CN105128019B - A kind of manipulator phonetic controller - Google Patents
A kind of manipulator phonetic controller Download PDFInfo
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- CN105128019B CN105128019B CN201510546339.6A CN201510546339A CN105128019B CN 105128019 B CN105128019 B CN 105128019B CN 201510546339 A CN201510546339 A CN 201510546339A CN 105128019 B CN105128019 B CN 105128019B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000012546 transfer Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses a kind of manipulator phonetic controllers, including transmission module, motor drive module and P LC control modules, the transmission module includes mobile terminal transmission module and voice transfer module, the motor drive module includes the microcontroller being connect with mobile terminal transmission module and voice transfer module, the motor driver being connect with microcontroller, the first motor being connect with motor driver and the Robot actions button being connect with the first motor, the PLC control system includes PLC, the relay being connect with PLC, the contactor being connect with relay, the second motor being connect with contactor and the manipulator being connect with the second motor.Its advantage is：Can be by two ways come control machinery hand, one kind is controlled for mobile phone, and another kind is voice control, PC is replaced to control manipulator by both modes, makes that the operation of manipulator is more convenient and use environment is more extensive, and reduces cost.
Description
Technical field
The present invention relates to manipulator technical fields, are especially a kind of manipulator phonetic controller.
Background technology
At present, manipulator is the automated machine device that most broad practice is obtained in robot technical field,
The fields such as industrial manufacture, therapeutic treatment, military affairs, semiconductor manufacturing and space probation can see its figure.With science
The continuous development of technology, people are more and more to the application of manipulator, so research manipulator has important practical significance.And
All it is that corresponding actions are completed by pre-set program to the control of manipulator in the prior art, it is impossible to it is flexible to use,
Wired or wireless control is either carried out by PC, since the environment of factory is often more complicated, the control of PC makes sometimes
The application of manipulator is needed further to be improved by larger constraint.
Invention content
In view of the defects of above-mentioned, it is an object of the invention to：A kind of manipulator phonetic controller is provided, facilitates control machine
Tool hand.
The present invention technical solution be：A kind of manipulator phonetic controller, including transmission module, motor driving mould
Block and PLC control modules, the transmission module include mobile terminal transmission module and voice transfer module, and the motor drives mould
Block include connect with mobile terminal transmission module and voice transfer module microcontroller, connect with microcontroller motor driver,
The first motor being connect with motor driver and the Robot actions button being connect with the first motor, the PLC control system
The relay that is connect including PLC, with PLC, the contactor being connect with relay, the second motor being connect with contactor and with
The manipulator of two motors connection.
Further, first motor is direct current generator, and the microcontroller is by controlling the first motor come control machinery
Hand operation button, Robot actions button are connected by the input terminal of data line and PLC.
Further, the output terminal of the PLC is connect with relay, and relay closure makes relay, contactor, the second electricity
The circuit closed of machine, so as to the movement of control machinery hand.
Further, the mobile terminal transmission module includes mobile equipment and router, the mobile equipment pass through road
Microcontroller is connected by device, the output terminal of the router and the input terminal of microcontroller connect.
Further, the mobile equipment is mobile phone or tablet computer.
Further, the input terminal of the output terminal of the voice transfer module and microcontroller connects, the voice transfer mould
Block includes speech reception module, acoustic wave filter module, speech processing module and sentence memory module.
Using a kind of manipulator phonetic controller designed by the present invention, advantage is：It, can be with when specifically used
By two ways come control machinery hand, one kind is controlled for mobile phone, and another kind is voice control, is replaced by both modes
PC controls manipulator, and the operation for making manipulator is more convenient more extensive with use environment, and reduces cost.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Shown in figure：1- transmission modules, 11- mobile terminal transmission modules, 111- movement equipment, 112- routers, 12- languages
Sound transmission module, 121- speech reception modules, 122- acoustic wave filter modules, 123- speech processing modules, 124- sentences storage mould
Block, 2- motor drive modules, 21- microcontrollers, 22- motor drivers, the first motors of 23-, 24- Robot actions buttons, 3-PLC
Control module, 31-PLC, 32- relays, 33- contactors, the second motors of 34-, 35- manipulators.
Specific embodiment
For it is relatively intuitive, be fully understood by technical scheme of the present invention, now just combine attached drawing of the present invention carry out it is nonrestrictive
Feature description it is as follows：
As shown in Figure 1, a kind of manipulator phonetic controller, controls including transmission module 1, motor drive module 2 and PLC
Module 3, transmission module 1 include mobile terminal transmission module 11 and voice transfer module 12, can be transmitted by mobile terminal
Module 11 and voice transfer module 12 send control control command, and motor drive module 2 includes and mobile terminal transmission module 11
The microcontroller 21 that is connected with voice transfer module 12, connects with motor driver 22 motor driver 22 being connect with microcontroller 21
The first motor 23 connect and the Robot actions button 24 being connect with the first motor 23, PLC31 control systems include PLC31,
The relay 32 that is connect with PLC31, the contactor 33 being connect with relay 32, the second motor 34 being connect with contactor 33 and
The manipulator 35 being connect with the second motor 34.
