CN107263450A - A kind of manipulator and manipulator control system - Google Patents
A kind of manipulator and manipulator control system Download PDFInfo
- Publication number
- CN107263450A CN107263450A CN201710559574.6A CN201710559574A CN107263450A CN 107263450 A CN107263450 A CN 107263450A CN 201710559574 A CN201710559574 A CN 201710559574A CN 107263450 A CN107263450 A CN 107263450A
- Authority
- CN
- China
- Prior art keywords
- module
- mechanical arm
- manipulator
- chip microcomputer
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a kind of manipulator and manipulator control system, its manipulator includes manipulator body, mechanical arm above manipulator body and the mounting blocks installed in manipulator bodies top, the first standing groove is offered at the top of the mounting blocks, cross neck is offered on the both sides inwall of first standing groove, and first standing groove other both sides inwall on offer top set opening guide groove, the inside of first standing groove and mechanical arm activity are installed, and the both sides of mechanical arm are welded with the lead installed with guide groove activity, the rectangular chamber that position matches with cross neck is offered on mechanical arm, rectangular through-hole is offered on the both sides inwall of the rectangular chamber.The present invention adds Zenith tracking module between the second voltage output end of power module and the first input end of single-chip microcomputer so that manipulator control system has over-voltage protection function, and manipulator body is easy to be installed on the robotic arm.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of manipulator and manipulator control system.
Background technology
Manipulator be it is a kind of can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument, manipulator needs to receive the control of manipulator control system when operation, mechanical
Hand control system includes power module, elegant module, single-chip microcomputer, mechanical arm drive module, mechanical arm and manipulator, existing machine
Lack Zenith tracking module between power module and single-chip microcomputer in tool hand control system, the voltage mistake exported when power module
When big, easily cause manipulator and mechanical arm drive module is damaged, and manipulator installs inconvenience on corresponding mechanical arm.
The content of the invention
The technical problem existed based on background technology, the present invention proposes a kind of manipulator and manipulator control system.
A kind of manipulator proposed by the present invention, including manipulator body, the mechanical arm above manipulator body and peace
Mounted in the mounting blocks of manipulator bodies top, the first standing groove is offered at the top of the mounting blocks, first standing groove
Offered on the inwall of both sides and leading for top setting opening is offered on cross neck, and the other both sides inwall of the first standing groove
To groove, the inside of first standing groove and mechanical arm activity are installed, and the both sides of mechanical arm are welded with and guide groove activity peace
The rectangular chamber that position matches with cross neck is offered on the lead of dress, the mechanical arm, the rectangular chamber
Rectangular through-hole is offered on the inwall of both sides, and rectangular chamber is connected by rectangular through-hole with cross neck, the rectangle
The inside of through hole is placed with installing plate, and the surrounding of installing plate slidably connects the slide rail mutually welded with rectangular through-hole inwall,
Side of the installing plate away from rectangular chamber is welded with the cross card column with cross neck phase clamp, and installing plate is another
Side is welded with fixed column, and side of the fixed column away from installing plate offers thread groove, and the inside of rectangular chamber is fixed
Two axle drive motor is installed, two output shafts of the Two axle drive motor are welded with screw mandrel, and screw mandrel and thread groove phase
Engagement.
Preferably, the bottom interior wall of the bottom of the mechanical arm and the first standing groove is in contact, and is mutually welded with mechanical arm
Lead extend to the tops of mounting blocks.
Preferably, the model YSK30-6M4 of the Two axle drive motor, and Two axle drive motor and rectangular chamber inwall
Junction be provided with cushion.
Preferably, correspond and set positioned at the fixed column of Two axle drive motor both sides, installing plate and cross card column respectively
Put, and cross card column side close to each other extends to the inside of rectangular through-hole.
