Robot double-arm controller and robot

Abstract

The utility model provides a robot double-arm controller and a robot. The robot double-arm controller comprises a main board, and a first connecting piece is arranged on the main board; the control panel is provided with a second connecting piece matched with the first connecting piece, the first connecting piece is electrically connected with the second connecting piece, a containing space for connecting the first connecting piece and the second connecting piece is formed between the main board and the control panel, and the control panel is provided with a first control unit and a second control unit which are electrically connected with different mechanical arms; the graphics processor is arranged on the side, away from the control panel, of the mainboard, and the graphics processor is electrically connected with the mainboard. The robot double-arm controller solves the problem that a robot double-arm controller in the prior art is large in size.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot control field, specifically, relate to a kind of robot double-arm controller and robot. BACKGROUND

[0002] Humanoid robot or double-arm system, higher performance is required to robot controller, controller and mechanical arm are one-to-one matching application in collaborative robot system, and double-arm robot system needs to be independently controlled by two controllers according to traditional scheme, and they are communicated through bus, even to external third-party controller, only then can the whole system function linkage be realized, the hardware cost of this scheme is high, bulky, and the control mode between multiple controllers is more independent, which is not conducive to centralized control.

[0003] The existing controller mainly has these problems: 1. The control signals are transmitted between the independent controllers through the bus, the control efficiency is low, and the double-arm robot cannot be controlled centrally; 2. The hardware of the separate controller scheme is redundant, the system is complex and bulky, and more space is needed because at least two controllers are included in the control system; 3. The comprehensive cost is high, the cost of double controllers is higher, and if an external controller is used, the cost is very high. UTILITY MODEL CONTENT

[0004] The main purpose of the utility model is to provide a robot double-arm controller and robot to solve the problem of large size of the robot double-arm controller in the prior art.

[0005] In order to achieve the above purpose, according to one aspect of the utility model, a robot double-arm controller is provided, which comprises a main board, the main board having a first connecting piece; a control board, the control board having a second connecting piece matched with the first connecting piece, the first connecting piece and the second connecting piece being electrically connected, the main board and the control board having a receiving space for connecting the first connecting piece and the second connecting piece, the control board having a first control unit and a second control unit electrically connected with different mechanical arms; a graphics processor, the graphics processor being arranged on the side of the main board away from the control board, the graphics processor being electrically connected with the main board.

[0006] Further, the main board has main board components, and the main board components avoid the projection of the control board on the main board.

[0007] Further, the main board is provided with a first positioning piece, and the control board is provided with a second positioning piece matched with the first positioning piece.

[0008] Further, one of the first positioning piece and the second positioning piece is a positioning column, and the other of the first positioning piece and the second positioning piece is a positioning groove for inserting the positioning column.

[0009] Further, the robot dual-arm controller further comprises a stabilizer, the stabilizer is arranged on one side of the first connecting piece or the second connecting piece, and the stabilizer is connected with the mainboard and the control board.

[0010] Further, the number of the stabilizers is multiple, and the stabilizers are arranged on two sides of the first connecting piece or the second connecting piece.

[0011] Further, the graphic processor has a mainboard interface, and the graphic processor is electrically connected with the mainboard through the mainboard interface.

[0012] Further, the first connecting piece comprises a BTB connector, the second connecting piece comprises a BTB connector, and the mainboard and the control board are connected through the BTB connectors.

[0013] Further, the robot dual-arm controller further comprises a heat dissipation assembly, and the heat dissipation assembly comprises a fan module arranged on the graphic processor.

[0014] According to another aspect of the utility model, a robot is provided, which comprises at least two mechanical arms and a robot dual-arm controller.

[0015] According to the technical scheme of the utility model, the robot dual-arm controller comprises a mainboard, the mainboard is provided with a first connecting piece; a control board, the control board is provided with a second connecting piece matched with the first connecting piece, the first connecting piece and the second connecting piece are electrically connected, the mainboard and the control board are provided with an accommodating space for connecting the first connecting piece and the second connecting piece, the control board is provided with a first control unit and a second control unit electrically connected with different mechanical arms; a graphic processor, the graphic processor is arranged on one side of the mainboard away from the control board, and the graphic processor is electrically connected with the mainboard.