The output terminal of microcontroller 21 is connect with the input terminal of motor driver 22, the output terminal of motor driver 22 and first
The input terminal connection of motor 23, the output terminal of the first motor 23 are connect with the input terminal of Robot actions button 24, manipulator behaviour
The input terminal of output terminal and PLC31 for making button 24 connects, and the output terminal of PLC31 is connect with the input terminal of relay 32, relay
The output terminal of device 32 is connect with the input terminal of contactor 33, and the output terminal of contactor 33 is connect with the input terminal of the second motor 34,
The output terminal of second motor 34 is connect with the input terminal of manipulator 35.
First motor 23 is direct current generator, and microcontroller 21 is by controlling the first motor 23 come control machinery hand operation button
24, Robot actions button 24 is connected by the input terminal of data line and PLC31.Robot actions button 24 by data line with
The input terminal connection of PLC31.21 program of microcontroller is judged receiving data, is performed corresponding program and is transmitted a signal to electricity
Machine driver 22, motor driver 22 control the operating of the first motor 23 according to signal, by the operating of the first motor 23 come
Control the Robot actions button 24 being connect with PLC31 input terminals.
The output terminal of PLC31 is connect with relay 32, and the closure of relay 32 makes relay 32, contactor 33, the second motor
34 circuit closed, so as to the movement of control machinery hand 35.PLC31 output terminals perform corresponding signal according to input terminal and export,
Corresponding relay 32 is closed, the circuit closed for forming relay 32, contactor 33, the second motor 34, from
And realize the rotating of the second motor 34, by controlling the second motor 34 come the movement of control machinery hand 35.
Mobile terminal transmission module 11 includes mobile equipment 111 and router 112, and mobile equipment 111 passes through router 112
Microcontroller 21 is connected, the output terminal of router 112 is connect with the input terminal of microcontroller 21, and mobile equipment 111 is mobile phone or tablet
Computer, when use, can be controlled with APP.
The output terminal of voice transfer module 12 is connect with the input terminal of microcontroller 21, and voice transfer module 12 connects including voice
Receive module 121, acoustic wave filter module 122, speech processing module 123 and sentence memory module 124.Voice transfer module 12 can be with
On installation manipulator 35 or near manipulator 35, sound identification module first is written into specific sentence using preceding, works as user
When the sentence said is identical with the sentence being written, sound identification module can send out corresponding number code and be sent to microcontroller 21,
After microcontroller 21 receives instruction, corresponding control mode is realized.
A kind of manipulator phonetic controller designed by the present invention when specifically used, can be controlled by two ways
Manipulator 35 processed, one kind are controlled for mobile phone, another kind for voice control, by both modes come replace PC to manipulator 35 into
Row control, the operation for making manipulator 35 is more convenient more extensive with use environment, and reduces cost.
Certainly, the foregoing is merely a prefered embodiment of the invention, and therefore, it does not limit the scope of the claims of the present invention, all fortune
With description of the invention and schema content institute, simply modification and equivalent structure change for it, should all similarly be contained in the special of the present invention
Within sharp protection domain.
Claims (3)
1. a kind of manipulator phonetic controller, it is characterised in that：Mould is controlled including transmission module, motor drive module and PLC
Block, the transmission module include mobile terminal transmission module and voice transfer module, and the motor drive module includes and movement
Terminal transmission module and the microcontroller of voice transfer module connection, the motor driver and motor driver that are connect with microcontroller
First motor of connection and the Robot actions button being connect with the first motor, the PLC control modules include PLC and PLC
It the relay of connection, the contactor being connect with relay, the second motor being connect with contactor and connect with the second motor
Manipulator；
The output terminal of the voice transfer module and the input terminal of microcontroller connect, and the voice transfer module includes phonetic incepting
Module, acoustic wave filter module, speech processing module and sentence memory module；
The output terminal of microcontroller and the input terminal of motor driver connect, the input of the output terminal of motor driver and the first motor
End connection, the output terminal of the first motor connect with the input terminal of Robot actions button, the output terminal of Robot actions button and
The input terminal connection of PLC, the output terminal of PLC and the input terminal of relay connect, the input of the output terminal and contactor of relay
End connection, the output terminal of contactor are connect with the input terminal of the second motor, the output terminal of the second motor and the input terminal of manipulator
Connection；
First motor is direct current generator, and microcontroller is by controlling the first motor come control machinery hand operation button, Robot actions
Button is connected by the input terminal of data line and PLC；SCM program judges that receiving data performing corresponding program will
Signal transmission controls the operating of the first motor according to signal to motor driver, motor driver, passes through the fortune of the first motor
Transfer the Robot actions button that control is connect with PLC input terminals；
Relay is closed the circuit closed for making relay, contactor, the second motor, so as to the movement of control machinery hand；PLC is exported
End performs corresponding signal according to input terminal and exports, and is closed corresponding relay, makes relay, contactor, the
The circuit closed that two motors are formed, so as to fulfill the rotating of the second motor, by controlling the second motor come control machinery hand
Movement.