The invention also provides a kind of manipulator control system, including single-chip microcomputer, power module, Voltage stabilizing module, mechanical arm
Drive module, mechanical arm and manipulator body, the Voltage stabilizing module respectively with the voltage input end of single-chip microcomputer and power module
First voltage output end is electrically connected with, and the voltage that Voltage stabilizing module is used to export power module carries out voltage stabilizing processing, described
The second voltage output end of power module is electrically connected with the input of Zenith tracking module, and Zenith tracking module is defeated
The first input end for going out end and single-chip microcomputer is electrically connected with, and the Zenith tracking module includes current transformer U1, the electric current
Transformer U1 primary winding L1 one end and the input of Zenith tracking module are electrically connected with, and the one of current transformer U1
Secondary coil L1 other end ground connection, the secondary coil L2 of current transformer U1 one end is electrically connected with precision resistance R2's
The pin 3 of one end, electric capacity C1 positive pole and voltage-stablizer U2, the pin 1 of the voltage-stablizer U2 be electrically connected with electric capacity C1 negative pole,
The piezo-resistance R1 other end summation current transformer U1 secondary coil L2 other end, and the ground connection of voltage-stablizer U2 pin 1,
The pin 2 of the voltage-stablizer U2 is electrically connected with electric capacity C2 positive pole, voltage comparator U3 pin 2, and electric capacity C2 negative pole
The pin 4 at end, voltage comparator U3 pin 3 and voltage comparator U3 is grounded, and the pin 8 of the voltage comparator U3 is electrical
Resistance R3 one end is connected with, and the resistance R3 other end is electrically connected with 5 volts of power supplys, the pin 1 of the voltage comparator U3
NOT gate U4 input is electrically connected with, and NOT gate U4 output end and the output end of Zenith tracking module are electrically connected with, institute
The first output end for stating single-chip microcomputer is electrically connected with the input of mechanical arm drive module, and the output end of mechanical arm drive module
Be electrically connected with the control end of mechanical arm, the mechanical arm and manipulator body be installed, and the control end of manipulator body and
First control signal output of single-chip microcomputer is electrically connected with, the voltage input end of the manipulator body and the 4th of power module the
The second relay, and the control end and the 3rd control signal of single-chip microcomputer of the second relay are electrically connected between voltage output end
Output end is electrically connected with, electric between the voltage input end of the mechanical arm drive module and the tertiary voltage output end of power module
Property be connected with the first relay, and the control end of the first relay and the second control signal output of single-chip microcomputer are electrically connected with.
Preferably, corresponding matrix keyboard has been electrically connected in the second output end and the 3rd output end of the single-chip microcomputer
And display module, the matrix keyboard is used to enter the operating instructions, and the operational order that matrix keyboard is inputted passes through single-chip microcomputer
To be controlled to manipulator body, the display module uses LCD12964 displays, and display module is used for display information.
Preferably, the mechanical arm drive module is used to receive the control instruction transmitted by single-chip microcomputer, and mechanical arm drives
Control instruction of the module according to transmitted by single-chip microcomputer is driven to mechanical arm.
Preferably, second input for crossing single-chip microcomputer is electrically connected with infrared receiving module, and infrared receiving module
Matching has infrared sending module, and the infrared receiving module is used to receive infrared sending module transmitted information, and infrared skill
Art module is by the information transfer received to single-chip microcomputer.
Preferably, the current transformer U1, voltage-stablizer U2, voltage comparator U3 and NOT gate U4 model be followed successively by MG8,
LM317L, LM393,74LS04, and piezo-resistance R1, precision resistance R2, resistance R3, electric capacity C1 and electric capacity C2 value be followed successively by
2.4KΩ、1.5KΩ、1500Ω、220μF、220μF。
Beneficial effects of the present invention：
1st, by the guide groove on the cross neck on the first standing groove both sides inwall, the other both sides inwall of the first standing groove,
Lead, Two axle drive motor, screw mandrel on mechanical arm, the thread groove in fixed column, installing plate and cross card column are engaged,
After the guide groove on the other both sides inwall of the first standing groove is movably arranged on lead, Two axle drive motor is driven on installing plate
Cross card column be installed in corresponding cross neck so that manipulator body is easily installed on the robotic arm；
2nd, by adding Zenith tracking between the second voltage output end of power module and the first input end of single-chip microcomputer
Module, and Zenith tracking module include piezo-resistance R1, current transformer U1, precision resistance R2, electric capacity C1, voltage-stablizer U2,
Electric capacity C2, voltage comparator U3 and NOT gate U4, have served as the second voltage output end institute that voltage detection module detects power module
When the voltage of output is more than 220 volts, Zenith tracking module controls the first relay and the second relay to carry out by single-chip microcomputer
Cut-off so that mechanical arm drive module and manipulator body are stopped, it is to avoid mechanical arm drive module and manipulator body
It is damaged because voltage is excessive；
The present invention adds Zenith tracking between the second voltage output end of power module and the first input end of single-chip microcomputer
Module so that manipulator control system has over-voltage protection function, and manipulator body is easy to be installed on the robotic arm.
