CN110193822B - 7-Degree-of-freedom high-voltage live working mechanical arm - Google Patents

Abstract

The invention discloses a 7-degree-of-freedom high-voltage live working mechanical arm which comprises 7 motors, a large arm part, a small arm part and a grabbing part, wherein the large arm part and the small arm part are connected through N motors; the small arm part is connected with the grabbing part through M motors; the axes of rotation of any two adjacent motors are mutually perpendicular; n and M are positive integers not less than 2, and n+m=7; 7 motors realize the 7-degree-of-freedom function of the mechanical arm. The invention has the beneficial effects that: 1. the degree of freedom is high, the motion of the arm can be reproduced by simulating the motion of the arm of a human body to design a movable joint, the problem of low degree of freedom of the existing charged mechanical arm is solved, and the operation of any position and any gesture is realized; 2. the insulating small arm part is arranged in a hollow way, and the outer sides of all the parts are covered with the insulating shielding cover, so that the insulating performance is strong; 3. the expandability is good, and the grabbing component comprises a rapid installation clamp, and can install various instruments according to requirements to carry out specific operation.

Description

7-Degree-of-freedom high-voltage live working mechanical arm

Technical Field

The invention relates to the field of automatic mechanical devices, in particular to a 7-degree-of-freedom high-voltage live working mechanical arm.

Background

In order to improve the safety, reliability and economy of the operation of the electric network, the electrified rush repair and maintenance operation of the electric network must be carried out greatly. The existing high-voltage live working mechanical arm is a product special for high-voltage live cleaning equipment, and has the defects of low degree of freedom, poor insulating property, poor expandability, poor operability, poor portability and the like.

In the products of the existing high-voltage live cleaning equipment, a high-degree-of-freedom light remote control high-voltage live working mechanical arm suitable for high-voltage stations and circuits is not available, only 2 degrees of freedom are needed, the operation is extremely inconvenient, the equipment cannot be adapted to complex working environments with multiple electric equipment and large installation density, and power failure to the equipment is needed.

Secondly, live cleaning of domestic high-voltage transformer substation indoor electrical equipment is still in a manual handheld cleaning state. The large manned mechanical arm driven by the motor for manual live working has the defects of long working preparation time, high running cost and the like, and has the advantages of high labor intensity, hard working and personal safety risk.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides the 7-degree-of-freedom high-voltage live working mechanical arm. The invention provides the mechanical arm with good insulativity, high operability and high degree of freedom.

In order to solve the technical problems, the technical scheme of the invention is as follows:

A7-degree-of-freedom high-voltage live working mechanical arm comprises 7 motors, a large arm part, a small arm part and a grabbing part, wherein,

The large arm part and the small arm part are connected through N motors;

the small arm part is connected with the grabbing part through M motors;

the axes of rotation of any two adjacent motors are mutually perpendicular;

N and M are positive integers not less than 2, and n+m=7;

The 7 motors realize the 7-degree-of-freedom function of the mechanical arm

In a preferred embodiment, the 7 motors are defined as a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, and a seventh motor, wherein,

The axis of the first motor is vertical to the ground;

one end of the second motor is connected with the side face of the first motor, and the second motor is perpendicular to the first motor;

One end of the large arm part is connected with the side face of the second motor, and the large arm part is mutually perpendicular to the second motor;

the other end of the large arm part is connected with the side surface of the third motor, and the large arm part is mutually perpendicular to the third motor;

One end of the third motor is connected with one end of the fourth motor;

the side surface of the fourth motor is connected with one end of the small arm part, and the fourth motor is mutually perpendicular to the small arm part;

The other end of the small arm part is connected with the side surface of the fifth motor, and the small arm part is mutually perpendicular to the fifth motor;

one end of the fifth motor is connected with the side face of the sixth motor, and the fifth motor is perpendicular to the sixth motor;

One end of the sixth motor is connected with the side face of the seventh motor, and the sixth motor is perpendicular to the seventh motor;

one end of the seventh motor is connected with the bottom end of the grabbing component, and the axis of rotation of the seventh motor is collinear with the axis of the grabbing component.

In the preferred scheme, the first motor achieves the waist turning function. The second motor realizes the pitching function of the large arm part; the third motor realizes the pitching function of the small arm part; the fourth motor realizes the rotation function of the small arm part; the fifth motor realizes the pitching function of the grabbing component; the sixth motor realizes the swinging function of the grabbing component; the seventh motor realizes the horizontal rotation function of the grasping member.

In a preferred embodiment, the material of the small arm part is an insulating material, and the hollow inside the small arm part is provided with a cavity.

In this preferred scheme, through setting up little arm part cavity, realized no electrical connection's problem, guarantee when live working, the grabbing part of contact electrified body can not lead the electricity to big arm part, first motor, second motor, third motor and fourth motor, improved holistic insulating properties.

In a preferred scheme, the outsides of the large arm part, the grabbing part, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are all covered with insulating shielding covers, and the insulating shielding covers accord with GB/T12168 standard.

In the preferred scheme, the size of the insulating shielding cover is consistent with that of the covering part, and the surface of the insulating shielding cover has no defects of bubbles, scars, damage and the like; after the insulating shielding cover is installed, the movable space of the large arm part and the grabbing part cannot be influenced, and the insulating performance is further improved.

In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a base, wherein the base is arranged on the ground, and the top surface of the base is connected with the bottom surface of the first motor.

In a preferred scheme, the base is internally vacuumized and provided with a first control module, and the first control module controls the working states of the first motor, the second motor, the third motor and the fourth motor.

In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a second control module, and the second control module controls working states of the fifth motor, the sixth motor, the seventh motor and the grabbing component.

In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a storage battery, and the storage battery supplies power to the fifth motor, the sixth motor, the seventh motor and the grabbing component.

In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a first wireless communication module and a second wireless communication module, wherein,

The first wireless communication module is arranged on the inner side of one end of the small arm part, is connected with the small arm part and is electrically connected with the first control module;

The second wireless communication module is arranged on the inner side of the other end of the small arm part, is connected with the small arm part and is electrically connected with the second control module;

the first wireless communication module and the second wireless communication module are connected in a wireless communication mode, and the first control module controls the second control module through the first wireless communication module and the second wireless communication module.

In this preferred scheme, because little arm component is insulating does not have electrical connection, so first control module passes through first wireless communication module and second control module wireless communication connection, avoided owing to under the wired connected mode, the high-voltage current flows into first motor, second motor, third motor, fourth motor and first control module's problem, has effectively improved insulating properties.

Compared with the prior art, the technical scheme of the invention has the beneficial effects that:

1. the robot has the advantages that the robot has high freedom degree, the motion of the arm can be reproduced by simulating the motion of the arm of a human body to design the movable joint, the waist rotation, the pitching of the large arm, the pitching of the small arm, the rotation of the small arm, the pitching of the wrist, the swaying of the wrist and the rotation of the wrist can be realized, the problem that the degree of freedom of the existing charged mechanical arm is low is solved, and the operation of any position and any gesture can be realized.

2. The insulating performance is strong, because the inside cavity of insulating little arm part sets up and the outside of each part all covers and covers, guarantees when live working, high-voltage current can not flow into first motor, second motor, third motor, fourth motor.

3. The device has good expandability, the grabbing component comprises a clamp capable of being installed rapidly, a cleaning brush can be installed to conduct charged cleaning, a manipulator can be installed to conduct charged operation, and other instruments can be installed to conduct specific operation.

Drawings

Fig. 1 is a mechanical structure diagram of embodiment 1.

Fig. 2 is a split view of the mechanical mechanism of embodiment 1.

Fig. 3 is a circuit diagram of a C8051F340 chip of the upper end control part of the arm in embodiment 2.

Fig. 4 is a circuit diagram of a C8051F340 chip of the arm lower end control part of embodiment 2.

Fig. 5 is a second power circuit diagram of the arm lower end control portion of embodiment 2.

Fig. 6 is a first power circuit diagram of the upper end control part of the arm of embodiment 2.

Fig. 7 is a second wireless communication circuit diagram of the arm lower end control section of embodiment 2.

Fig. 8 is a first wireless communication circuit diagram of the upper end control part of the manipulator of embodiment 2.

Fig. 9 is a second steering engine driving circuit diagram of the arm lower end control portion of embodiment 2.

Fig. 10 is a circuit diagram of a second travel limit switch of the arm lower end control portion of embodiment 2.

Fig. 11 is a first steering engine driving circuit diagram of the upper end control part of the manipulator of embodiment 2.

Fig. 12 is a circuit diagram of a first stroke limit switch of the upper end control part of the arm of embodiment 2.

Fig. 13 is a power driving circuit diagram of the upper end control part of the arm in embodiment 2.

Fig. 14 is a circuit diagram of a C8051F340 chip of the remote control module of embodiment 3.

Fig. 15 is a third wireless communication circuit diagram of the remote control module of embodiment 3.

Fig. 16 is a third power circuit diagram of the remote control module of embodiment 3.

The reference numerals indicate that 1, a wrist pitching steering engine; 2. a base; 3. a large arm pitching steering engine; 4. waist rotary steering engine; 5. an alloy large arm; 6. the insulating arm pitching steering engine; 7. the insulating arm rotates the steering engine; 8. a camera; 9. a mechanical claw; 10. wrist rotation steering engine; 11. an insulating arm; 12. wrist swaying steering engine; 13. a lighting lamp; 14. a control line hole; 15. a screw hole; 16. a host communication module; 17. and the slave communication module.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;

for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions;

it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.

Example 1

A7-degree-of-freedom high-voltage live working mechanical arm, as shown in figures 1 and 2, comprises a mechanical arm upper end part and a mechanical arm lower end part, wherein the mechanical arm lower end part comprises a base 2, a large arm pitching steering engine 3, a waist rotation steering engine 4, an alloy large arm 5, an insulating arm pitching steering engine 6, an insulating arm rotating steering engine 7 and an insulating arm 11,

The hollow inside the insulating arm 11 is provided with a cavity;

The base 2 is arranged on the ground, the top surface of the base is connected with the bottom surface of the waist rotary steering engine 4 through a screw hole 15, the central axis of the base 2 is collinear with the axis of the waist rotary steering engine 4, and the waist rotary steering engine 4 realizes 360-degree rotation;

The large arm pitching steering engine 3 is connected with the side surface of the waist turning steering engine 4 through a screw hole 15, the large arm pitching steering engine 3 is mutually perpendicular to the waist turning steering engine 4, and the large arm pitching steering engine 3 rotates 180 degrees;

One end of the alloy large arm 5 is connected with the side surface of the large arm pitching steering engine 3 through a screw hole 15, and the alloy large arm 5 is mutually perpendicular to the large arm pitching steering engine 3;

the other end of the alloy large arm 5 is connected with the side surface of the insulating arm pitching steering engine 6 through a screw hole 15, the alloy large arm 5 is mutually perpendicular to the insulating arm pitching steering engine 6, and the insulating arm pitching steering engine 6 realizes 360-degree rotation;

one end of the insulating arm pitching steering engine 6 is connected with one end of the insulating arm rotating steering engine 7 through a screw hole 15, and the insulating arm rotating steering engine 7 realizes 180-degree rotation;

the side of the insulating arm rotating steering engine 7 is connected with one end of the insulating arm 11 through a screw hole 15, and the insulating arm rotating steering engine 7 is mutually perpendicular to the insulating arm 11.

The upper end part of the mechanical arm comprises a wrist pitching steering engine 1, a camera 8, a mechanical claw 9, a wrist rotating steering engine 10, a wrist swinging steering engine 12, an illuminating lamp 13 and a mechanical claw motor,

The mechanical claw motor controls the mechanical claw 9 to work;

The other end of the insulating arm 11 is connected with the side surface of the wrist pitching steering engine 1 through a screw hole 15, the insulating arm 11 is perpendicular to the wrist pitching steering engine 1, and the wrist pitching steering engine 1 rotates by 360 degrees;

One end of the wrist pitching steering engine 1 is connected with the side surface of the wrist swinging steering engine 12 through a screw hole 15, the wrist pitching steering engine 1 is perpendicular to the wrist swinging steering engine 12, and the wrist swinging steering engine 12 realizes 360-degree rotation;

One end of the wrist swinging steering engine 12 is connected with the side surface of the wrist rotating steering engine 10 through a screw hole 15, and the wrist swinging steering engine 12 is mutually perpendicular to the wrist rotating steering engine 10;

One end of the wrist rotating steering engine 10 is connected with the bottom end of the mechanical claw 9 through a screw hole 15, and the wrist rotating steering engine 10 is collinear with the axis of the mechanical claw 9;

An illuminating lamp 13 is arranged around the outer side of the wrist swinging steering engine 12;

the top end of the outer side of the wrist swinging steering engine 12 is provided with a camera 8;

The outer sides of the alloy large arm 5, the mechanical claw 9, the large arm pitching steering engine 3, the waist rotation steering engine 4, the insulating arm pitching steering engine 6, the insulating arm rotating steering engine 7, the wrist rotating steering engine 10, the wrist swinging steering engine 12 and the wrist pitching steering engine 1 are covered with insulating shielding covers which accord with GB/T12168 standards.

In this embodiment 1, the mechanical structure is used to implement the motion with 7 degrees of freedom, and since the lower end portion of the mechanical arm includes the hollow insulating arm, the high-voltage current cannot flow into the lower end portion of the mechanical arm through the upper end portion of the mechanical arm, and the insulating arms with different insulating properties can be replaced according to actual requirements.

Example 2

Example 2 extends on the basis of example 1, and a control part is added to the mechanical structure to realize the action of the mechanical arm with 7 degrees of freedom of automatic operation.

The control part comprises a mechanical arm upper end control part and a mechanical arm lower end control part, and the mechanical arm lower end control part controls the shape of the mechanical arm upper end control part and is in a master-slave relationship with each other;

The upper end control part of the mechanical arm controls the upper end part of the mechanical arm, the upper end control part of the mechanical arm comprises a C8051F340 chip (U1), a first power supply circuit, a first wireless communication circuit, a first steering engine driving circuit, a first travel limit switch circuit, a power driving circuit and a 24V storage battery,

The C8051F340 chip (U1) is electrically connected with the first wireless communication circuit;

the C8051F340 chip (U1) is electrically connected with the first steering engine driving circuit;

the C8051F340 chip (U1) is electrically connected with the first travel limit switch circuit;

The C8051F340 chip (U1) is electrically connected with the power driving circuit;

As shown in fig. 3 and 6, the first power circuit supplies power to the components at the upper end of the mechanical arm, and the first power circuit includes a capacitor C6, a capacitor C7, an NS6316 chip (x 1), a 1117-3.3 chip (P1), an inductor L1, a resistor R2, a resistor R3, a resistor R10, a capacitor C5, an electrolytic capacitor C3, a capacitor C4, an electrolytic capacitor C1, a capacitor C2, a resistor R1 and a light emitting diode D1,

One end of the capacitor C6 is electrically connected with the power output end of the 24V storage battery;

The other end of the capacitor C6 is grounded;

one end of the capacitor C7 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C7 is grounded;

the power output end of the 24V storage battery is electrically connected with the pin 4 of the NS6316 chip;

Pin 7 of NS6316 chip (x 1) is grounded;

pin 8 of NS6316 chip (x 1) is grounded;

the pin 5 of the NS6316 chip (1) is electrically connected with one end of the inductor L1;

The pin 6 of the NS6316 chip (1) is electrically connected with one end of the inductor L1;

the pin 3 of the NS6316 chip (1) is electrically connected with the other end of the inductor L1;

the pin 3 of the NS6316 chip (1) is electrically connected with one end of the resistor R2;

the pin 2 of the NS6316 chip (1) is electrically connected with the other end of the resistor R2;

the pin 2 of the NS6316 chip (1) is electrically connected with one end of a resistor R3;

the pin 1 of the NS6316 chip (1) is electrically connected with the other end of the resistor R3;

the other end of the resistor R3 is electrically connected with one end of the resistor R10;

the other end of the resistor R10 is grounded;

The No. 2 pin of the NS6316 chip (1) is used as a 5V output power supply end, and the No. 2 pin of the NS6316 chip (1) is electrically connected with one end of a capacitor C5;

The other end of the capacitor C5 is grounded;

One end of the capacitor C5 is electrically connected with the anode of the electrolytic capacitor C3;

the other end of the capacitor C5 is electrically connected with the cathode of the electrolytic capacitor C3;

One end of the capacitor C5 is electrically connected with one end of the capacitor C4;

the other end of the capacitor C5 is electrically connected with the other end of the capacitor C4;

One end of the capacitor C5 is electrically connected with the No. 1 pin of the 1117-3.3 chip;

pin 2 of the 1117-3.3 chip (P1) is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with the anode of the electrolytic capacitor C1;

The cathode of the electrolytic capacitor C1 is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with the No. 10 pin of the C8051F340 chip (U1);

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of the capacitor C2;

The other end of the capacitor C2 is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of the resistor R1;

The other end of the resistor R1 is electrically connected with the anode of the light-emitting diode D1;

the cathode of the light emitting diode D1 is grounded.

As shown in fig. 3 and 8, the first wireless communication circuit includes nRF905 chips (x 4), wherein,

Pin 1 of nRF905 chip (x 4) is electrically connected to pin 3 of 1117-3.3 chip;

pin No. 2 of nRF905 chip (x 4) is electrically connected to pin No. 22 of C8051F340 chip (U1);

pin 3 of nRF905 chip (x 4) is electrically connected with pin 15 of C8051F340 chip (U1);

Pin No. 4 of nRF905 chip (x 4) is electrically connected with pin No. 21 of C8051F340 chip (U1);

pin 8 of nRF905 chip (x 4) is electrically connected with pin 20 of C8051F340 chip (U1);

pin 9 of nRF905 chip (x 4) is electrically connected with pin 16 of C8051F340 chip (U1);

pin 10 of nRF905 chip (x 4) is electrically connected with pin 19 of C8051F340 chip (U1);

pin 11 of nRF905 chip (x 4) is electrically connected with pin 17 of C8051F340 chip (U1);

The No. 12 pin of the nRF905 chip (4) is electrically connected with the No. 18 pin of the C8051F340 chip (U1);

pin 13 of nRF905 chip (×4) is grounded;

Pin 14 of nRF905 chip (×4) is grounded.

The first steering engine driving circuit performs driving control on the wrist pitching steering engine 1, the mechanical claw motor, the wrist rotation steering engine 10 and the wrist swinging steering engine 12, as shown in fig. 3 and 11, the first steering engine driving circuit comprises an L298N chip (U4), an L298N chip (U6), a diode D6, a diode D7, a diode D8, a diode D9, a diode D14, a diode D15, a diode D16, a diode D17, a diode D22, a diode D23, a diode D24, a diode D25, a diode D32, a diode D33, a diode D34, a diode D35, a resistor R19, a resistor R20, a resistor R25 and a resistor R26, wherein,

The No. 5 pin of the L298N chip (U4) is electrically connected with the No. 38 pin of the C8051F340 chip (U1);

the No. 7 pin of the L298N chip (U4) is electrically connected with the No. 37 pin of the C8051F340 chip (U1);

the No. 10 pin of the L298N chip (U4) is electrically connected with the No. 36 pin of the C8051F340 chip (U1);

the No. 12 pin of the L298N chip (U4) is electrically connected with the No. 35 pin of the C8051F340 chip (U1);

The No. 6 pin of the L298N chip (U4) is electrically connected with the No. 34 pin of the C8051F340 chip (U1);

The 11 # pin of the L298N chip (U4) is electrically connected with the 33 # pin of the C8051F340 chip (U1);

the No. 8 pin of the L298N chip (U4) is grounded;

Pin 9 of the L298N chip (U4) is electrically connected to pin 2 of the NS6316 chip (x 1);

the pin 4 of the L298N chip (U4) is electrically connected with the power supply output end of the 24V storage battery;

the pin No. 2 of the L298N chip (U4) is electrically connected with one end of the wrist pitching steering engine 1;

the pin 2 of the L298N chip (U4) is electrically connected with the anode of the diode D6;

the cathode of the diode D6 is connected with a positive power supply;

the No. 2 pin of the L298N chip (U4) is electrically connected with the cathode of the diode D14;

The anode of the diode D14 is grounded;

the pin 3 of the L298N chip (U4) is electrically connected with the other end of the wrist pitching steering engine 1;

The pin 3 of the L298N chip (U4) is electrically connected with the anode of the diode D7;

The cathode of the diode D7 is connected with a positive power supply;

the pin 3 of the L298N chip (U4) is electrically connected with the cathode of the diode D15;

the anode of the diode D15 is grounded;

The pin 13 of the L298N chip (U4) is electrically connected with one end of the wrist swinging steering engine 12;

the pin 13 of the L298N chip (U4) is electrically connected with the anode of the diode D8;

The cathode of the diode D8 is connected with a positive power supply;

pin 13 of the L298N chip (U4) is electrically connected with the cathode of the diode D16;

the anode of the diode D16 is grounded;

The pin 14 of the L298N chip (U4) is electrically connected with the other end of the wrist swinging steering engine 12;

The No. 14 pin of the L298N chip (U4) is electrically connected with the anode of the diode D9;

The cathode of the diode D9 is connected with a positive power supply;

pin 14 of the L298N chip (U4) is electrically connected with the cathode of the diode D17;

The anode of the diode D17 is grounded;

The pin 1 of the L298N chip (U4) is electrically connected with one end of the resistor R20;

The pin 15 of the L298N chip (U4) is electrically connected with one end of the resistor R19;

The other end of the resistor R20 is electrically connected with the other end of the resistor R19;

the other end of the resistor R20 is grounded;

The No. 5 pin of the L298N chip (U6) is electrically connected with the No. 30 pin of the C8051F340 chip (U1);

The pin 7 of the L298N chip (U6) is electrically connected with the pin 29 of the C8051F340 chip (U1);

The No. 10 pin of the L298N chip (U6) is electrically connected with the No. 28 pin of the C8051F340 chip (U1);

The No. 12 pin of the L298N chip (U6) is electrically connected with the No. 27 pin of the C8051F340 chip (U1);

The pin 6 of the L298N chip (U6) is electrically connected with the pin 26 of the C8051F340 chip (U1);

The No. 11 pin of the L298N chip (U6) is electrically connected with the No. 25 pin of the C8051F340 chip (U1);

The No. 8 pin of the L298N chip (U6) is grounded;

Pin 9 of the L298N chip (U6) is electrically connected to pin 2 of the NS6316 chip (x 1);

the pin 4 of the L298N chip (U6) is electrically connected with the power supply output end of the 24V storage battery;

the pin 2 of the L298N chip (U6) is electrically connected with one end of the wrist rotating steering engine 10;

the pin 2 of the L298N chip (U6) is electrically connected with the anode of the diode D22;

the cathode of the diode D22 is connected with a positive power supply;

pin 2 of the L298N chip (U6) is electrically connected with the cathode of the diode D32;

The anode of the diode D32 is grounded;

the pin 3 of the L298N chip (U6) is electrically connected with the other end of the wrist rotating steering engine 10;

the pin 3 of the L298N chip (U6) is electrically connected with the anode of the diode D23;

The cathode of the diode D23 is connected with a positive power supply;

the pin 3 of the L298N chip (U6) is electrically connected with the cathode of the diode D33;

The anode of the diode D33 is grounded;

the pin 13 of the L298N chip (U6) is electrically connected with one end of the mechanical claw motor;

The No. 13 pin of the L298N chip (U6) is electrically connected with the anode of the diode D24;

the cathode of the diode D24 is connected with a positive power supply;

pin 13 of the L298N chip (U6) is electrically connected with the cathode of the diode D34;

The anode of the diode D34 is grounded;

The No. 14 pin of the L298N chip (U6) is electrically connected with the other end of the mechanical claw motor;

The No. 14 pin of the L298N chip (U6) is electrically connected with the anode of the diode D25;

the cathode of the diode D25 is connected with a positive power supply;

the No. 14 pin of the L298N chip (U6) is electrically connected with the cathode of the diode D35;

the anode of the diode D35 is grounded;

the pin 1 of the L298N chip (U4) is electrically connected with one end of the resistor R26;

The pin 15 of the L298N chip (U4) is electrically connected with one end of the resistor R25;

The other end of the resistor R25 is electrically connected with the other end of the resistor R26;

the other end of resistor R26 is grounded.

The first travel limit switch circuit controls the motion states of the wrist pitching steering engine 1, the wrist rotating steering engine 10 and the wrist swaying steering engine 12, as shown in fig. 3 and 12, and comprises 3 SW-SPST switches, a resistor R29, a resistor R30, a resistor R39, a resistor R40, a resistor R35, a resistor R36, a photoelectric coupler IC1, a photoelectric coupler IC3 and a photoelectric coupler IC5,

One end of the resistor R29 is electrically connected with a pin 2 of the NS6316 chip (1);

One end of the resistor R29 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

One end of the resistor R29 is electrically connected with one end of the emission stage of the photoelectric coupler IC 1;

The other end of the transmitting stage of the photoelectric coupler IC1 is grounded;

one end of the receiving stage of the photoelectric coupler IC1 is electrically connected with one end of the resistor R30;

the other end of the resistor R30 is electrically connected with a pin 3 of the 1117-3.3 chip (P1);

one end of the receiving stage of the photoelectric coupler IC1 is electrically connected with a No. 47 pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photoelectric coupler IC1 is grounded;

One end of the resistor R99 is electrically connected with a pin 2 of the NS6316 chip;

One end of the resistor R39 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

One end of the resistor R39 is electrically connected with one end of the emitter of the photoelectric coupler IC 5;

the other end of the transmitting stage of the photocoupler IC5 is grounded;

One end of the receiving stage of the photocoupler IC5 is electrically connected with one end of the resistor R40;

The other end of the resistor R40 is electrically connected with a pin 3 of the 1117-3.3 chip (P1);

One end of the receiving stage of the photoelectric coupler IC5 is electrically connected with a No. 31 pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photoelectric coupler IC5 is grounded;

one end of the resistor R35 is electrically connected with a No. 2 pin of the NS6316 chip (1);

one end of the resistor R35 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

One end of the resistor R35 is electrically connected with one end of the emission stage of the photoelectric coupler IC 3;

The other end of the transmitting stage of the photocoupler IC3 is grounded;

one end of the receiving stage of the photocoupler IC3 is electrically connected with one end of the resistor R30;

The other end of the resistor R36 is electrically connected with a pin 3 of the 1117-3.3 chip;

One end of the receiving stage of the photoelectric coupler IC3 is electrically connected with a 39-pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photocoupler IC3 is grounded.

The power driving circuit controls the power supply of the camera 8, the illuminating lamp 13 and the mechanical claw motor through the relay; as shown in fig. 3 and 13, the power driving circuit includes a light emitting diode D4, a light emitting diode D30, a light emitting diode D40, a resistor R16, a resistor R17, a resistor R18, a resistor R23, a resistor R24, a resistor R33, a resistor R34, a diode D5, a diode D31, a diode D41, a PNP transistor Q1, a PNP transistor Q2, a PNP transistor Q3, and 3 relays, wherein,

The anode of the light-emitting diode D4 is connected with a positive power supply;

the cathode of the light-emitting diode D4 is electrically connected with one end of the resistor R16;

The other end of the resistor R16 is electrically connected with the anode of the diode D5;

The cathode of the diode D5 is connected with a positive power supply;

the cathode of the diode D5 is electrically connected with one end of the control stage of the relay;

the anode of the diode D5 is electrically connected with the other end of the control stage of the relay;

The anode of the diode D5 is electrically connected with the emitter of the PNP triode Q1;

the collector of the PNP triode Q1 is grounded;

The base electrode of the PNP triode Q1 is electrically connected with one end of a resistor R17;

the other end of the resistor R17 is electrically connected with a 23-pin of the C8051F340 chip (U1);

One end of a switching stage of the relay is electrically connected with the power output end of the 24V storage battery;

The other end of the switching stage of the relay is electrically connected with one end of the illuminating lamp 13;

The other end of the illuminating lamp 13 is electrically connected with one end of a resistor R18;

The other end of the resistor R18 is grounded;

the anode of the light-emitting diode D30 is connected with a positive power supply;

the cathode of the light-emitting diode D30 is electrically connected with one end of the resistor R23;

The other end of the resistor R23 is electrically connected with the anode of the diode D31;

the cathode of the diode D31 is connected with a positive power supply;

The cathode of the diode D31 is electrically connected with one end of the control stage of the relay;

The anode of the diode D31 is electrically connected with the other end of the control stage of the relay;

the anode of the diode D31 is electrically connected with the emitter of the PNP triode Q2;

the collector of the PNP triode Q2 is grounded;

the base electrode of the PNP triode Q2 is electrically connected with one end of a resistor R24;

the other end of the resistor R24 is electrically connected with a No. 16 pin of the C8051F340 chip (U1);

The switching stage of the relay controls the power supply of the camera 8;

the anode of the light-emitting diode D40 is connected with a positive power supply;

the cathode of the light-emitting diode D40 is electrically connected with one end of the resistor R33;

the other end of the resistor R33 is electrically connected with the anode of the diode D41;

the cathode of the diode D41 is connected with a positive power supply;

The cathode of the diode D41 is electrically connected with one end of the control stage of the relay;

The anode of the diode D41 is electrically connected with the other end of the control stage of the relay;

The anode of the diode D41 is electrically connected with the emitter of the PNP triode Q3;

the collector of the PNP triode Q3 is grounded;

the base electrode of the PNP triode Q3 is electrically connected with one end of a resistor R34;

The other end of the resistor R34 is electrically connected with a No. 15 pin of the C8051F340 chip (U1);

The switching stage of the relay controls the power supply of the gripper motor.

The lower end control part of the mechanical arm controls the lower end part of the mechanical arm and comprises a C8051F340 chip (U2), a second power supply circuit, a second wireless communication circuit, a second steering engine driving circuit, a second travel limit switch circuit and a 24V storage battery,

The C8051F340 chip (U2) is electrically connected with the second wireless communication circuit;

the C8051F340 chip (U2) is electrically connected with the second steering engine driving circuit;

the C8051F340 chip (U2) is electrically connected with the second travel limit switch circuit.

As shown in fig. 4 and 5, the second power circuit supplies power to the components at the lower end of the mechanical arm, and the second power circuit includes a capacitor C17, a capacitor C19, an NS6316 chip (x 2), a 1117-3.3 chip (P2), an inductor L2, a resistor R6, a resistor R7, a resistor R11, a capacitor C14, an electrolytic capacitor C12, a capacitor C13, an electrolytic capacitor C8, a capacitor C9, a resistor R4, and a light emitting diode D2, wherein,

One end of the capacitor C17 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C17 is grounded;

one end of the capacitor C19 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C19 is grounded;

the power output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (2);

pin 7 of NS6316 chip (x 2) is grounded;

Pin 8 of NS6316 chip (x 2) is grounded;

The pin 5 of the NS6316 chip (x 2) is electrically connected with one end of the inductor L2;

The pin 6 of the NS6316 chip (x 2) is electrically connected with one end of the inductor L2;

The pin 3 of the NS6316 chip (x 2) is electrically connected with the other end of the inductor L2;

The pin 3 of the NS6316 chip (2) is electrically connected with one end of a resistor R6;

the pin 2 of the NS6316 chip (x 2) is electrically connected with the other end of the resistor R6;

The pin 2 of the NS6316 chip (x 2) is electrically connected with one end of a resistor R7;

the pin 1 of the NS6316 chip (x 2) is electrically connected with the other end of the resistor R7;

The other end of the resistor R7 is electrically connected with one end of the resistor R11;

the other end of the resistor R11 is grounded;

The No. 2 pin of the NS6316 chip (x 2) is used as a 5V output power supply end, and the No. 2 pin of the NS6316 chip (x 2) is electrically connected with one end of the capacitor C14;

the other end of the capacitor C14 is grounded;

One end of the capacitor C14 is electrically connected with the anode of the electrolytic capacitor C12;

the other end of the capacitor C14 is electrically connected with the cathode of the electrolytic capacitor C12;

one end of the capacitor C14 is electrically connected with one end of the capacitor C13;

The other end of the capacitor C14 is electrically connected with the other end of the capacitor C13;

One end of the capacitor C14 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P2);

pin 2 of the 1117-3.3 chip (P2) is grounded;

Pin 3 of the 1117-3.3 chip (P2) is electrically connected with the anode of the electrolytic capacitor C8;

the cathode of the electrolytic capacitor C8 is grounded;

The No. 3 pin of the 1117-3.3 chip (P2) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with the No. 10 pin of the C8051F340 chip (U2);

Pin 3 of the 1117-3.3 chip (P2) is electrically connected with one end of the capacitor C9;

The other end of the capacitor C9 is grounded;

The No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of the resistor R4;

The other end of the resistor R4 is electrically connected with the anode of the light-emitting diode D2;

the cathode of the light emitting diode D2 is grounded.

As shown in fig. 4 and 7, the second wireless communication circuit includes nRF905 chips (x 5),

Pin 1 of nRF905 chip (x 5) is electrically connected to pin 3 of 1117-3.3 chip (P2);

pin No. 2 of nRF905 chip (x 5) is electrically connected to pin No. 22 of C8051F340 chip (U2);

Pin 3 of nRF905 chip (x 5) is electrically connected with pin 15 of C8051F340 chip (U2);

Pin No. 4 of nRF905 chip (x 5) is electrically connected with pin No. 21 of C8051F340 chip (U2);

Pin 8 of nRF905 chip (x 5) is electrically connected with pin 20 of C8051F340 chip (U2);

pin 9 of nRF905 chip (x 5) is electrically connected with pin 16 of C8051F340 chip (U2);

Pin 10 of nRF905 chip (x 5) is electrically connected with pin 19 of C8051F340 chip (U2);

Pin 11 of nRF905 chip (x 5) is electrically connected to pin 17 of C8051F340 chip (U2);

The No. 12 pin of the nRF905 chip (5) is electrically connected with the No. 18 pin of the C8051F340 chip (U2);

Pin 13 of nRF905 chip (×5) is grounded;

Pin 14 of nRF905 chip (×5) is grounded.

The second steering engine driving circuit is used for driving and controlling the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6 and the insulating arm rotating steering engine 7, as shown in fig. 4 and 9, the second steering engine driving circuit comprises an L298N chip (U5), an L298N chip (U7), a diode D10, a diode D11, a diode D12, a diode D13, a diode D18, a diode D19, a diode D20, a diode D21, a diode D26, a diode D27, a diode D28, a diode D29, a diode D36, a diode D37, a diode D38, a diode D39, a resistor R21, a resistor R22, a resistor R27 and a resistor R28, wherein,

The No. 5 pin of the L298N chip (U5) is electrically connected with the No. 3 pin of the C8051F340 chip (U2);

The pin 7 of the L298N chip (U5) is electrically connected with the pin 4 of the C8051F340 chip (U2);

The No. 10 pin of the L298N chip (U5) is electrically connected with the No. 5 pin of the C8051F340 chip (U2);

the No. 12 pin of the L298N chip (U5) is electrically connected with the No. 6 pin of the C8051F340 chip (U2);

the pin 6 of the L298N chip (U5) is electrically connected with the pin 2 of the C8051F340 chip (U2);

the No. 11 pin of the L298N chip (U5) is electrically connected with the No. 1 pin of the C8051F340 chip (U2);

the No. 8 pin of the L298N chip (U5) is grounded;

pin 9 of the L298N chip (U5) is electrically connected to pin 2 of the NS6316 chip (x 2);

the pin 4 of the L298N chip (U5) is electrically connected with the power supply output end of the 24V storage battery;

The pin No. 2 of the L298N chip (U5) is electrically connected with one end of the waist turning steering engine 4;

the pin 2 of the L298N chip (U5) is electrically connected with the anode of the diode D10;

the cathode of the diode D11 is connected with a positive power supply;

Pin 2 of the L298N chip (U5) is electrically connected with the cathode of the diode D18;

The anode of the diode D18 is grounded;

the pin 3 of the L298N chip (U5) is electrically connected with the other end of the waist rotary steering engine 4;

The pin 3 of the L298N chip (U5) is electrically connected with the anode of the diode D11;

the cathode of the diode D11 is connected with a positive power supply;

Pin 3 of the L298N chip (U5) is electrically connected with the cathode of the diode D19;

the anode of the diode D19 is grounded;

The pin 13 of the L298N chip (U5) is electrically connected with one end of the large arm pitching steering engine 3;

The No. 13 pin of the L298N chip (U5) is electrically connected with the anode of the diode D12;

the cathode of the diode D12 is connected with a positive power supply;

The No. 13 pin of the L298N chip (U5) is electrically connected with the cathode of the diode D20;

the anode of the diode D20 is grounded;

the No. 14 pin of the L298N chip (U5) is electrically connected with the other end of the large arm pitching steering engine 3;

the No. 14 pin of the L298N chip (U5) is electrically connected with the anode of the diode D13;

the cathode of the diode D13 is connected with a positive power supply;

pin 14 of the L298N chip (U5) is electrically connected with the cathode of the diode D21;

the anode of the diode D21 is grounded;

The pin 1 of the L298N chip (U5) is electrically connected with one end of the resistor R21;

the No. 15 pin of the L298N chip (U5) is electrically connected with one end of the resistor R22;

the other end of the resistor R21 is electrically connected with the other end of the resistor R22;

the other end of the resistor R22 is grounded;

the No. 5 pin of the L298N chip (U7) is electrically connected with the No. 46 pin of the C8051F340 chip (U2);

the pin 7 of the L298N chip (U7) is electrically connected with the pin 45 of the C8051F340 chip (U2);

the No. 10 pin of the L298N chip (U7) is electrically connected with the No. 44 pin of the C8051F340 chip (U2);

The No. 12 pin of the L298N chip (U7) is electrically connected with the No. 43 pin of the C8051F340 chip (U2);

The pin 6 of the L298N chip (U7) is electrically connected with the pin 42 of the C8051F340 chip (U2);

The No. 11 pin of the L298N chip (U7) is electrically connected with the No. 41 pin of the C8051F340 chip (U2);

The No. 8 pin of the L298N chip (U7) is grounded;

pin 9 of the L298N chip (U7) is electrically connected to pin 2 of the NS6316 chip (x 2);

The pin 4 of the L298N chip (U7) is electrically connected with the power supply output end of the 24V storage battery;

a No. 2 pin of the L298N chip (U7) is electrically connected with one end of the insulating arm pitching steering engine 6;

the pin 2 of the L298N chip (U7) is electrically connected with the anode of the diode D26;

the cathode of the diode D26 is connected with a positive power supply;

pin 2 of the L298N chip (U7) is electrically connected with the cathode of the diode D36;

the anode of the diode D36 is grounded;

the pin 3 of the L298N chip (U7) is electrically connected with the other end of the insulating arm pitching steering engine 6;

The pin 3 of the L298N chip (U7) is electrically connected with the anode of the diode D27;

the cathode of the diode D27 is connected with a positive power supply;

Pin 3 of the L298N chip (U7) is electrically connected with the cathode of the diode D37;

The anode of the diode D37 is grounded;

The pin 13 of the L298N chip (U7) is electrically connected with one end of the insulating arm rotating steering engine 7;

pin 13 of the L298N chip (U7) is electrically connected with the anode of the diode D28;

the cathode of the diode D28 is connected with a positive power supply;

pin 13 of the L298N chip (U7) is electrically connected with the cathode of the diode D38;

the anode of the diode D38 is grounded;

the No. 14 pin of the L298N chip (U7) is electrically connected with the other end of the insulating arm rotating steering engine 7;

The No. 14 pin of the L298N chip (U7) is electrically connected with the anode of the diode D29;

The cathode of the diode D29 is connected with a positive power supply;

pin 14 of the L298N chip (U7) is electrically connected with the cathode of the diode D39;

The anode of the diode D39 is grounded;

the pin 1 of the L298N chip (U5) is electrically connected with one end of a resistor R27;

The No. 15 pin of the L298N chip (U5) is electrically connected with one end of the resistor R28;

the other end of the resistor R27 is electrically connected with the other end of the resistor R28;

the other end of resistor R27 is grounded.

The second travel limit switch circuit controls the motion states of the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6 and the insulating arm rotating steering engine 7, as shown in fig. 4 and 10, the travel limit switch circuit comprises 4 SW-SPST switches, a resistor R31, a resistor R32, a resistor R37, a resistor R38, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a photoelectric coupler IC2, a photoelectric coupler IC4, a photoelectric coupler IC6 and a photoelectric coupler IC7, wherein,

One end of the resistor R31 is electrically connected with a No. 2 pin of the NS6316 chip (2);

one end of the resistor R31 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

One end of the resistor R31 is electrically connected with one end of the emission stage of the photoelectric coupler IC 2;

the other end of the transmitting stage of the photoelectric coupler IC2 is grounded;

One end of the receiving stage of the photoelectric coupler IC2 is electrically connected with one end of the resistor R32;

The other end of the resistor R32 is electrically connected with a pin 3 of the 1117-3.3 chip (P2);

one end of the receiving stage of the photoelectric coupler IC2 is electrically connected with a 48-pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC2 is grounded;

one end of the resistor R32 is electrically connected with a No. 2 pin of the NS6316 chip (2);

one end of the resistor R41 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

one end of the resistor R41 is electrically connected with one end of the emitter of the photocoupler IC 6;

the other end of the transmitting stage of the photocoupler IC6 is grounded;

one end of the receiving stage of the photocoupler IC6 is electrically connected with one end of the resistor R42;

the other end of the resistor R42 is electrically connected with a pin 3 of the 1117-3.3 chip (P2);

One end of the receiving stage of the photoelectric coupler IC6 is electrically connected with a 32-pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC6 is grounded;

one end of the resistor R37 is electrically connected with a No. 2 pin of the NS6316 chip (2);

one end of the resistor R37 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

One end of the resistor R37 is electrically connected with one end of the emitter of the photoelectric coupler IC 4;

The other end of the transmitting stage of the photocoupler IC4 is grounded;

one end of the receiving stage of the photocoupler IC4 is electrically connected with one end of the resistor R38;

The other end of the resistor R38 is electrically connected with a pin 3 of the 1117-3.3 chip (P2);

one end of the receiving stage of the photoelectric coupler IC4 is electrically connected with a 40-pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC4 is grounded;

One end of the resistor R43 is electrically connected with a No. 2 pin of the NS6316 chip (2);

one end of the resistor R43 is electrically connected with one end of the SW-SPST switch;

The other end of the SW-SPST switch is grounded;

one end of the resistor R43 is electrically connected to one end of the emitter of the photocoupler IC 47;

the other end of the emission stage of the photocoupler IC7 is grounded;

one end of the receiving stage of the photocoupler IC7 is electrically connected with one end of the resistor R44;

The other end of the resistor R44 is electrically connected with a pin 3 of the 1117-3.3 chip (P2);

One end of the receiving stage of the photoelectric coupler IC7 is electrically connected with a 24-pin of a C8051F340 chip (U2);

The other end of the receiving stage of the photo coupler IC7 is grounded.

In embodiment 2, the upper end portion of the arm is controlled by the upper end control portion of the arm, the lower end portion of the arm is controlled by the lower end control portion of the arm, and because the insulating arm is hollow, the upper end control portion of the arm communicates with the lower end control portion of the arm through the first wireless communication circuit and the second wireless communication circuit, and is set to be the master of the lower end control portion of the arm, the upper end control portion of the arm is the slave, and the lower end control portion of the arm forms control over the upper end control portion of the arm. On this basis, the operation of the entire 7-degree-of-freedom arm can be set by the C8051F340 chip (U2) of the arm lower end control section.

Example 3

Example 3 extends on the basis of example 2, and a remote control module is added, and the control of example 2 is remotely performed through the remote control module.

The remote control module comprises a C8051F340 chip (U3), an operation key, a touch screen, a third wireless communication circuit, a 24V storage battery and a third power circuit, wherein,

The C8051F340 chip (U3) is electrically connected with the operation key;

the C8051F340 chip (U3) is electrically connected with the touch screen;

the C8051F340 chip (U3) is electrically connected to the third wireless communication circuit.

As shown in fig. 13 and 15, the remote control module is powered by a third power circuit, which includes a capacitor C20, a capacitor C21, an NS6316 chip (x 3), a 1117-3.3 chip (P3), an inductor L3, a resistor R8, a resistor R9, a resistor R12, a capacitor C18, an electrolytic capacitor C15, a capacitor C16, an electrolytic capacitor C10, a capacitor C11, a resistor R5, and a light emitting diode D3,

One end of the capacitor C20 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C20 is grounded;

one end of the capacitor C21 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C21 is grounded;

The power output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (3);

Pin 7 of NS6316 chip (x 3) is grounded;

pin number 8 of NS6316 chip (x 3) is grounded;

The pin 5 of the NS6316 chip (3) is electrically connected with one end of the inductor L3;

the pin 6 of the NS6316 chip (3) is electrically connected with one end of the inductor L3;

The pin 3 of the NS6316 chip (3) is electrically connected with the other end of the inductor L3;

The pin 3 of the NS6316 chip (3) is electrically connected with one end of a resistor R8;

the pin 2 of the NS6316 chip (3) is electrically connected with the other end of the resistor R8;

The pin 2 of the NS6316 chip (3) is electrically connected with one end of a resistor R9;

the pin 1 of the NS6316 chip (3) is electrically connected with the other end of the resistor R9;

The other end of the resistor R9 is electrically connected with one end of the resistor R12;

The other end of the resistor R12 is grounded;

the No. 2 pin of the NS6316 chip (3) is used as a 5V output power supply end, and the No. 2 pin of the NS6316 chip (3) is electrically connected with one end of a capacitor C18;

the other end of the capacitor C18 is grounded;

one end of the capacitor C18 is electrically connected with the anode of the electrolytic capacitor C15;

The other end of the capacitor C18 is electrically connected with the cathode of the electrolytic capacitor C15;

one end of the capacitor C18 is electrically connected with one end of the capacitor C16;

the other end of the capacitor C18 is electrically connected with the other end of the capacitor C16;

One end of the capacitor C18 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P3);

pin number 2 of 1117-3.3 chip (P3) is grounded;

Pin 3 of the 1117-3.3 chip (P3) is electrically connected with the anode of the electrolytic capacitor C10;

the cathode of the electrolytic capacitor C10 is grounded;

The No. 3 pin of the 1117-3.3 chip (P3) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with the No. 10 pin of the C8051F340 chip (U3);

pin 3 of the 1117-3.3 chip (P3) is electrically connected with one end of the capacitor C11;

the other end of the capacitor C11 is grounded;

the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with one end of the resistor R5;

The other end of the resistor R5 is electrically connected with the anode of the light-emitting diode D3;

The cathode of the light emitting diode D3 is grounded.

As shown in fig. 14 and 15, the third wireless communication circuit includes nRF905 chips (x 6),

Pin 1 of nRF905 chip (x 6) is electrically connected to pin 3 of 1117-3.3 chip (P3);

Pin No. 2 of nRF905 chip (x 6) is electrically connected to pin No. 22 of C8051F340 chip (U3);

pin 3 of nRF905 chip (x 6) is electrically connected with pin 15 of C8051F340 chip (U3);

Pin No. 4 of nRF905 chip (x 6) is electrically connected to pin No. 21 of C8051F340 chip (U3);

Pin 8 of nRF905 chip (x 6) is electrically connected with pin 20 of C8051F340 chip (U3);

Pin 9 of nRF905 chip (x 6) is electrically connected with pin 16 of C8051F340 chip (U3);

Pin 10 of nRF905 chip (x 6) is electrically connected with pin 19 of C8051F340 chip (U3);

Pin 11 of nRF905 chip (x 6) is electrically connected with pin 17 of C8051F340 chip (U3);

The No. 12 pin of the nRF905 chip (6) is electrically connected with the No. 18 pin of the C8051F340 chip (U3);

Pin 13 of nRF905 chip (x 6) is grounded;

pin 14 of nRF905 chip (x 6) is grounded.

In embodiment 3, the remote control module controls embodiment 2, so that the remote control of embodiment 2 is realized. The control command is remotely input to the lower end control part of the mechanical arm by a worker through the remote control module, the lower end control part of the mechanical arm operates the action of the lower end part of the mechanical arm according to the control command, and a control signal is sent to the upper end control part of the mechanical arm, and the upper end control part of the mechanical arm operates the action of the upper end part of the mechanical arm according to the control command.

The same or similar reference numerals correspond to the same or similar components;

The terms describing the positional relationship in the drawings are merely illustrative, and are not to be construed as limiting the present patent; the above-mentioned extension still belongs to the protection scope of this patent, and not just uses the embodiment as the limitation of this patent.

Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (3)

1. The 7-degree-of-freedom high-voltage live working mechanical arm is characterized by comprising 7 motors, a large arm part, a small arm part, a grabbing part and a base, wherein the base is connected with the small arm part through N motors; the small arm part is connected with the grabbing part through M motors; the axes of rotation of any two adjacent motors are mutually perpendicular; n and M are positive integers not less than 2, and n+m=7; the 7 motors realize the 7-degree-of-freedom function of the mechanical arm;

The 7 motors are defined as a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a seventh motor, wherein the axis of the first motor is vertical to the ground; one end of the second motor is connected with the side face of the first motor, and the second motor is perpendicular to the first motor; one end of the large arm part is connected with the side face of the second motor, and the large arm part is mutually perpendicular to the second motor; the other end of the large arm part is connected with the side surface of the third motor, and the large arm part is mutually perpendicular to the third motor; one end of the third motor is connected with one end of the fourth motor; the side surface of the fourth motor is connected with one end of the small arm part, and the fourth motor is mutually perpendicular to the small arm part; the other end of the small arm part is connected with the side surface of the fifth motor, and the small arm part is mutually perpendicular to the fifth motor; one end of the fifth motor is connected with the side face of the sixth motor, and the fifth motor is perpendicular to the sixth motor; one end of the sixth motor is connected with the side face of the seventh motor, and the sixth motor is perpendicular to the seventh motor; one end of the seventh motor is connected with the bottom end of the grabbing component, and the axis of rotation of the seventh motor is collinear with the axis of the grabbing component;

the base is arranged on the ground, and the top surface of the base is connected with the bottom surface of the first motor;

the base is internally vacuum and provided with a first control module, and the first control module controls the working states of the first motor, the second motor, the third motor and the fourth motor;

the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a second control module, wherein the second control module controls working states of the fifth motor, the sixth motor, the seventh motor and the grabbing component;

The 7-degree-of-freedom high-voltage live working mechanical arm further comprises a first wireless communication module and a second wireless communication module, wherein the first wireless communication module is arranged on the inner side of one end of the small arm part, the first wireless communication module is connected with the small arm part, and the first wireless communication module is electrically connected with the first control module; the second wireless communication module is arranged on the inner side of the other end of the small arm part, is connected with the small arm part and is electrically connected with the second control module; the first wireless communication module and the second wireless communication module are connected in a wireless communication mode, and the first control module controls the second control module through the first wireless communication module and the second wireless communication module;

The 7-degree-of-freedom high-voltage live working mechanical arm further comprises a storage battery, and the storage battery supplies power to the fifth motor, the sixth motor, the seventh motor and the grabbing component.

2. The 7-degree-of-freedom high voltage live working mechanical arm according to claim 1, wherein the material of the small arm part is an insulating material, and the hollow inside the small arm part is provided with a cavity.

3. The 7-degree-of-freedom high-voltage live working mechanical arm according to claim 2, wherein the outer sides of the large arm part, the grabbing part, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are all covered with insulating shielding covers.