[0016] The following technical effects are achieved: two control units are directly arranged on the control board, the two control units are used for separately controlling two dual arms of the robot, the control board is directly connected with the mainboard, and the graphic processor is connected with the mainboard to improve the computing power requirement. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide further understanding of the utility model, and the illustrative embodiments of the utility model and the description thereof are used to explain the utility model, and do not constitute improper limitation on the utility model.

[0018] Figure 1 The overall structural schematic diagram of the present application is shown;

[0019] Figure 2The structural schematic diagram of the first connecting piece and the second connecting piece of the application is shown.

[0020] The above drawings include the following reference signs:

[0021] 10, mainboard; 11, first connecting piece; 12, first positioning piece; 20, control board; 21, second connecting piece; 22, second positioning piece; 23, stabilizing piece; 30, graphic processor; 31, fan module; 32, mainboard interface. DETAILED DESCRIPTION

[0022] It should be noted that the embodiments and the features in the embodiments in the application can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0023] It should be noted that, unless otherwise specified, all the technical and scientific terms used in the application have the same meaning as that generally understood by the ordinary skilled in the art to which the application belongs.

[0024] In the application, unless otherwise specified, the orientation words such as "upper", "lower", "top", "bottom" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity directions of the components themselves. Similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the application.

[0025] In order to solve the problem of large volume of the robot double-arm controller in the prior art, the main purpose of the application is to provide a robot double-arm controller and a robot.

[0026] Referring to Figure 1 and Figure 2 The robot double-arm controller comprises a mainboard 10, a control board 20 and a graphic processor 30, the mainboard 10 is provided with a first connecting piece 11, the control board 20 is provided with a second connecting piece 21 matched with the first connecting piece 11, the first connecting piece 11 and the second connecting piece 21 are electrically connected, the mainboard 10 and the control board 20 are provided with a containing space for connecting the first connecting piece 11 and the second connecting piece 21, the control board 20 is provided with a first control unit and a second control unit electrically connected with different mechanical arms, the graphic processor 30 is arranged on the side of the mainboard 10 away from the control board 20, and the graphic processor 30 is electrically connected with the mainboard 10.

[0027] By directly setting two control units on the control board 20, and the two control units respectively control the two arms of the robot, the control board 20 is directly connected with the main board 10, and at the same time, in order to improve the computing power requirement, the graphics processor 30 is connected with the main board 10. The main board 10, the control board 20 and the graphics processor 30 adopt a three-layer stacked board structure, thereby reducing the volume of the controller and reducing the cost of the whole system.

[0028] In the present application, the main board 10 has main board components, and the main board components avoid the projection of the control board 20 on the main board 10. By such arrangement, the size of the control board 20 can be reduced, thereby further reducing the cost of the whole system, and the components avoiding the projection of the control board 20 also facilitate the arrangement of various components on the main board 10.

[0029] The main board components are mainly arranged on the main board 10, and will protrude on the main board 10 during arrangement. By avoiding the projection of the control board 20, the surface of the main board 10 at the projection position of the control board 20 is flat. When the control board 20 is arranged on the main board 10, the thickness between the main board 10 and the control board 20 can be reduced as much as possible, and the normal work of the remaining accessories is not affected. Since the thickness between the main board 10 and the control board 20 is reduced, the thickness of the whole controller is also reduced. By arranging the main board 10 in this way, the thickness of the whole controller can be further compressed.

[0030] In the present application, the main board 10 is provided with a first positioning member 12, and the control board 20 is provided with a second positioning member 22 cooperating with the first positioning member 12.

[0031] One of the first positioning member 12 and the second positioning member 22 is a positioning column, and the other of the first positioning member 12 and the second positioning member 22 is a positioning groove for inserting the positioning column.