Brief description of the drawings
Fig. 1 is a kind of front view of manipulator proposed by the present invention；
Fig. 2 is a kind of sectional view of manipulator proposed by the present invention；
Fig. 3 is a kind of sectional view of the fixed column of manipulator proposed by the present invention；
Fig. 4 is a kind of operation principle block diagram of manipulator control system proposed by the present invention；
Fig. 5 is a kind of internal circuit diagram of the Zenith tracking module of manipulator control system proposed by the present invention.
In figure：1 manipulator body, 2 mounting blocks, 3 first standing grooves, 4 cross necks, 5 screw mandrels, 6 mechanical arms, 7 are oriented to
Post, 8 rectangular chambers, 9 rectangular through-holes, 10 installing plates, 11 slide rails, 12 cross card columns, 13 fixed columns, 14 thread grooves, 15 twin shafts
Motor.
Embodiment
The present invention is made with reference to specific embodiment further to explain.
Embodiment
With reference to Fig. 1-5, propose a kind of manipulator in the present embodiment, including manipulator body 1, positioned at manipulator body 1
The mechanical arm 6 of top and the mounting blocks 2 installed in the top of manipulator body 1, the top of mounting blocks 2 offer the first standing groove 3,
Offer and offered on cross neck 4, and the other both sides inwall of the first standing groove 3 on the both sides inwall of first standing groove 3
Top sets the guide groove of opening, and the inside of the first standing groove 3 and the activity of mechanical arm 6 are installed, and the both sides of mechanical arm 6 are welded with
Leading on the lead 7 installed with guide groove activity, the other both sides inwall of 7 and first standing groove of lead 3 on mechanical arm 6
To under the cooperation of groove, the first standing groove 3 on mounting blocks 2 can offer position with rapid card on mechanical arm 6 on mechanical arm 6
Put and offer rectangular through-hole 9, and square on the rectangular chamber 8 matched with cross neck 4, the both sides inwall of rectangular chamber 8
Shape chamber 8 is connected by rectangular through-hole 9 with cross neck 4, and the inside of rectangular through-hole 9 is placed with installing plate 10, and installs
The surrounding of plate 10 slidably connects the slide rail 11 mutually welded with the inwall of rectangular through-hole 9, installing plate 10 away from rectangular chamber 8 one
Side is welded with the cross card column 12 with the cross phase clamp of neck 4, and the opposite side of installing plate 10 is welded with fixed column 13, Gu
Side of the fixed column 13 away from installing plate 10 offers thread groove 14, and the inside of rectangular chamber 8 is installed with Two axle drive electricity
Machine 15, two output shafts of Two axle drive motor 15 are welded with screw mandrel 5, and screw mandrel 5 and thread groove 14 are meshed, and are put first
Put cross neck 4, Two axle drive motor 15, screw mandrel 5, the thread groove 14 in fixed column 13, the installing plate on the both sides inwall of groove 3
10 and cross card column 12 cooperation under, when the guide groove on the other both sides inwall of the first standing groove 3 is movably arranged on lead 7
Afterwards, now rectangular through-hole 9 and cross neck 4 are on same horizontal axis, restart Two axle drive motor 15, and twin shaft drives
Dynamic motor 15 drives corresponding screw mandrel 5 to be rotated by output shaft, and because screw mandrel 5 and thread groove 14 are meshed, screw mandrel 5 drives
Installing plate 10 in fixed column 13 is in the enterprising line slip of slide rail 11 so that installing plate 10 is to the direction away from Two axle drive motor 15
Position movement is carried out, installing plate 10 drives cross card column 12 to be installed in corresponding cross neck 4 so that manipulator body
1 is easily installed on mechanical arm 6.
