Modularized PCB circuit control board applied to exoskeleton robot

Abstract

The invention discloses a modular PCB circuit control board applied to an exoskeleton robot, belongs to the field of exoskeleton robots, and aims to solve the problems that an existing PCB circuit control board is redundant in function and cannot adapt to exoskeleton robots of different types and functions. The system comprises a core controller and a motor control module. When the core controller is independently used, the core controller is connected to an external power supply, receives a sensing signal of the exoskeleton robot, and controls an execution element of the exoskeleton robot based on the posture and the motion state of the exoskeleton body; when the motor control module is independently used, the motor control module is connected to an external power supply to perform motion control on a motor of the exoskeleton robot, and closed-loop control on the motor is realized through data exchange with a Hall sensor of the motor; when the core controller and the motor control module are used in a combined mode, the motor control module and the core controller conduct data interaction, and the motor control module serves as a function extension module of the core controller.

Description

Technical Field

[0001] The invention relates to a modular PCB circuit control board applied to an exoskeleton robot, belonging to the field of exoskeleton robots. Background Art

[0002] Exoskeleton originally referred to a rigid external structure used in biology to protect the soft internal organs of living things. Exoskeleton robots now refer to mechanical devices that mimic human motion and enhance human athletic ability, integrating bionics and ergonomics. Worn on the outside of a limb, they can improve specific abilities such as walking endurance and load-bearing capacity. Due to the diverse types and functions of exoskeleton robots, their core PCB (printed circuit board) designs are tailored to their type and function. Existing PCBs have poor scalability and are not adaptable to exoskeleton robots of varying types and functions. Furthermore, PCBs with broad adaptability are typically large and require a larger installation space. Exoskeleton robots with limited internal installation space also have numerous redundant functions and are relatively expensive. Summary of the Invention

[0003] In response to the problem that existing PCB circuit control boards have redundant functions and cannot adapt to exoskeleton robots of different types and functions, the present invention provides a modular PCB circuit control board for exoskeleton robots.

[0004] The modular PCB circuit control board for an exoskeleton robot described in the present invention includes a core controller 1 and a motor control module 2. The core controller 1 and the motor control module 2 are used alone or in combination to control the exoskeleton robot.

[0005] When the core controller 1 is used alone, it is connected to an external power supply, receives sensor signals from the exoskeleton robot, and controls the actuators of the exoskeleton robot based on the exoskeleton body's posture and motion state;

[0006] When the motor control module 2 is used alone, it is connected to an external power supply to control the motion of the motor of the exoskeleton robot and to achieve closed-loop control of the motor by exchanging data with the Hall sensor of the motor;

[0007] When the core controller 1 and the motor control module 2 are used in combination, the motor control module 2 is extended at one or both ends of the core controller 1, and the mechanical and electrical connections between the core controller 1 and the motor control module 2 are realized by plugging; the motor control module 2 shares the external power supply connected to the core controller 1, and the motor control module 2 and the core controller 1 exchange data, and the motor control module 2 serves as a functional extension module of the core controller 1.

[0008] Preferably, the core controller 1 includes a main control PCB board 11, a main control lower housing 12, a main control upper housing 14 and a connection slot 16.

[0009] The main control lower housing 12, the main control upper housing 14, and the main control PCB 11 disposed therebetween are fixedly secured by fixing screws 13. Two connection slots 16 are provided on each side of the main control lower housing 12 and the main control upper housing 14 after they are fastened together. The connection slots 16 are used to mechanically connect the core controller 1 to the extended motor control module 2.

[0010] The main control PCB board 11 is provided with an MCU 11-1, a USB module 11-2, a module connection socket 11-3, a speaker 11-4, an I / O port 11-5, a heading sensor 11-6, a CAN port 11-7, a digital-to-analog conversion chip 11-8, a CAN communication module 11-9, and a main control power supply module 11-10;

[0011] The main control power module 11-10 is connected to an external power supply to provide working power to the main control PCB board 11. At the same time, the MCU 11-1 controls the provision of two voltage outputs to the outside to power external sensors and brushed motor pneumatic valve equipment.

