 801 rotates counterclockwise, the throttle is continuously reduced, and the engine throttle amount is reduced by X or is at the minimum.

[0077] When the execution driving function of the control box needs to be tested remotely, the operation process of the control box acting on the pull rod of the gear box or clutch in the robot to increase the opening is as follows.

[0078] S1. The robot control center sends a command to increase the opening of the pull rod of the gear box or clutch to the control main board 2.

[0079] S2. The processing unit 201 analyzes the increase opening instruction and obtains the increase opening amount X of the pull rod.

[0080] S3, the feedback unit 202 reads the current angle of the swing arm 801 monitored by the angle sensor 10, the control main board 2 queries the corresponding numerical table of the pull rod opening and the angle of the swing arm 801, and the decision unit 204 obtains the target angle Y of the swing arm 801. If Y is greater than 175 degrees, the value is 175 degrees.

[0081] S4. In this increase opening instruction, the control main board 2 sends the decision instruction to the motor drive module 6, and the motor drive module 6 controls the DC motor 7 to rotate clockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate clockwise, and when the feedback unit 202 detects that the swing arm 801 rotates clockwise to Y degrees, the control main board 2 controls the DC motor 7 to stop moving.

[0082] S5. When the swing arm 801 rotates clockwise, the pull rod opening increases continuously, and the pull rod opening increases by X or is at the maximum.

[0083] When the execution driving function of the control box needs to be tested remotely, the operation process of the control box acting on the pull rod of the gear box or clutch in the robot to reduce the opening is as follows.

[0084] S1. The robot control center sends a gearbox or clutch lever opening reduction instruction to the control main board 2.

[0085] S2. The processing unit 201 analyzes the instruction to reduce the opening amount and obtains the opening amount X that the pull rod needs to reduce.

[0086] S3, the feedback unit 202 reads the current angle of the swing arm 801 monitored by the angle sensor 10, the control main board 2 queries the corresponding numerical table of the pull rod opening and the angle of the swing arm 801, and the decision unit 204 obtains the target angle Y of the swing arm 801. If Y is less than 5 degrees, it takes a value of 5 degrees.

[0087] S4. In this instruction to reduce the opening amount, the control main board 2 sends the decision instruction to the motor drive module 6, and the motor drive module 6 controls the DC motor 7 to rotate counterclockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate counterclockwise, and when the feedback unit 202 detects that the swing arm 801 rotates counterclockwise to Y degrees, the control main board 2 controls the DC motor 7 to stop moving.

[0088] S5. When the swing arm 801 rotates counterclockwise, the pull rod opening amount continues to decrease, and the pull rod opening amount decreases by X or is at the maximum.

[0089] When the execution driving function of the control box needs to be tested remotely, the operation process of the control box acting on the ignition switch or engine start-stop switch in the robot is as follows.

[0090] S1. The robot control center sends an ignition or start / stop command to the control mainboard 2.

[0091] S2, the processing unit 201 analyzes the ignition or start-stop command, and the decision unit 204 obtains the corresponding relay 205 output command and sends it to the drive unit 203.

[0092] S3. The driving unit 203 controls the relay 205 to operate.

[0093] S4, the relay 205 sends the actuation signal to the ignition switch or the engine.

[0094] When the execution driving function of the control box needs to be remotely tested, the operation process of the control box acting on the opening of the lifting and lowering platform or the electric-controlled door in the remote-controlled robot is as follows, wherein the lifting and lowering platform or the electric-controlled door is equipped with a corresponding position sensor, and the signal of the position sensor is transmitted to the feedback unit 202 through the position threshold input interface.

[0095] S1. The robot control center sends a remote control opening instruction of the take-off and landing platform or the electric door to the control main board 2.

[0096] S2. The processing unit 201 analyzes the remote control command of the landing platform or the electric-controlled door to obtain the target opening value of the landing platform or the electric-controlled door.

[0097] S3. The feedback unit 202 reads the opening monitoring value in the position threshold input interface.

[0098] S4. The decision unit 204 obtains a closing instruction for the corresponding relay 205 and sends it to the driving unit 203.