In the present embodiment, the bottom interior wall of the bottom of mechanical arm 6 and the first standing groove 3 is in contact, and is mutually welded with mechanical arm 6
The lead 7 connect extends to the top of mounting blocks 2, the model YSK30-6M4 of Two axle drive motor 15, and Two axle drive motor
15 and the junction of the inwall of rectangular chamber 8 be provided with cushion, fixed column 13 respectively positioned at the both sides of Two axle drive motor 15, install
Plate 10 and cross card column 12, which are corresponded, to be set, and the side close to each other of cross card column 12 extends to rectangular through-hole 9
Inside, passes through the guiding on the cross neck 4 on the both sides inwall of the first standing groove 3, the other both sides inwall of the first standing groove 3
Lead 7, Two axle drive motor 15, screw mandrel 5, the thread groove 14 in fixed column 13, installing plate 10 and ten on groove, mechanical arm 6
Font card column 12 is engaged, after the guide groove on the other both sides inwall of the first standing groove 3 is movably arranged on lead 7, twin shaft
Motor 15 drives the cross card column 12 on installing plate 10 to be installed in corresponding cross neck 4 so that manipulator sheet
Body 1 is easily installed on the robotic arm, and the manipulator body 1 in the present invention is easy to be easily installed on mechanical arm 6.
The invention also provides a kind of manipulator control system, including single-chip microcomputer, power module, Voltage stabilizing module, mechanical arm
Drive module, mechanical arm 6 and manipulator body 1, Voltage stabilizing module respectively with the voltage input end of single-chip microcomputer and power module
One voltage output end is electrically connected with, and the voltage that Voltage stabilizing module is used to export power module carries out voltage stabilizing processing, power supply mould
The second voltage output end of block is electrically connected with the input of Zenith tracking module, and the output end of Zenith tracking module and
The first input end of single-chip microcomputer is electrically connected with, and Zenith tracking module includes current transformer U1, and current transformer U1 is once
The input of coil L1 one end and Zenith tracking module is electrically connected with, and current transformer U1 primary winding L1's is another
End ground connection, current transformer U1 secondary coil L2 one end is electrically connected with precision resistance R2 one end, electric capacity C1 positive pole
With voltage-stablizer U2 pin 3, voltage-stablizer U2 pin 1 be electrically connected with electric capacity C1 negative pole, the piezo-resistance R1 other end and
The current transformer U1 secondary coil L2 other end, and the ground connection of voltage-stablizer U2 pin 1, voltage-stablizer U2 pin 2 are electrical
It is connected with electric capacity C2 positive pole, voltage comparator U3 pin 2, and electric capacity C2 negative pole end, the voltage comparator U3 and of pin 3
Voltage comparator U3 pin 4 is grounded, and voltage comparator U3 pin 8 is electrically connected with resistance R3 one end, and resistance R3
The other end be electrically connected with 5 volts of power supplys, voltage comparator U3 pin 1 is electrically connected with NOT gate U4 input, and NOT gate
U4 output end and the output end of Zenith tracking module are electrically connected with, and the first output end of single-chip microcomputer is electrically connected with mechanical arm
The input of drive module, and the output end of mechanical arm drive module is electrically connected with the control end of mechanical arm 6, in power module
Second voltage output end and single-chip microcomputer first input end between add Zenith tracking module, and Zenith tracking module
Including piezo-resistance R1, current transformer U1, precision resistance R2, electric capacity C1, voltage-stablizer U2, electric capacity C2, voltage comparator U3 and
NOT gate U4, when the voltage that power module second voltage output end is exported is more than 220 volts, is exported with power module second voltage
Hold the piezo-resistance R1 being electrically connected with breakdown, now primary winding L1 produces larger electric current, by primary winding L1 and two
Secondary coil L2 carries out mutual inductance, and secondary coil L2 produces a low current, and the low current produced by secondary coil L2 is by accurate electricity
Resistance R2 is converted into voltage signal, and the voltage signal produced by precision resistance R2 passes through by electric capacity C1, voltage-stablizer U2 and electric capacity C2 institutes
The mu balanced circuit of composition carries out voltage stabilizing processing, and the voltage signal that then mu balanced circuit is exported enters in voltage comparator U3, electricity
Pressure comparator U3 can export high level, and voltage comparator U3 is converted to low level by NOT gate U4, what last NOT gate U4 was exported
In low level input single-chip microcomputer, manipulator body 1 is installed on mechanical arm 6, and the control end and single-chip microcomputer of manipulator body 1