[0012] The digital-to-analog conversion chip 11-8, the CAN communication module 11-9, and the CAN port 11-7 are controlled by the MCU 11-1 and are used to implement data exchange with external sensors, thereby achieving control of the brushed motor and pneumatic valve actuators;

[0013] The MCU 11-1 controls the power on and off and mode switching of the system through the handheld wired controller via the I / O port 11-5, and provides prompts through the speaker 11-4;

[0014] The MCU 11 - 1 is electrically connected to the motor control module 2 via the module connection socket 11 - 3 ;

[0015] The MCU 11-1 implements data exchange between the core controller 1 and external devices through the USB module 11-2, and realizes online debugging;

[0016] The heading sensor 11-6 is used to obtain the posture and motion status of the exoskeleton body and send it to the MCU11-1.

[0017] Preferably, the external power supply connected to the main power supply module 11 - 10 is a 24-48V power supply, and is controlled by the MCU 11 - 1 to provide two 5-48V voltage outputs to the outside.

[0018] Preferably, the main control lower housing 12 or the main control upper housing 14 of the core controller 1 is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

[0019] Preferably, the motor control module 2 includes a driver PCB board 21, a motor control module lower housing 22 and a control module upper housing 23; the motor control module lower housing 22, the control module upper housing 23 and the driver PCB board 21 arranged therebetween are fixed by fixing screws 13;

[0020] The end of the control module upper housing 23 facing the core controller 1 is provided with two protrusions (23-1), and the two protrusions (23-1) are used to realize the mechanical connection between the motor control module 2 and the core controller 1;

[0021] The driver PCB board 21 is provided with a module connector 21 - 1 , a motor drive module 21 - 2 , a motor control module power port 21 - 3 and a motor control module communication port 21 - 4 ;

[0022] When the motor control module 2 is used in combination with the core controller 1, the motor control module 2 is electrically connected to the core controller 1 through the module connector 21-1, shares the external power supply connected to the core controller 1, and exchanges data with the core controller 1;

[0023] When the motor control module 2 is used alone, it connects to an external power supply through the motor control module power port 21-3 to power the driver PCB 21, and provides working power for the two brushless motors through two power outputs;

[0024] The motion control of the two brushless motors is achieved through the motor drive module 21-2;

[0025] Data is exchanged with the Hall sensor inside or outside the DC motor through the motor control module communication port 21 - 4 , and the Hall sensor data is transmitted to the motor drive module 21 - 2 to realize closed-loop control of the brushless motor.

[0026] Preferably, the mechanical connection method between the core controller 1 and the motor control module 2 is: the tenon (23-1) of the motor control module 2 is correspondingly inserted into the connection slot 16 of the core controller 1, and the module fixing screw 15 is inserted into the screw hole of the tenon (23-1) for fixing.

[0027] Preferably, the core controller 1 and the motor control module 2 are electrically connected in the following manner: the module connector 21 - 1 of the motor control module 2 is inserted into the module connection socket 11 - 3 of the core controller 1 .

[0028] Preferably, the external power supply connected to the motor control module 2 when it is controlled independently is a 24-48V power supply.

[0029] Preferably, the motor control module lower housing 22 or the control module upper housing 23 of the motor control module 2 is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

[0030] The beneficial effects of the present invention are as follows: The present invention develops a PCB circuit control board that can adapt to different types and functions of exoskeleton robots. The core controller of the PCB circuit control board of the present invention can be used in combination with a motor control module or can be used alone. Different functional modules can be quickly disassembled and assembled according to the type and function of the exoskeleton robot. It has a wide range of adaptability, and the modular design makes it relatively small in size, easy to install, and low in cost. At the same time, it reduces the repeated design of PCB circuit control boards specifically for the type and function of the exoskeleton robot, thereby reducing the development time and cost of the exoskeleton robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of a modular PCB circuit control board applied to an exoskeleton robot according to the present invention;

[0032] Figure 2 This is an exploded view of the core controller;

[0033] Figure 3 This is an exploded diagram of the motor control module;

[0034] Figure 4 This is the assembly diagram of the core controller and motor control module.

[0035] 1. Core controller,

[0036] 11. Main control PCB board, 12. Main control lower housing, 13. Fixing screws, 14. Main control upper housing, 15. Module fixing screws, 16. Connection slot;

[0037] 11-1, MCU, 11-2, USB module, 11-3, module connection socket, 11-4, speaker, 11-5, I / O port, 11-6, heading sensor, 11-7, CAN port, 11-8, digital-to-analog conversion chip, 11-9, CAN communication module, 11-10, main control power module;

[0038] 2. Motor control module;

[0039] 21. Driver PCB board, 22. Motor control module lower housing, 23. Control module upper housing;

[0040] 21-1, module connector, 21-2, motor drive module, 21-3, motor control module power port, 21-4, motor control module communication port;

[0041] 23-1. Tenon. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0045] Specific implementation method 1: Figures 1 to 4 This embodiment describes a modular PCB circuit control board for an exoskeleton robot, comprising a core controller 1 and a motor control module 2. The core controller 1 and the motor control module 2 are used individually or in combination to control the exoskeleton robot.