[0099] S5, the driving unit 203 controls the relay 205 to operate. When the feedback unit 202 detects that the remote control opening of the take-off and landing platform or the electric-controlled door reaches the target value, the decision unit 204 sends a corresponding relay 205 disconnection instruction to the driving unit 203.

[0100] When it is necessary to test the execution driving function of the control box on site, the function of the control box is tested through the human-machine interaction module 9, and the operation process of acting on the engine throttle in the robot to refuel or reduce fuel is as follows.

[0101] S1. Click the "SET" button 901. The click signal of the button 901 is transmitted to the control main board 2. The control main board 2 lights up the light-emitting element 902. When the light-emitting element 902 corresponding to the throttle is lit, stop clicking the "SET" button 901.

[0102] S2. Press the "+" or "-" button 901. The pressing signal of the button 901 is transmitted to the control main board 2. The decision unit 204 sends a refueling instruction or a refueling instruction to the motor drive module 6 according to the signal.

[0103] S3, the motor driving module 6 controls the DC motor 7 to rotate clockwise or counterclockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate clockwise or counterclockwise.

[0104] S4, the throttle is continuously increased when the swing arm 801 rotates clockwise or continuously decreased when it rotates counterclockwise; if the button 901 is not released, but the feedback unit 202 detects that the swing arm 801 rotates clockwise to 175 degrees or counterclockwise to 5 degrees, the control motherboard 2 controls the DC motor 7 to stop moving; when the transmission flexible shaft 802 is stuck and cannot move, the control motherboard 2 drives the sound element 903 to generate an alarm signal.

[0105] S5, release the "+" or "-" button 901, and the release signal of the button 901 is transmitted to the control main board 2, and the control main board 2 controls the DC motor 7 to stop moving.

[0106] When it is necessary to test the execution driving function of the control box on site, the function of the control box is tested through the human-machine interaction module 9, and the operation process of acting on the pull rod of the gear box or clutch in the robot to reduce the opening amount is as follows.

[0107] S1. Click the "SET" button 901. The click signal of the button 901 is transmitted to the control mainboard 2. The control mainboard 2 lights up the light-emitting element 902. When the light-emitting element 902 corresponding to the pull rod is lit, stop clicking the "SET" button 901.

[0108] S2. Press the "+" or "-" button 901. The pressing signal of the button 901 is transmitted to the control main board 2. The decision unit 204 sends an increase opening instruction or a decrease opening instruction to the motor drive module 6 according to the signal.

[0109] S3, the motor driving module 6 controls the DC motor 7 to rotate clockwise or counterclockwise; the output shaft of the DC motor 7 drives the swing arm 801 to rotate clockwise or counterclockwise.

[0110] S4, the opening amount continues to increase when the swing arm 801 rotates clockwise or continues to decrease when it rotates counterclockwise; if the button 901 is not released, but the feedback unit 202 detects that the swing arm 801 rotates clockwise to 175 degrees or counterclockwise to 5 degrees, the control motherboard 2 controls the DC motor 7 to stop moving; when the transmission flexible shaft 802 is stuck and cannot move, the control motherboard 2 drives the sound element 903 to generate an alarm signal.