First control signal output is electrically connected with, the voltage input end of manipulator body 1 and the 4th voltage output end of power module
Between be electrically connected with the second relay, and the control end of the second relay and the 3rd control signal output of single-chip microcomputer are electrical
Connection, be electrically connected between the voltage input end of mechanical arm drive module and the tertiary voltage output end of power module first after
Electrical equipment, and control end and the second control signal output electric connection of single-chip microcomputer of the first relay, when single-chip microcomputer is received
Low level transmitted by NOT gate U4, single-chip microcomputer controls the first relay and the second relay to be ended so that power module stops
Only it is powered to manipulator body 1 and mechanical arm drive module, can effectively avoids manipulator body 1 and mechanical arm from driving
Module is damaged because voltage is excessive.
In the present embodiment, corresponding matrix keyboard has been electrically connected in the second output end and the 3rd output end of single-chip microcomputer
And display module, matrix keyboard is used to enter the operating instructions, and the operational order that is inputted of matrix keyboard by single-chip microcomputer come pair
Manipulator body 1 is controlled, and display module uses LCD12964 displays, and display module is used for display information, mechanical arm
Drive module is used to receive the control instruction transmitted by single-chip microcomputer, and control of the mechanical arm drive module according to transmitted by single-chip microcomputer
Instruct to be driven mechanical arm 6, the second input for crossing single-chip microcomputer is electrically connected with infrared receiving module, and infrared receiver
Module matching has infrared sending module, and infrared receiving module is used to receive infrared sending module transmitted information, and infrared skill
Art module is by the information transfer received to single-chip microcomputer, current transformer U1, voltage-stablizer U2, voltage comparator U3 and NOT gate U4
Model be followed successively by MG8, LM317L, LM393,74LS04, and piezo-resistance R1, precision resistance R2, resistance R3, electric capacity C1 and electricity
The value for holding C2 is followed successively by 2.4K Ω, 1.5K Ω, 1500 Ω, 220 μ F, 220 μ F, passes through the second voltage output end in power module
Add Zenith tracking module between the first input end of single-chip microcomputer, and Zenith tracking module include piezo-resistance R1,
Current transformer U1, precision resistance R2, electric capacity C1, voltage-stablizer U2, electric capacity C2, voltage comparator U3 and NOT gate U4, work as overvoltage
When the voltage that the second voltage output end that detection module detects power module is exported is more than 220 volts, Zenith tracking module
The first relay and the second relay is controlled to be ended by single-chip microcomputer so that mechanical arm drive module and manipulator body 1
It is stopped, it is to avoid mechanical arm drive module and manipulator body 1 are damaged because voltage is excessive, the present invention is in power supply mould
Zenith tracking module is added between the second voltage output end of block and the first input end of single-chip microcomputer so that manipulator control
System has over-voltage protection function.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of manipulator, including manipulator body（1）, positioned at manipulator body（1）The mechanical arm of top（6）With installed in machine
Tool hand body（1）The mounting blocks at top（2）, the mounting blocks（2）Top offer the first standing groove（3）, it is characterised in that
First standing groove（3）Both sides inwall on offer cross neck（4）, and the first standing groove（3）Other both sides in
The guide groove that top sets opening, first standing groove are offered on wall（3）Inside and mechanical arm（6）Activity is installed, and
Mechanical arm（6）Both sides be welded with and guide groove activity install lead（7）, the mechanical arm（6）On offer position with
Cross neck（4）The rectangular chamber matched（8）, the rectangular chamber（8）Both sides inwall on offer rectangular through-hole
（9）, and rectangular chamber（8）Pass through rectangular through-hole（9）With cross neck（4）It is connected, the rectangular through-hole（9）Inside put
It is equipped with installing plate（10）, and installing plate（10）Surrounding slidably connect and rectangular through-hole（9）The slide rail that inwall is mutually welded
（11）, the installing plate（10）Away from rectangular chamber（8）Side be welded with and cross neck（4）The cross card of phase clamp
Post（12）, and installing plate（10）Opposite side be welded with fixed column（13）, the fixed column（13）Away from installing plate（10）One
Side offers thread groove（14）, and rectangular chamber（8）Inside be installed with Two axle drive motor（15）, the Two axle drive
Motor（15）Two output shafts be welded with screw mandrel（5）, and screw mandrel（5）And thread groove（14）It is meshed.