[0046] When the core controller 1 is used alone, it is connected to an external power supply, receives sensor signals from the exoskeleton robot, and controls the actuators of the exoskeleton robot based on the exoskeleton body's posture and motion state;

[0047] When the motor control module 2 is used alone, it is connected to an external power supply to control the motion of the motor of the exoskeleton robot and to achieve closed-loop control of the motor by exchanging data with the Hall sensor of the motor;

[0048] When the core controller 1 and the motor control module 2 are used in combination, the motor control module 2 is extended at one or both ends of the core controller 1, and the mechanical and electrical connections between the core controller 1 and the motor control module 2 are realized by plugging; the motor control module 2 shares the external power supply connected to the core controller 1, and the motor control module 2 and the core controller 1 exchange data, and the motor control module 2 serves as a functional extension module of the core controller 1.

[0049] See also Figure 2 The core controller 1 includes a main control PCB board 11, a main control lower shell 12, a main control upper shell 14 and a connection slot 16.

[0050] The main control lower housing 12, the main control upper housing 14, and the main control PCB 11 disposed therebetween are fixedly secured by fixing screws 13. Two connection slots 16 are provided on each side of the main control lower housing 12 and the main control upper housing 14 after they are fastened together. The connection slots 16 are used to mechanically connect the core controller 1 to the extended motor control module 2.

[0051] The main control PCB board 11 is provided with an MCU 11-1, a USB module 11-2, a module connection socket 11-3, a speaker 11-4, an I / O port 11-5, a heading sensor 11-6, a CAN port 11-7, a digital-to-analog conversion chip 11-8, a CAN communication module 11-9, and a main control power supply module 11-10;

[0052] The main control power module 11-10 is connected to an external power supply to provide working power to the main control PCB board 11. At the same time, the MCU 11-1 controls the provision of two voltage outputs to the outside to power external sensors and brushed motor pneumatic valve equipment.

[0053] The digital-to-analog conversion chip 11-8, the CAN communication module 11-9, and the CAN port 11-7 are controlled by the MCU 11-1 and are used to implement data exchange with external sensors, thereby achieving control of the brushed motor and pneumatic valve actuators;

[0054] The MCU 11-1 controls the power on and off and mode switching of the system through the handheld wired controller via the I / O port 11-5, and provides prompts through the speaker 11-4;

[0055] The MCU 11 - 1 is electrically connected to the motor control module 2 via the module connection socket 11 - 3 ;

[0056] The MCU 11-1 implements data exchange between the core controller 1 and external devices through the USB module 11-2, and realizes online debugging;

[0057] The heading sensor 11-6 is used to obtain the posture and motion status of the exoskeleton body and send it to the MCU11-1.

[0058] The external power supply connected to the main power supply module 11-10 is a 24-48V power supply, which is controlled by the MCU11-1 to provide two 5-48V voltage outputs.

[0059] The main control lower housing 12 or the main control upper housing 14 of the core controller 1 is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

[0060] See also Figure 3The motor control module 2 includes a driver PCB board 21, a motor control module lower housing 22 and a control module upper housing 23; the motor control module lower housing 22, the control module upper housing 23 and the driver PCB board 21 arranged therebetween are fixed by fixing screws 13;

[0061] The end of the control module upper housing 23 facing the core controller 1 is provided with two protrusions (23-1), and the two protrusions (23-1) are used to realize the mechanical connection between the motor control module 2 and the core controller 1;

[0062] The driver PCB board 21 is provided with a module connector 21 - 1 , a motor drive module 21 - 2 , a motor control module power port 21 - 3 and a motor control module communication port 21 - 4 ;

[0063] When the motor control module 2 is used in combination with the core controller 1, the motor control module 2 is electrically connected to the core controller 1 through the module connector 21-1, shares the external power supply connected to the core controller 1, and exchanges data with the core controller 1;

[0064] When the motor control module 2 is used alone, it connects to an external power supply through the motor control module power port 21-3 to power the driver PCB 21, and provides working power for the two brushless motors through two power outputs;

[0065] The motion control of the two brushless motors is achieved through the motor drive module 21-2;

[0066] Data is exchanged with the Hall sensor inside or outside the DC motor through the motor control module communication port 21 - 4 , and the Hall sensor data is transmitted to the motor drive module 21 - 2 to realize closed-loop control of the brushless motor.

[0067] When the motor control module 2 is controlled independently, the external power supply connected is a 24-48V power supply.

[0068] The motor control module lower housing 22 or the control module upper housing 23 of the motor control module 2 is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

[0069] See also Figure 4 The mechanical connection between the core controller 1 and the motor control module 2 is as follows: the tenon (23-1) of the motor control module 2 is correspondingly inserted into the connection slot 16 of the core controller 1, and the module fixing screw 15 is inserted into the screw hole of the tenon (23-1) for fixing.

[0070] The core controller 1 and the motor control module 2 are electrically connected in the following manner: the module connector 21 - 1 of the motor control module 2 is inserted into the module connection socket 11 - 3 of the core controller 1 .

[0071] In summary, the present invention is a modular exoskeleton robot PCB circuit control board, in which the core controller 1 and the motor control module 2 can be used in combination or separately. When used separately, the core controller 1 can be connected to a 24-48V power supply through the main control power module 11-10, and provide two 5-48V voltage outputs to the outside to power external sensors, brush motors, pneumatic valves and other equipment; the digital-to-analog conversion chip 11-8, the CAN communication module 11-9 and the CAN port 11-7 are controlled by the MCU 11-1 to realize data interaction with external sensors, thereby accurately controlling the motion of actuators such as brush motors and pneumatic valves; the handheld wired controller can realize the control system power on / off, mode switching and other functions through the I / O port 11-5, and prompts are given through the speaker 11-4; the USB module 11-2 can be used to interact with external devices for data and online debugging; the attitude sensor 11-6 can be used to determine the posture and motion state of the exoskeleton body.

[0072] The motor control module 2 can be connected to a 24-48V power supply through the module connector 21-1, and can also exchange data with the core controller 1 or an external host computer; the motion control of the two brushless motors is realized through the motor drive module 21-2 and two power ports; data is exchanged with the Hall sensor inside or outside the DC motor through the two communication ports, and the sensor data is transmitted to the motor drive module 21-2 group to realize closed-loop control of the brushless motor.

[0073] The core controller 1 and the motor control module 2 housings are both provided with mounting threaded holes, which can be threadedly connected to the exoskeleton robot; the motor control module 2 connecting protrusion (23-1) is inserted into the connecting slot 16 of the core controller 1 and fixed by the module fixing screw 15. During this process, the module connector 21-1 is inserted into the module connecting socket 11-3 to achieve electrical connection.

[0074] When used alone, the core controller 1 detects the exoskeleton's current posture and motion state. It also features a handheld wired controller to control the system's power on / off, mode switching, and other functions, providing notifications via a speaker. It receives data from external sensors and controls two sets of actuators, such as brushed motors and pneumatic valves, to provide power assistance and support for two joints. When used in combination with one motor control module 2, this functionality can be expanded to support up to four joints; when used in combination with two motor control modules 2, this functionality can be expanded to support up to six joints.

[0075] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in conjunction with other described embodiments.

Claims

1. A modular PCB circuit control board for an exoskeleton robot, characterized in that: The invention comprises a core controller (1) and a motor control module (2); the core controller (1) and the motor control module (2) are used alone or in combination to realize the control of the exoskeleton robot; When the core controller (1) is used alone, the core controller (1) is connected to an external power supply, receives sensor signals from the exoskeleton robot, and controls the actuators of the exoskeleton robot based on the posture and motion state of the exoskeleton body; When the motor control module (2) is used alone, the motor control module (2) is connected to an external power supply to control the motion of the motor of the exoskeleton robot, and realizes closed-loop control of the motor by exchanging data with the Hall sensor of the motor; When the core controller (1) and the motor control module (2) are used in combination, the motor control module (2) is extended at one or both ends of the core controller (1), and mechanical and electrical connections between the core controller (1) and the motor control module (2) are achieved through plugging; the motor control module (2) shares an external power supply connected to the core controller (1), and the motor control module (2) and the core controller (1) exchange data, and the motor control module (2) serves as a function expansion module of the core controller (1).

2. A modular PCB circuit control board for an exoskeleton robot according to claim 1, characterized in that: The core controller (1) comprises a main control PCB board (11), a main control lower housing (12), a main control upper housing (14) and a connection slot (16). The main control lower housing (12), the main control upper housing (14) and the main control PCB board (11) arranged therebetween are fixed by means of fixing screws (13); two connection slots (16) are provided at each end of the main control lower housing (12) and the main control upper housing (14) after they are fastened together, and the connection slots (16) are used to achieve mechanical connection between the core controller (1) and the extended motor control module (2); The main control PCB board (11) is provided with an MCU (11-1), a USB module (11-2), a module connection socket (11-3), a speaker (11-4), an I / O port (11-5), a heading sensor (11-6), a CAN port (11-7), a digital-to-analog conversion chip (11-8), a CAN communication module (11-9), and a main control power supply module (11-10); An external power supply is connected through the main control power supply module (11-10) to provide working power to the main control PCB board (11), and at the same time, the MCU (11-1) controls the provision of two voltage outputs to the outside to power external sensors and pneumatic valve equipment with brush motors; The digital-to-analog conversion chip (11-8), the CAN communication module (11-9) and the CAN port (11-7) are controlled by the MCU (11-1) and are used to realize data interaction with external sensors, thereby realizing the control of the brushed motor and the pneumatic valve actuator; The MCU (11-1) controls the power on and off and mode switching of the system through the handheld wired controller via the I / O port (11-5), and provides prompts through the speaker (11-4); The MCU (11-1) is electrically connected to the motor control module (2) via the module connection socket (11-3); The MCU (11-1) realizes data interaction between the core controller (1) and the external device through the USB module (11-2) to achieve online debugging; The attitude sensor (11-6) is used to obtain the attitude and motion status of the exoskeleton body and send it to the MCU (11-1).

3. A modular PCB circuit control board for an exoskeleton robot according to claim 2, characterized in that: The external power supply connected to the main power supply module (11-10) is a 24-48V power supply, which is controlled by the MCU (11-1) to provide two 5-48V voltage outputs to the outside.

4. The modular PCB circuit control board for an exoskeleton robot according to claim 2, characterized in that: The main control lower housing (12) or the main control upper housing (14) of the core controller (1) is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

5. The modular PCB circuit control board for an exoskeleton robot according to claim 2, characterized in that: The motor control module (2) comprises a driver PCB board (21), a motor control module lower housing (22) and a control module upper housing (23); the motor control module lower housing (22), the control module upper housing (23) and the driver PCB board (21) arranged therebetween are mounted and fixed using fixing screws (13); The end of the control module upper housing (23) facing the core controller (1) is provided with two protrusions (23-1), and the two protrusions (23-1) are used to achieve mechanical connection between the motor control module (2) and the core controller (1); The driver PCB board (21) is provided with a module connector (21-1), a motor drive module (21-2), a motor control module power port (21-3) and a motor control module communication port (21-4); When the motor control module (2) is used in combination with the core controller (1), the motor control module (2) is electrically connected to the core controller (1) through the module connector (21-1), shares the external power supply connected to the core controller (1), and exchanges data with the core controller (1); When the motor control module (2) is used alone, an external power supply is connected through the motor control module power port (21-3) to power the driver PCB 21, and two power outputs are used to provide working power for the two brushless motors; The motion control of the two brushless motors is achieved through the motor drive module (21-2); Data is exchanged with a Hall sensor inside or outside the DC motor via the motor control module communication port (21-4), and the Hall sensor data is transmitted to the motor drive module (21-2) to achieve closed-loop control of the brushless motor.

6. A modular PCB circuit control board for an exoskeleton robot according to claim 5, characterized in that: The core controller (1) and the motor control module (2) are mechanically connected in the following manner: the tenon (23-1) of the motor control module (2) is correspondingly inserted into the connection slot (16) of the core controller (1), and the module fixing screw (15) is inserted into the screw hole of the tenon (23-1) for fixing.

7. The modular PCB circuit control board for an exoskeleton robot according to claim 5, characterized in that: The core controller (1) and the motor control module (2) are electrically connected in the following manner: the module connector (21-1) of the motor control module (2) is inserted into the module connection socket (11-3) of the core controller (1).

8. The modular PCB circuit control board for an exoskeleton robot according to claim 5, characterized in that: When the motor control module (2) is controlled independently, the external power supply connected is a 24-48V power supply.

9. The modular PCB circuit control board for an exoskeleton robot according to claim 5, characterized in that: The motor control module lower housing (22) or the control module upper housing (23) of the motor control module (2) is provided with a mounting threaded hole for threaded connection with the exoskeleton robot.

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