CN108500966A - A kind of novel radio mechanical arm and control method - Google Patents
A kind of novel radio mechanical arm and control method Download PDFInfo
- Publication number
- CN108500966A CN108500966A CN201810297157.3A CN201810297157A CN108500966A CN 108500966 A CN108500966 A CN 108500966A CN 201810297157 A CN201810297157 A CN 201810297157A CN 108500966 A CN108500966 A CN 108500966A
- Authority
- CN
- China
- Prior art keywords
- actuating station
- joint
- remote control
- wireless
- control
- 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.)
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
Abstract
A kind of novel radio mechanical arm of present invention offer and control method, it is related to wireless mechanical arm control technology field, it is formed by being remotely controlled end and actuating station two parts, including being remotely controlled end manipulator, it is remotely controlled end wrist, it is remotely controlled end mechanical elbow, it is remotely controlled the small shoulder joint of terminal tool, it is remotely controlled terminal tool large-arm joint, it is remotely controlled end rotation chassis, singlechip control chip, wireless transmitter module, to frequency button, battery terminal, and remote control end ontology, actuating station ontology, actuating station manipulator, actuating station wrist, actuating station mechanical elbow, the small shoulder joint of actuating station machinery, actuating station machinery large-arm joint, actuating station rotation chassis, wireless receiving module, and main control chip.The beneficial effects of the invention are as follows：1. being remotely controlled end mechanical arm and actuating station mechanical arm has similar structure, easily controllable.2. wireless transport module is used, it can be with wireless control.
Description
Technical field
The present invention relates to wireless mechanical arm control technology field more particularly to a kind of novel radio mechanical arm and controlling parties
Method.
Background technology
With the development of Chinese industrial, the arriving in industrial 4.0 epoch, electromechanical integration, automated production processing manufacturing industry
It is particularly important, at the same time, the development of mechanical arm is still very slow, in order to keep up with the process of industry 4.0, all trades and professions
Either production and transport all be unable to do without mechanical arm, and a kind of mechanical arm of novel operating pattern even can change entire industry
Backward situation, so that it is not limited to traditional production model, more focus on its changeability, operability, and being easily programmed property.
And the design pays attention to promote operating experience, reaches entire machine in the hardware configuration for not changing tradition machinery arm with minimum variation
The maximum performance boost of tool arm system.
Invention content
The purpose of the present invention is to provide a kind of novel radio mechanical arm and control methods.Overcome existing machinery arm operation side
The deficiency of formula can effectively improve manipulation experience, under the overall structure for not changing original mechanical arm, devise a kind of completely new
Operation mode.
The present invention using following technical scheme in order to solve the above technical problems, realized：
A kind of novel radio mechanical arm, it is characterised in that：It is formed by being remotely controlled end and actuating station two parts,
The remote control end by being remotely controlled end ontology (11), and remote control end manipulator (1) of the setting in remote control end ontology (11),
Be remotely controlled end wrist (2), remote control end mechanical elbow (3), remote control the small shoulder joint of terminal tool (4), remote control terminal tool large-arm joint (5),
Be remotely controlled end rotation chassis (6), singlechip control chip (7), wireless transmitter module (8), to frequency button (9), battery terminal
(10) constitute, wherein the remote control end rotation chassis (6), singlechip control chip (7), wireless transmitter module (8), to pressing frequently
Button (9), battery terminal (10) are fixed at the upper of remote control end ontology (11), the remote control end manipulator (1), remote control end
Wrist (2), remote control end mechanical elbow (3), the remote control small shoulder joint of terminal tool (4), remote control terminal tool large-arm joint (5), remote control end
The joint of six-freedom degree is sequentially connected on rotation chassis (6), and potentiometer biography is both provided on the joint of six-freedom degree
Sensor, for generating remote information；
The actuating station is by actuating station ontology (12), and actuating station manipulator of the setting on actuating station ontology (12)
(13), actuating station wrist (14), actuating station mechanical elbow (15), the small shoulder joint (16) of actuating station machinery, actuating station machinery large arm
Joint (17), actuating station rotation chassis (18), wireless receiving module (19), main control chip (20) are constituted, wherein the execution
End rotation chassis (18), wireless receiving module (19), main control chip (20) are fixed on actuating station ontology (12), described to hold
Row end manipulator (13), actuating station mechanical elbow (15), the small shoulder joint (16) of actuating station machinery, executes actuating station wrist (14)
The joint of six-freedom degree is sequentially connected on terminal tool large-arm joint (17), actuating station rotation chassis (18), six of actuating station
It is separately installed with steering engine on the joint of degree of freedom；
The joint of the six-freedom degree of the actuating station is corresponding with the remote control joint of six-freedom degree at end respectively.
Preferably, the potentiometer pick-off is transferred to location information in singlechip control chip (7), microcontroller control
After coremaking piece (7) acquisition position data are completed, control data are converted into, then control data are transmitted and give wireless transmission mould
Block (8), wireless transmitter module (8) are launched by specific radio wave signal again.