[0032] The connection between the main board 10 and the control board 20 is positioned by the cooperation between the positioning column and the positioning groove, which can increase the stability of the connection between the main board 10 and the control board 20, and facilitate the connection between the main board 10 and the control board 20. At the same time, since the positioning column is inserted into the groove, the positioning column and the positioning groove can increase the stability of the connection between the main board 10 and the control board 20 after the connection is stable.

[0033] During the connection of the main board 10 and the control board 20, the positioning column needs to be inserted into the positioning groove to realize the installation between the main board 10 and the control board 20.

[0034] Preferably, in order to improve the mounting effect between the main board 10 and the control board 20, the first positioning member 12 and the second positioning member 22 are provided in plurality and one-to-one correspondence. Through the mutual cooperation between the plurality of first positioning members 12 and the second positioning members 22, the control board 20 connection stability of the main board 10 can be further increased. At the same time, when the mutual displacement trend between the main board 10 and the control board 20 is caused by external force, the mutually cooperating first positioning member 12 and the second positioning member 22 can play a limiting role, preventing the mutual movement between the main board 10 and the control board 20, so as to realize the stability of the connection between the main board 10 and the control board.

[0035] In the present application, the robot dual-arm controller further comprises a stabilizing member 23, which is arranged on one side of the first connecting member 11 or the second connecting member 21, and connects the main board 10 and the control board 20.

[0036] Specifically, the stabilizing member 23 connects the control board 20 and the main board 10, which can improve the stability of the main board 10 and the connecting board after connection. Preferably, the stabilizing member 23 is a threaded stud, which is rotationally connected with one of the main board 10 and the control board 20, and is threadedly connected with the other one, so as to increase the connection stability through the threaded connection.

[0037] The stabilizing member 23 strengthens the connection stability between the first connecting member 11 and the second connecting member 21. The first connecting member 11 and the second connecting member 21 are connected through the socket, and the connection between the first connecting member 11 and the second connecting member 21 realizes the electrical connection between the main board 10 and the control board 20. Therefore, the connection between the first connecting member 11 and the second connecting member 21 determines the stability of the electrical connection between the main board 10 and the control board 20. Therefore, the stabilizing member 23 is arranged on both sides of the first connecting member 11 and the second connecting member 21, so as to ensure the stability of the electrical connection between the main board 10 and the control board 20.

[0038] In order to further increase the stability of the electrical connection between the main board 10 and the control board 20, the stabilizing member 23 can be provided in plurality, which can stabilize the connection between the first connecting member 11 and the second connecting member 21 together, so as to reduce the loosening between the first connecting member 11 and the second connecting member 21.

[0039] In order to facilitate the connection of the stabilizing member 23 to the main board 10 and the control board 20, the stabilizing member 23 is bolted and connected to the main board 10 or the control board 20 through the threaded connection. The bolted connection not only can increase the stability of the connection between the main board 10 and the control board 20, but also can facilitate the installation and disassembly.

[0040] In the present application, the graphic processor 30 comprises a main board interface 32, and the graphic processor 30 is electrically connected with the main board 10 through the main board interface 32.

[0041] Specifically, the mainboard interface 32 is arranged at the side of the graphics processor 30, so that when the mainboard 10 and the graphics processor 30 are connected, the graphics processor 30 can be in parallel with the mainboard 10.

[0042] In the present application, the first connecting piece 11 comprises a BTB connector, the second connecting piece 21 comprises a BTB connector, and the mainboard 10 and the control board 20 are connected through the BTB connectors.

[0043] In the present application, the robot dual-arm controller further comprises a heat dissipation assembly, and the heat dissipation assembly comprises a fan module 31 arranged on the graphics processor 30. By arranging the heat dissipation assembly, the graphics processor 30 can be cooled in time during work, so that the situation of frequency reduction of the graphics processor 30 due to high temperature is reduced, and the stability of the work of the graphics processor 30 is increased.

[0044] The robot dual-arm controller mainly comprises three main modules. The mainboard 10: the mainboard 10 contains rich peripheral interfaces in the CPU system, DDR storage, SSD, LAN port, COM port, USB, Audio and HDMI, etc., and it is mainly responsible for running the dual-arm robot controller software.