2. a kind of manipulator phonetic controller according to claim 1, it is characterised in that：The mobile terminal transmits mould
Block includes mobile equipment and router, and the mobile equipment connects microcontroller by router, the output terminal of the router with
The input terminal connection of microcontroller.
3. a kind of manipulator phonetic controller according to claim 2, it is characterised in that：The mobile equipment is mobile phone
Or tablet computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510546339.6A CN105128019B (en) | 2015-08-20 | 2015-08-20 | A kind of manipulator phonetic controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510546339.6A CN105128019B (en) | 2015-08-20 | 2015-08-20 | A kind of manipulator phonetic controller |
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| Publication Number | Publication Date |
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| CN105128019A CN105128019A (en) | 2015-12-09 |
| CN105128019B true CN105128019B (en) | 2018-07-03 |
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| CN201510546339.6A Expired - Fee Related CN105128019B (en) | 2015-08-20 | 2015-08-20 | A kind of manipulator phonetic controller |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514656B (en) * | 2016-12-26 | 2018-10-16 | 皖西学院 | A kind of multifunction speech vision operation robot vehicle and its control method |
| CN109717989A (en) * | 2018-12-03 | 2019-05-07 | 烟台工程职业技术学院 | 3D printing bionic hand based on intelligent sound control |
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| CN202389968U (en) * | 2011-07-20 | 2012-08-22 | 江文渊 | Transfer robot capable of being wirelessly and remotely controlled through voice |
| CN202397747U (en) * | 2011-12-08 | 2012-08-29 | 华南理工大学 | Robot for helping old people and handicapped |
| CN103235580A (en) * | 2013-04-23 | 2013-08-07 | 福州乾庄信息技术有限公司 | System and method for intelligently controlling massage equipment |
| CN203287751U (en) * | 2013-04-16 | 2013-11-13 | 邓美萍 | An indoor control device based on internet of things |
| CN103676950A (en) * | 2013-04-01 | 2014-03-26 | 常熟理工学院 | Medical service robot with voice control |
| CN104224495A (en) * | 2014-10-08 | 2014-12-24 | 上海理工大学 | Portable elbow joint rehabilitation robot control method |
| CN104570835A (en) * | 2014-12-02 | 2015-04-29 | 苏州长风航空电子有限公司 | Cockpit voice command control system and operating method thereof |
| CN104793588A (en) * | 2015-03-06 | 2015-07-22 | 赵功名 | Smart home system based on intelligent routing robot |
| CN104793522A (en) * | 2015-04-21 | 2015-07-22 | 西北农林科技大学 | Voice control system of insecticide spraying robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62165209A (en) * | 1986-01-17 | 1987-07-21 | Mitsubishi Heavy Ind Ltd | Voice command control system for robot |
| JP4600736B2 (en) * | 2004-07-22 | 2010-12-15 | ソニー株式会社 | Robot control apparatus and method, recording medium, and program |
-
2015
- 2015-08-20 CN CN201510546339.6A patent/CN105128019B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201527571U (en) * | 2009-06-30 | 2010-07-14 | 无锡职业技术学院 | Micro-computer teaching type servo control system |
| CN202389968U (en) * | 2011-07-20 | 2012-08-22 | 江文渊 | Transfer robot capable of being wirelessly and remotely controlled through voice |
| CN202397747U (en) * | 2011-12-08 | 2012-08-29 | 华南理工大学 | Robot for helping old people and handicapped |
| CN103676950A (en) * | 2013-04-01 | 2014-03-26 | 常熟理工学院 | Medical service robot with voice control |
| CN203287751U (en) * | 2013-04-16 | 2013-11-13 | 邓美萍 | An indoor control device based on internet of things |
| CN103235580A (en) * | 2013-04-23 | 2013-08-07 | 福州乾庄信息技术有限公司 | System and method for intelligently controlling massage equipment |
| CN104224495A (en) * | 2014-10-08 | 2014-12-24 | 上海理工大学 | Portable elbow joint rehabilitation robot control method |
| CN104570835A (en) * | 2014-12-02 | 2015-04-29 | 苏州长风航空电子有限公司 | Cockpit voice command control system and operating method thereof |
| CN104793588A (en) * | 2015-03-06 | 2015-07-22 | 赵功名 | Smart home system based on intelligent routing robot |
| CN104793522A (en) * | 2015-04-21 | 2015-07-22 | 西北农林科技大学 | Voice control system of insecticide spraying robot |
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| CN105128019A (en) | 2015-12-09 |
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