Preferably, after the wireless receiving module (19) of the actuating station receives signal, specific information identification is identified
Code, then main control chip (20) is routed the message to, main control chip (20) re-modulation goes out the control signal of six-freedom degree, controls respectively
Steering engine on the joint of the six-freedom degree of actuating station processed is finally reached the purpose of wireless control mechanical arm.
A kind of control method of novel radio mechanical arm, it is characterised in that：The joint of the six-freedom degree at control remote control end,
Potentiometer pick-off on each joint is transferred to location information in singlechip control chip (7), singlechip control chip (7)
After acquisition position data are completed, control data are converted into, then control data are transmitted and give wireless transmitter module (8), nothing
Line transmitting module (8) is launched by specific radio wave signal again；At the same time, the wireless receiving module of actuating station
(19) signal is received, after receiving signal, identifies specific message identification code, then route the message to main control chip (20), it is main
Control chip (20) re-modulation goes out the control signal of six-freedom degree, controls the rudder on the joint of the six-freedom degree of actuating station respectively
Machine, it is final to realize wireless control mechanical arm.
The beneficial effects of the invention are as follows：
1. being remotely controlled end mechanical arm and actuating station mechanical arm has similar structure, easily controllable.
2. wireless transport module is used, it can be with wireless control.
Description of the drawings
Fig. 1 is the remote control end schematic diagram of apparatus of the present invention；
Fig. 2 is the actuating station schematic diagram of apparatus of the present invention；
Reference numeral：1- is remotely controlled end manipulator；2- is remotely controlled end wrist；3- is remotely controlled end mechanical elbow；It is small that 4- is remotely controlled terminal tool
Shoulder joint；5- is remotely controlled terminal tool large-arm joint；6- is remotely controlled end rotation chassis；7- singlechip control chips；8- wireless transmitter modules；
9- is to frequency button；10- battery terminals；11- is remotely controlled end ontology；12- actuating station ontologies；13- actuating station manipulators；14- is held
Row end wrist；15- actuating station mechanical elbows；The small shoulder joint of 16- actuating station machineries；17- actuating station machinery large-arm joints；18- is held
Row end rotation chassis；19- wireless receiving modules；20- main control chips.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Specific embodiments and the drawings are closed, the present invention is further explained, but following embodiments are only the preferred embodiment of the present invention, not
All.Based on the implementation example in the implementation mode, those skilled in the art are obtained without making creative work
Other embodiments belong to protection scope of the present invention.
Specific embodiments of the present invention are described below in conjunction with the accompanying drawings.
As shown in Figs. 1-2,
It is formed by being remotely controlled end and actuating station two parts,
End is remotely controlled by remote control end ontology 11, and remote control end manipulator 1, the remote control terminal tool being arranged on remote control end ontology 11
Wrist 2, remote control end mechanical elbow 3, the small shoulder joint 4 of remote control terminal tool, remote control terminal tool large-arm joint 5, remote control end rotation chassis 6, list
Piece machine controls chip 7, wireless transmitter module 8, is constituted to frequency button 9, battery terminal 10, wherein the remote control end rotation
Chassis 6, wireless transmitter module 8, is fixed at frequency button 9, battery terminal 10 at remote control end at singlechip control chip 7
Upper, remote control end manipulator 1, remote control end wrist 2, remote control end mechanical elbow 3, the small shoulder joint 4 of remote control terminal tool, the remote control of ontology 11
The joint of six-freedom degree is sequentially connected on terminal tool large-arm joint 5, remote control end rotation chassis 6, and the pass of six-freedom degree
Potentiometer pick-off is both provided on section, for generating remote information；
Actuating station by actuating station ontology 12, and be arranged on actuating station ontology 12 actuating station manipulator 13, execute terminal
Tool wrist 14, actuating station mechanical elbow 15, the small shoulder joint 16 of actuating station machinery, actuating station machinery large-arm joint 17, actuating station rotation bottom
Disk 18, wireless receiving module 19, main control chip 20 are constituted, wherein actuating station rotation chassis 18, wireless receiving module 19, master control core
Piece 20 is fixed on actuating station ontology 12, the actuating station manipulator 13, actuating station wrist 14, actuating station mechanical elbow
15, the small shoulder joint 16 of actuating station machinery, actuating station machinery large-arm joint 17, on actuating station rotation chassis 18 six-freedom degree pass
Section is sequentially connected, and steering engine is separately installed on the joint of the six-freedom degree of actuating station；The joint of the six-freedom degree of actuating station
It is corresponding with the remote control joint of six-freedom degree at end respectively.
Control is remotely controlled the joint of the six-freedom degree at end, and the potentiometer pick-off on each joint is transferred to location information
In singlechip control chip 7, after 7 acquisition position data of singlechip control chip are completed, control data are converted into, then control
Data are transmitted to wireless transmitter module 8, and wireless transmitter module 8 is launched by specific radio wave signal again；With
This simultaneously, the wireless receiving module 19 of actuating station receives signal, after receiving signal, identifies specific message identification code, then
Information is sent to main control chip 20, and 20 re-modulation of main control chip goes out the control signal of six-freedom degree, controls actuating station respectively
Steering engine on the joint of six-freedom degree, it is final to realize wireless control mechanical arm.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, described in the above embodiment and specification is only the present invention
Preference, be not intended to limit the present invention, without departing from the spirit and scope of the present invention, the present invention also has various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent thereof.
Claims (4)
1. a kind of novel radio mechanical arm, it is characterised in that：It is formed by being remotely controlled end and actuating station two parts,
The remote control end is by being remotely controlled end ontology (11), and remote control end manipulator (1) of the setting in remote control end ontology (11), remote control
Hold wrist (2), remote control end mechanical elbow (3), the remote control small shoulder joint of terminal tool (4), remote control terminal tool large-arm joint (5), remote control
Hold rotation chassis (6), singlechip control chip (7), wireless transmitter module (8), to frequency button (9), battery terminal (10)
Constitute, wherein the remote control end rotation chassis (6), singlechip control chip (7), wireless transmitter module (8), to frequency button
(9), battery terminal (10) is fixed at the upper of remote control end ontology (11), the remote control end manipulator (1), remote control terminal
Tool wrist (2), remote control end mechanical elbow (3), the remote control small shoulder joint of terminal tool (4), remote control terminal tool large-arm joint (5), remote control end are certainly
The joint for turning six-freedom degree on chassis (6) is sequentially connected, and potentiometer sensing is both provided on the joint of six-freedom degree
Device, for generating remote information；
The actuating station by actuating station ontology (12), and be arranged on actuating station ontology (12) actuating station manipulator (13), hold
Row end wrist (14), actuating station mechanical elbow (15), the small shoulder joint (16) of actuating station machinery, actuating station machinery large-arm joint
(17), actuating station rotation chassis (18), wireless receiving module (19), main control chip (20) are constituted, wherein the actuating station is certainly
Turn chassis (18), wireless receiving module (19), main control chip (20) are fixed on actuating station ontology (12), the actuating station
Manipulator (13), actuating station mechanical elbow (15), the small shoulder joint (16) of actuating station machinery, executes terminal at actuating station wrist (14)
The joint of six-freedom degree is sequentially connected on tool large-arm joint (17), actuating station rotation chassis (18), six freedom of actuating station
It is separately installed with steering engine on the joint of degree；
The joint of the six-freedom degree of the actuating station is corresponding with the remote control joint of six-freedom degree at end respectively.
2. novel radio mechanical arm according to claim 1, it is characterised in that：The potentiometer pick-off is location information
It is transferred in singlechip control chip (7), after singlechip control chip (7) acquisition position data are completed, is converted into control number
According to, then control data are transmitted and give wireless transmitter module (8), wireless transmitter module (8) passes through specific radio wave again
Signal is launched.
3. novel radio mechanical arm according to claim 2, it is characterised in that：The wireless receiving module of the actuating station
(19) after receiving signal, specific message identification code is identified, then route the message to main control chip (20), main control chip (20)
Re-modulation goes out the control signal of six-freedom degree, controls the steering engine on the joint of the six-freedom degree of actuating station respectively, finally reaches
To the purpose of wireless control mechanical arm.
4. the control method of novel radio mechanical arm described in a kind of claim 1, it is characterised in that：Six of control remote control end are certainly
By the joint spent, the potentiometer pick-off on each joint is transferred to location information in singlechip control chip (7), microcontroller
After controlling the completion of chip (7) acquisition position data, control data are converted into, then control data are transmitted to wireless transmission
Module (8), wireless transmitter module (8) are launched by specific radio wave signal again；At the same time, actuating station is wireless
Receiving module (19) receives signal, after receiving signal, identifies specific message identification code, then route the message to main control chip
(20), main control chip (20) re-modulation goes out the control signal of six-freedom degree, controls the pass of the six-freedom degree of actuating station respectively
Steering engine on section, it is final to realize wireless control mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297157.3A CN108500966A (en) | 2018-03-30 | 2018-03-30 | A kind of novel radio mechanical arm and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297157.3A CN108500966A (en) | 2018-03-30 | 2018-03-30 | A kind of novel radio mechanical arm and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108500966A true CN108500966A (en) | 2018-09-07 |
Family
ID=63380419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297157.3A Pending CN108500966A (en) | 2018-03-30 | 2018-03-30 | A kind of novel radio mechanical arm and control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108500966A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984514A (en) * | 2019-03-22 | 2019-07-09 | 杨松 | The method of beddo remote controler and remote control electric bed |
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
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| CN206733011U (en) * | 2017-05-24 | 2017-12-12 | 河海大学 | A kind of wireless mechanical arm control circuit for acting trailing type |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109984514A (en) * | 2019-03-22 | 2019-07-09 | 杨松 | The method of beddo remote controler and remote control electric bed |
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
| CN110877337B (en) * | 2019-11-29 | 2020-11-24 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
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Application publication date: 20180907 |