2. a kind of manipulator according to claim 1, it is characterised in that the mechanical arm（6）Bottom and first place
Groove（3）Bottom interior wall be in contact, and and mechanical arm（6）The lead mutually welded（7）Extend to mounting blocks（2）Top.
3. a kind of manipulator according to claim 1, it is characterised in that the Two axle drive motor（15）Model
YSK30-6M4, and Two axle drive motor（15）And rectangular chamber（8）The junction of inwall is provided with cushion.
4. a kind of manipulator according to claim 1, it is characterised in that respectively positioned at Two axle drive motor（15）Both sides
Fixed column（13）, installing plate（10）With cross card column（12）Correspond and set, and cross card column（12）Close to each other
Side extends to rectangular through-hole（9）Inside.
5. a kind of manipulator control system, including single-chip microcomputer, power module, Voltage stabilizing module, mechanical arm drive module, mechanical arm
（6）With manipulator body（1）, the Voltage stabilizing module is defeated with the voltage input end of single-chip microcomputer and the first voltage of power module respectively
Go out end to be electrically connected with, and the voltage that Voltage stabilizing module is used to export power module carries out voltage stabilizing processing, it is characterised in that it is described
The second voltage output end of power module is electrically connected with the input of Zenith tracking module, and Zenith tracking module is defeated
The first input end for going out end and single-chip microcomputer is electrically connected with, and the Zenith tracking module is used for the voltage exported to power module
Value is detected, and Zenith tracking module controls the first relay and the second relay, the single-chip microcomputer by single-chip microcomputer
The first output end be electrically connected with the input of mechanical arm drive module, and the output end of mechanical arm drive module is electrically connected with
There is mechanical arm（6）Control end, the mechanical arm（6）On manipulator body is installed（1）, and manipulator body（1）Control
First control signal output of end and single-chip microcomputer is electrically connected with, the manipulator body（1）Voltage input end and power supply mould
Be electrically connected with the second relay between 4th voltage output end of block, and the second relay control end and single-chip microcomputer the 3rd
Control signal output is electrically connected with, the tertiary voltage output of the voltage input end and power module of the mechanical arm drive module
The first relay, and the control end and the second control signal output electricity of single-chip microcomputer of the first relay are electrically connected between end
Property connection.
6. a kind of manipulator control system according to claim 5, it is characterised in that the second output end of the single-chip microcomputer
Corresponding matrix keyboard and display module is electrically connected with the 3rd output end, the matrix keyboard refers to for input operation
Order, and the operational order that is inputted of matrix keyboard by single-chip microcomputer come to manipulator body（1）It is controlled, the display module
Using LCD12964 displays, and display module is used for display information.
7. a kind of manipulator control system according to claim 5, it is characterised in that the mechanical arm drive module is used for
The control instruction transmitted by single-chip microcomputer is received, and control instruction of the mechanical arm drive module according to transmitted by single-chip microcomputer is come to machinery
Arm（6）It is driven.