[0045] The graphics processor 30: the graphics processor 30 is connected with the mainboard 10 at high speed through an MXM interface, and through the graphics processor 30, a more high-level computing power platform is provided for robot application scenarios such as vision and navigation, and the MXM is a standard interface, has a smaller size and higher integration, different models of the graphics processor 30 can be selected to meet different computing power requirements and cost control.

[0046] The control board 20: the control board 20 is also an EtherCAT slave station device, which is connected with the mainboard 10 through an EtherCAT industrial Ethernet, wherein PHY 0 and PHY 1 are ESC slave ports. Meanwhile, the control board 20 is integrated with dual-path robot control units Robot 1 and Robot 2, which provide power supply for the robot, monitor the motion state of the robot, and ensure that the robot enters a safe state when an abnormality occurs.

[0047] The control board 20 contains a dual-path robot power supply management circuit and a logic control and communication unit, and is connected with the CPU board through a BTB connector.

[0048] The double-path robot power supply management circuit internally comprises: a power input management circuit, which comprises power anti-reverse connection control and a filter and voltage stabilizing circuit; a bus power supply control circuit, which manages the double-arm power bus and is switched controlled through a PMOS and a driving circuit; a voltage and bus power supply detection unit, which monitors the power supply through an amplifier and sends it to the ADC unit of the MCU; two independent double-path robot power supply control circuits, which comprise robot soft start and switching control and are implemented in a PMOS / relay scheme; and two double-path robot output current and voltage detection units, which are composed of a Hall current sensor and an amplifier circuit and complete the monitoring function of the working state of the robot.

[0049] The logic unit is composed of a controller in the SCB circuit and comprises a 13-unit MCU, an EtherCAT slave station controller and two robot PHY chips; by being connected with an EtherCAT master station, the logic unit serves as a slave station device in the robot controller bus, periodically acquires robot motion data and monitors and controls the on-off of the robot power supply.

[0050] From the above description, it can be seen that the above-mentioned embodiments of the utility model realize the following technical effects:

[0051] 1. Two control units are directly arranged on the control board 20, and the two control units separately control the two arms of the robot, the control board 20 is directly connected with the mainboard 10, and a graphics processor 30 is arranged to be connected with the mainboard 10 to improve the computing power. The mainboard 10, the control board 20 and the graphics processor 30 adopt a three-layer laminated structure, thereby reducing the volume of the controller and reducing the cost of the whole system.

[0052] 2. The connection between the mainboard 10 and the control board 20 is positioned by the cooperation between the positioning column and the positioning groove, the stability of the connection between the mainboard 10 and the control board 20 is improved, and the connection between the mainboard 10 and the positioning plate is facilitated. Meanwhile, the positioning column is inserted into the groove, and the positioning column and the positioning groove can improve the stability of the connection between the mainboard 10 and the control board 20 after the mainboard 10 and the control board 20 are stably connected. In order to improve the mounting effect between the mainboard 10 and the control board 20, the first positioning member 12 and the second positioning member 22 are arranged in plurality and one-to-one correspondence. The cooperation between the plurality of first positioning members 12 and the second positioning members 22 can further improve the stability of the connection between the mainboard 10 and the control board 20. Meanwhile, when the mainboard 10 and the control board 20 are displaced, the first positioning member 12 and the second positioning member 22 can limit the displacement of the mainboard 10 and the control board 20, so as to improve the stability of the connection between the mainboard 10 and the control board.

[0053] 3. The main components of the motherboard are located on the motherboard 10, and during the installation process, they protrude from the motherboard 10. By avoiding the projection of the control board 20, the surface of the motherboard 10 at the projection position of the control board 20 is flat. When the control board 20 is placed on the motherboard 10, the thickness between the motherboard 10 and the control board 20 can be minimized without affecting the normal operation of other components. Because the thickness between the motherboard 10 and the control board 20 is reduced, the overall thickness of the controller is also reduced. This layout of the motherboard 10 further reduces the overall thickness of the controller.

[0054] 4. Stabilizer 23 enhances the stability of the connection between the first connector 11 and the second connector 21. The first connector 11 and the second connector 21 are connected via a connector, and this connection enables the electrical connection between the motherboard 10 and the control board 20. Therefore, the quality of this connection determines the stability of the electrical connection between the motherboard 10 and the control board 20. Stabilizer 23 is therefore provided on both sides of the first connector 11 and the second connector 21 to ensure the stability of the electrical connection between the motherboard 10 and the control board 20. To further increase the stability of the electrical connection between the motherboard 10 and the control board 20, multiple stabilizers 23 can be provided. Multiple stabilizers 23 work together to stabilize the connection between the first connector 11 and the second connector 21, reducing the possibility of loosening between them.

[0055] 5. To facilitate the connection of the stabilizer 23 to the mainboard 10 and the control board 20, the stabilizer 23 is bolted and connected to the mainboard 10 or the control board 20 via a threaded connection. This bolted connection not only increases the stability of the connection between the mainboard 10 and the control board 20 but also facilitates installation and disassembly.

[0056] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0057] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0058] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and in the above-described drawings are used only for distinguishing between similar objects and do not necessarily have to describe a specific sequential or chronological order. It is to be understood that the data so distinguished can be interchanged, under appropriate circumstances, such that the embodiments of the present application described herein can be practiced in other than the illustrated or described order.

[0059] The preferred embodiments of the present application have been described above with the specific details. Obviously, the present application can be carried out without the specific details. It is to be understood that the above-described embodiments are only used to illustrate the present application, and the present application can be modified and changed in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot dual-arm controller, characterized by, The robot double-arm controller comprises: a main board (10) having a first connecting piece (11) thereon; a control board (20) having a second connecting piece (21) matched with the first connecting piece (11) thereon, the first connecting piece (11) and the second connecting piece (21) being electrically connected, the main board (10) and the control board (20) having a containing space for connecting the first connecting piece (11) and the second connecting piece (21), the control board (20) having a first control unit and a second control unit electrically connected with different mechanical arms thereon; a graphic processor (30) arranged on a side of the main board (10) away from the control board (20), the graphic processor (30) being electrically connected with the main board (10).

2. The robotic dual-arm controller of claim 1, wherein, The main board (10) has main board (10) components thereon, the main board (10) components avoiding the projection of the control board (20) on the main board (10).

3. The robotic dual arm controller of claim 1, wherein, The main board (10) is provided with a first positioning piece (12), and the control board (20) is provided with a second positioning piece (22) matched with the first positioning piece (12).

4. The robotic dual arm controller of claim 3, wherein, One of the first positioning piece (12) and the second positioning piece (22) is a positioning column, and the other of the first positioning piece (12) and the second positioning piece (22) is a positioning groove for inserting the positioning column.

5. The robotic dual arm controller of claim 1, wherein, The robot double-arm controller further comprises a stabilizing piece (23) arranged on one side of the first connecting piece (11) or the second connecting piece (21), the stabilizing piece (23) connecting the main board (10) and the control board (20).

6. The robotic dual arm controller of claim 5, wherein, The stabilizing piece (23) is provided in multiple numbers on both sides of the first connecting piece (11) or the second connecting piece (21).

7. The robotic dual arm controller of claim 1, wherein, The graphic processor (30) has a main board interface (32), and the graphic processor (30) is electrically connected with the main board (10) through the main board interface (32).

8. The robotic dual arm controller of claim 1, wherein, The first connecting piece (11) comprises a BTB connector, the second connecting piece (21) comprises a BTB connector, and the main board (10) and the control board (20) are connected through the BTB connectors.

9. The robotic dual arm controller of claim 1, wherein, The robot double-arm controller further comprises a heat dissipation assembly, the heat dissipation assembly comprising a fan module (31) arranged on the graphic processor (30).

10. A robot, characterized in that The robot double-arm controller comprises at least two mechanical arms and the robot double-arm controller of any one of claims 1-9, the at least two mechanical arms being electrically connected with the first control unit and the second control unit, respectively.

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