[0111] S5, release the "+" or "-" button 901, and the release signal of the button 901 is transmitted to the control main board 2, and the control main board 2 controls the DC motor 7 to stop moving.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control box for robot execution drive, comprising a chassis (1), a control mainboard (2), a communication interface (3), an execution component, a power module (4) and a power supply interface (5); characterized in that: The control mainboard (2) is arranged inside the chassis (1) and is used to receive monitoring information and generate control instructions; The communication interface (3) is arranged outside the chassis (1) and is used to exchange information with the control mainboard (2); The execution component comprises a motor drive module (6), a DC motor (7), an execution unit (8) and an angle sensor (10); The motor drive module (6) is arranged inside the chassis (1), electrically connected to the control mainboard (2), and is used to drive the DC motor (7) to operate; The DC motor (7) is fixed inside the chassis (1), and its output shaft vertically passes through the top of the chassis (1); The execution unit (8) comprises a swing arm (801), a transmission flexible shaft (802) and a limit plate (803); A pin hole (810) and a fastening hole (811) are provided at the tail end of the swing arm (801); the swing arm (801) is connected to the top of the output shaft of the DC motor (7) via the pin hole (810); and the diameter of the pin hole (810) is adjusted via the fastening hole (811); a connecting hole (804) is provided at the head end of the swing arm (801) for connecting to the head end connecting rod (805) of the transmission flexible shaft (802); A clamping groove (806) is provided on the connecting rod (805) at the head end of the transmission flexible shaft (802); The limiting plate (803) is mounted on the top of the outer side of the chassis (1); a limiting groove (807) matching the clamping groove (806) is provided on the upper side of the limiting plate (803); the first end connecting rod (805) of the transmission flexible shaft (802) can be limited in the limiting groove (807) through the limiting plate (808); The angle sensor (10) is mounted on the tail of the output shaft of the DC motor (7) and is used to monitor the rotation angle of the swing arm (801); The power supply interface (5) is arranged outside the chassis (1) and is connected to the input end of the power module (4) and is used to connect the power module (4) to an external power source; The power module (4) is arranged inside the chassis (1) to provide working power to the control box.

2. The control box according to claim 1, characterized in that: The communication interface (3) comprises a CAN interface (301), an RS232 / RS422 interface (302), an ADC input interface (303), a PWM input interface (304), a relay output interface (305) and a threshold position input interface (306).

3. The control box according to claim 2, characterized in that: It also includes a human-machine interaction module (9), which includes a button (901), a light-emitting element (902) and a sound-emitting element (903); the button (901) and the light-emitting element (902) of the human-machine interaction module (9) are attached to the top of the chassis (1), and the sound-emitting element (903) is installed inside the chassis (1).

4. The control box according to claim 3, characterized in that: The control main board (2) comprises a processing unit (201), a feedback unit (202), a decision unit (204), a drive unit (203) and a relay (205); The driving unit (203) is connected to the relay (205) signal and is used to drive the relay (205) to open and close; the relay (205) is connected to the relay output interface (305); The control mainboard (2) is electrically connected to the CAN interface (301), the RS232 / RS422 interface (302), the ADC input interface (303), the PWM interface, the position threshold input interface, the angle sensor (10) and the human-computer interaction module; The processing unit (201) processes monitoring information of the CAN interface (301), the RS232 / RS422 interface (302), the ADC input interface (303), the PWM interface, the position threshold input interface and the human-computer interaction module; The feedback unit (202) processes monitoring information of the angle sensor (10) and the position threshold input interface; The decision unit (204) generates a monitoring instruction according to the processing results of the processing unit (201) and the feedback unit (202), and forwards the monitoring instruction to the CAN interface (301), the RS232 / RS422 interface (302), the PWM interface, the drive unit (203), the motor drive module (6) or the human-machine interaction module.

5. The control box according to claim 4, characterized in that: The output end of the power module (4) is connected to the control mainboard (2), the execution component, and the electrical components in the human-machine interaction module (9) via a wire, and the power module (4) converts the voltage into voltages of different levels to provide working power according to the requirements of the electrical components in the control mainboard (2), the execution component, and the human-machine interaction module (9).

6. The control box according to any one of claim 1, characterized in that: The top of the output shaft of the DC motor (7) is a D-shaped column, the shape of the pin hole (810) matches the top of the output shaft, the swing arm (801) is vertically inserted into the top of the output shaft of the DC motor (7) through the pin hole (810), and the aperture of the fastening hole (811) is adjusted by a bolt. When the aperture becomes smaller, the pin hole (810) clamps the top of the output shaft of the DC motor (7) so that the swing arm (801) is firmly sleeved on the output shaft of the DC motor (7).

7. The control box according to any one of claims 1, 2, 3, 4, 5 or 6, characterized in that: A limit pin (809) is respectively provided on both sides of the swing arm (801), and the limit pin (809) limits the rotation range of the swing arm (801) to 5 degrees to 175 degrees.

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