8. a kind of manipulator control system according to claim 5, it is characterised in that second input for crossing single-chip microcomputer
End is electrically connected with infrared receiving module, and infrared receiving Block- matching has infrared sending module, and the infrared receiving module is used
In the infrared sending module transmitted information of reception, and infrared technique module is by the information transfer received to single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559574.6A CN107263450A (en) | 2017-07-11 | 2017-07-11 | A kind of manipulator and manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710559574.6A CN107263450A (en) | 2017-07-11 | 2017-07-11 | A kind of manipulator and manipulator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107263450A true CN107263450A (en) | 2017-10-20 |
Family
ID=60073399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710559574.6A Pending CN107263450A (en) | 2017-07-11 | 2017-07-11 | A kind of manipulator and manipulator control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107263450A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108347819A (en) * | 2018-04-14 | 2018-07-31 | 芜湖拓达电子科技有限公司 | A kind of control method of solar streetlight control circuit |
| CN108521702A (en) * | 2018-04-14 | 2018-09-11 | 芜湖泰庆电子科技有限公司 | A kind of control method of the intelligent road-lamp control circuit based on STM chips |
| CN108566705A (en) * | 2018-04-14 | 2018-09-21 | 芜湖泰庆电子科技有限公司 | A kind of intelligent road-lamp control circuit based on STM chips |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205614691U (en) * | 2016-01-21 | 2016-10-05 | 四川信息职业技术学院 | Robot control system |
| CN106880426A (en) * | 2017-04-02 | 2017-06-23 | 徐荣华 | A kind of artificial limb manipulator |
-
2017
- 2017-07-11 CN CN201710559574.6A patent/CN107263450A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205614691U (en) * | 2016-01-21 | 2016-10-05 | 四川信息职业技术学院 | Robot control system |
| CN106880426A (en) * | 2017-04-02 | 2017-06-23 | 徐荣华 | A kind of artificial limb manipulator |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108347819A (en) * | 2018-04-14 | 2018-07-31 | 芜湖拓达电子科技有限公司 | A kind of control method of solar streetlight control circuit |
| CN108521702A (en) * | 2018-04-14 | 2018-09-11 | 芜湖泰庆电子科技有限公司 | A kind of control method of the intelligent road-lamp control circuit based on STM chips |
| CN108566705A (en) * | 2018-04-14 | 2018-09-21 | 芜湖泰庆电子科技有限公司 | A kind of intelligent road-lamp control circuit based on STM chips |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263450A (en) | A kind of manipulator and manipulator control system | |
| CN202964664U (en) | Servo clamping mechanism | |
| CN108581892A (en) | A kind of electronic product machining fixture for being convenient for adjusting chucking power | |
| CN105937658A (en) | Wirelessly-controlled type cable holder | |
| CN106378774A (en) | Rapid replacement assembly for manipulator | |
| CN212849991U (en) | Self-positioning wireless charging table | |
| CN106182075A (en) | Two-freedom universal machine Arm Joint drive system and method | |
| CN203535180U (en) | An insulation and withstand voltage testing apparatus for a solar cell assembly | |
| CN108466998A (en) | A kind of pressing device | |
| CN209461292U (en) | A kind of magnetic core assembling device | |
| CN206533011U (en) | A kind of power supply adaptor binding post clamping machine | |
| CN203708008U (en) | Integrated motor | |
| CN107680458A (en) | A kind of novel electromagnetic induction experiment teaching aid | |
| CN107263378B (en) | Electric screw driver is used in a kind of installation of mechanical parking equipment | |
| CN207915451U (en) | A kind of split type robot | |
| CN207696431U (en) | A kind of electric screw driver | |
| CN206270683U (en) | A kind of EPS controller power sources redundancy holding circuit | |
| CN203140910U (en) | Portable electric discharge machine | |
| CN203851072U (en) | Brushless direct current motor controller | |
| CN207172120U (en) | A kind of manipulator adjusting means of improved structure | |
| CN203949992U (en) | The test board that comprises servo control unit | |
| CN208444164U (en) | One kind picking up formula gift mounted circuit board | |
| CN208099751U (en) | A kind of installation equipment of permanent magnetism centreless engine | |
| CN203621720U (en) | Movable frequency conversion water-cooling spot welder with two-side resistors | |
| CN103111776A (en) | Ground positioning device and fine positioning system of material shelf |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |