CN110193823A - A kind of 7 degree-of-freedom manipulator systems - Google Patents

A kind of 7 degree-of-freedom manipulator systems Download PDF

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Publication number
CN110193823A
CN110193823A CN201910544473.0A CN201910544473A CN110193823A CN 110193823 A CN110193823 A CN 110193823A CN 201910544473 A CN201910544473 A CN 201910544473A CN 110193823 A CN110193823 A CN 110193823A
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CN
China
Prior art keywords
chip
pins
electrically connected
diode
resistance
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CN201910544473.0A
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Chinese (zh)
Inventor
詹日福
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Guangdong Power Grid Co Ltd
Zhanjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
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Guangdong Power Grid Co Ltd
Zhanjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
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Application filed by Guangdong Power Grid Co Ltd, Zhanjiang Power Supply Bureau of Guangdong Power Grid Co Ltd filed Critical Guangdong Power Grid Co Ltd
Priority to CN201910544473.0A priority Critical patent/CN110193823A/en
Publication of CN110193823A publication Critical patent/CN110193823A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)

Abstract

The invention discloses a kind of 7 degree-of-freedom manipulator systems, including 7 degree-of-freedom manipulators and control module, the axis of the rotation of the adjacent motor of any two of 7 degree-of-freedom manipulators to be mutually perpendicular to；Control module is connect with 7 degree-of-freedom manipulators, and control module is used to control the movement of the steering engine in 7 degree-of-freedom manipulators.7 degree-of-freedom manipulators include mechanical arm upper end and mechanical arm lower end；Control module includes mechanical arm upper end control unit and mechanical arm lower end control unit, mechanical arm upper end control unit controls the movement of mechanical arm upper end, mechanical arm lower end control unit controls the movement of mechanical arm lower end, and mechanical arm lower end control unit controls tool arm upper end control unit.The present invention realizes the automatic operation of 7 degree-of-freedom manipulators by control module, so that 7 degree-of-freedom manipulators meet stationarity height, flexible requirement in operation.

Description

A kind of 7 degree-of-freedom manipulator systems
Technical field
The present invention relates to automated machine device fields, more particularly, to a kind of 7 degree-of-freedom manipulator systems.
Background technique
For the safety for improving electric network operation, reliably, economy, it is necessary to which the hot-line repair of Efforts To Develop power grid and maintenance are made Industry.Existing high-voltage hot-line work mechanical arm, is usually dedicated to the product of electrification in high voltage cleaning equipment, low with freedom degree, The disadvantages of insulation performance is poor, poor expandability, poor, portable poor operability.
In the product of existing electrification in high voltage cleaning equipment, it is not suitble to the high-freedom degree light remote control of high pressure plant stand and route High-voltage hot-line work mechanical arm, often only 2 freedom degrees operate highly inconvenient, do not adapt to that electrical equipment is more, it is close to install Big complex job environment is spent, generally requires to have a power failure to equipment.
Secondly, the live cleaning of the indoor electrical equipment of domestic high voltage substation, which mostly remains in man-hour manually hand-held formula, cleans shape State.Artificial livewire work uses the motor-driven manned mechanical arm of large size, and there is operation time length, operating cost height etc. to lack Point, and large labor intensity, operation is arduous, and there are personal safety risks.
Summary of the invention
The present invention overcomes above-mentioned existing technical deficiencies, provide a kind of 7 degree-of-freedom manipulator systems.
In order to solve the above technical problems, technical scheme is as follows:
A kind of 7 degree-of-freedom manipulator systems, which is characterized in that including 7 degree-of-freedom manipulators and control module, wherein
The axis of the rotation of the adjacent motor of any two of 7 degree-of-freedom manipulators is mutually perpendicular to；
The control module is connect with 7 degree-of-freedom manipulators, and control module is used to control the rudder in 7 degree-of-freedom manipulators The movement of machine.
In a preferred solution, 7 degree-of-freedom manipulators include mechanical arm upper end and mechanical arm lower end, Mechanical arm upper end includes that wrist pitch-control motor, gripper, wrist rotate steering wheel, wrist wave steering engine and gripper motor, machine Tool arm lower end includes, large arm pitch-control motor, waist revolution steering engine, alloy large arm, insulation arm pitch-control motor, insulation arm rotate rudder Machine, insulation arm；Control module includes mechanical arm upper end control unit and mechanical arm lower end control unit, and mechanical arm upper end control unit is to machine The movement of tool arm upper end is controlled, and mechanical arm lower end control unit controls the movement of mechanical arm lower end, mechanical arm Lower end control unit controls tool arm upper end control unit.
In a preferred solution, the mechanical arm upper end control unit and mechanical arm lower end control unit pass through channel radio Letter mode is attached.
In a preferred solution, the remote control module includes C8051F340 chip (U3), operation button, touch Screen, third radio communication circuit, the 3rd 24V battery and third power circuit, wherein
The C8051F340 chip (U3) is electrically connected with operation button；
The C8051F340 chip (U3) is electrically connected with touch screen；
The C8051F340 chip (U3) is electrically connected with third radio communication circuit；
The 3rd 24V battery is electrically connected with third power circuit；
The third power circuit is powered remote control module.
In a preferred solution, the mechanical arm lower end control unit includes C8051F340 chip (U2), the second electricity Source circuit, the second radio communication circuit, the second servo driving circuit, second stroke limit switch circuit and the 2nd 24V battery, Wherein,
The C8051F340 chip (U2) is electrically connected with the second radio communication circuit；
The C8051F340 chip (U2) is electrically connected with the second servo driving circuit；
The C8051F340 chip (U2) is electrically connected with second stroke limit switch circuit；
Mode is connect second radio communication circuit with third radio communication circuit signal by wireless communication；
The 2nd 24V battery is electrically connected with second source circuit；
The second source circuit powers to mechanical arm lower end control unit.
In a preferred solution, the mechanical arm upper end control unit includes C8051F340 chip (U1), the first electricity Source circuit, the first radio communication circuit, the first servo driving circuit, first stroke limit switch circuit, power driving circuit and 24V battery, wherein
The C8051F340 chip (U1) is electrically connected with the first radio communication circuit；
The C8051F340 chip (U1) is electrically connected with the first servo driving circuit, and the first servo driving circuit is used for Drive the steering engine of mechanical arm upper end；
The C8051F340 chip (U1) is electrically connected with first stroke limit switch circuit；
The C8051F340 chip (U1) is electrically connected with power driving circuit；
Mode is connect first radio communication circuit with the second radio communication circuit signal by wireless communication；
The first 24V battery is electrically connected with the first power circuit；
First power circuit powers to mechanical arm upper end control unit.
In a preferred solution, the second source circuit includes capacitor C17, capacitor C19, NS6316 chip (* 2), 1117-3.3 chip (P2), inductance L2, resistance R6, resistance R7, resistance R11, capacitor C14, electrolytic capacitor C12, capacitor C13, Electrolytic capacitor C8, capacitor C9, resistance R4 and light emitting diode D2, wherein
One end of the capacitor C17 is electrically connected with the power output end of 24V 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 24V battery；
The other end of the capacitor C19 is grounded；
The power output end of the 24V battery is electrically connected with No. 4 pins of NS6316 chip (* 2)；
No. 7 pins of the NS6316 chip (* 2) are grounded；
No. 8 pins of the NS6316 chip (* 2) are grounded；
No. 5 pins of the NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 6 pins of the NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 3 pins of the NS6316 chip (* 2) are electrically connected with the other end of inductance L2；
No. 3 pins of the NS6316 chip (* 2) are electrically connected with one end of resistance R6；
No. 2 pins of the NS6316 chip (* 2) are electrically connected with the other end of resistance R6；
No. 2 pins of the NS6316 chip (* 2) are electrically connected with one end of resistance R7；
No. 1 pin of the NS6316 chip (* 2) is electrically connected with the other end of resistance R7；
The other end of the resistance R7 is electrically connected with one end of resistance R11；
The other end of the resistance R11 is grounded；
No. 2 pins of the NS6316 chip (* 2) are as 5V out-put supply end, No. 2 pins of NS6316 chip (* 2) It is electrically connected with one end of capacitor C14；
The other end of the capacitor C14 is grounded；
One end of the capacitor C14 is electrically connected with the anode of electrolytic capacitor C12；
The other end of the capacitor C14 is electrically connected with the cathode of electrolytic capacitor C12；
One end of the capacitor C14 is electrically connected with one end of capacitor C13；
The other end of the capacitor C14 is electrically connected with the other end of capacitor C13；
One end of the capacitor C14 is electrically connected with No. 1 pin of 1117-3.3 chip (P2)；
No. 2 pins of the 1117-3.3 chip (P2) are grounded；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with the anode of electrolytic capacitor C8；
The minus earth of the electrolytic capacitor C8；
No. 3 pins of the 1117-3.3 chip (P2) are as 3.3V out-put supply end, and the 3 of 1117-3.3 chip (P2) Number pin is electrically connected with No. 10 pins of C8051F340 chip (U2)；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with one end of capacitor C9；
The other end of the capacitor C9 is grounded；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with one end of resistance R4；
The other end of the resistance R4 is electrically connected with the anode of light emitting diode D2；
The minus earth of the light emitting diode D2.
In a preferred solution, second radio communication circuit includes nRF905 chip (* 5),
No. 1 pin of the nRF905 chip (* 5) is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
No. 2 pins of the nRF905 chip (* 5) are electrically connected with No. 22 pins of C8051F340 chip (U2)；
No. 3 pins of the nRF905 chip (* 5) are electrically connected with No. 15 pins of C8051F340 chip (U2)；
No. 4 pins of the nRF905 chip (* 5) are electrically connected with No. 21 pins of C8051F340 chip (U2)；
No. 8 pins of the nRF905 chip (* 5) are electrically connected with No. 20 pins of C8051F340 chip (U2)；
No. 9 pins of the nRF905 chip (* 5) are electrically connected with No. 16 pins of C8051F340 chip (U2)；
No. 10 pins of the nRF905 chip (* 5) are electrically connected with No. 19 pins of C8051F340 chip (U2)；
No. 11 pins of the nRF905 chip (* 5) are electrically connected with No. 17 pins of C8051F340 chip (U2)；
No. 12 pins of the nRF905 chip (* 5) are electrically connected with No. 18 pins of C8051F340 chip (U2)；
No. 13 pins of the nRF905 chip (* 5) are grounded；
No. 14 pins of the nRF905 chip (* 5) are grounded.
In a preferred solution, the second servo driving circuit turns round steering engine to large arm pitch-control motor 3, waist 4, insulation arm pitch-control motor 6, insulation arm rotate steering wheel 7 carry out drive control, as shown in figures 4 and 9, the second servo driving circuit Including L298N chip (U5), L298N chip (U7), diode D10, diode D11, diode D12, diode D13, two poles Pipe D18, diode D19, diode D20, diode D21, diode D26, diode D27, diode D28, diode D29, Diode D36, diode D37, diode D38, diode D39, resistance R21, resistance R22, resistance R27, resistance R28, wherein
No. 5 pins of the L298N chip (U5) are electrically connected with No. 3 pins of C8051F340 chip (U2)；
No. 7 pins of the L298N chip (U5) are electrically connected with No. 4 pins of C8051F340 chip (U2)；
No. 10 pins of the L298N chip (U5) are electrically connected with No. 5 pins of C8051F340 chip (U2)；
No. 12 pins of the L298N chip (U5) are electrically connected with No. 6 pins of C8051F340 chip (U2)；
No. 6 pins of the L298N chip (U5) are electrically connected with No. 2 pins of C8051F340 chip (U2)；
No. 11 pins of the L298N chip (U5) are electrically connected with No. 1 pin of C8051F340 chip (U2)；
No. 8 pins of the L298N chip (U5) are grounded；
No. 9 pins of the L298N chip (U5) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of the L298N chip (U5) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U5) are electrically connected with one end of waist revolution steering engine 4；
No. 2 pins of the L298N chip (U5) are electrically connected with the anode of diode D10；
The cathode of the diode D11 connects positive supply；
No. 2 pins of the L298N chip (U5) are electrically connected with the cathode of diode D18；
The plus earth of the diode D18；
No. 3 pins of the L298N chip (U5) are electrically connected with the other end of waist revolution steering engine 4；
No. 3 pins of the L298N chip (U5) are electrically connected with the anode of diode D11；
The cathode of the diode D11 connects positive supply；
No. 3 pins of the L298N chip (U5) are electrically connected with the cathode of diode D19；
The plus earth of the diode D19；
No. 13 pins of the L298N chip (U5) are electrically connected with one end of large arm pitch-control motor 3；
No. 13 pins of the L298N chip (U5) are electrically connected with the anode of diode D12；
The cathode of the diode D12 connects positive supply；
No. 13 pins of the L298N chip (U5) are electrically connected with the cathode of diode D20；
The plus earth of the diode D20；
No. 14 pins of the L298N chip (U5) are electrically connected with the other end of large arm pitch-control motor 3；
No. 14 pins of the L298N chip (U5) are electrically connected with the anode of diode D13；
The cathode of the diode D13 connects positive supply；
No. 14 pins of the L298N chip (U5) are electrically connected with the cathode of diode D21；
The plus earth of the diode D21；
No. 1 pin of the L298N chip (U5) is electrically connected with one end of resistance R21；
No. 15 pins of the L298N chip (U5) are electrically connected with one end of resistance R22；
The other end of the resistance R21 is electrically connected with the other end of resistance R22；
The other end of the resistance R22 is grounded；
No. 5 pins of the L298N chip (U7) are electrically connected with No. 46 pins of C8051F340 chip (U2)；
No. 7 pins of the L298N chip (U7) are electrically connected with No. 45 pins of C8051F340 chip (U2)；
No. 10 pins of the L298N chip (U7) are electrically connected with No. 44 pins of C8051F340 chip (U2)；
No. 12 pins of the L298N chip (U7) are electrically connected with No. 43 pins of C8051F340 chip (U2)；
No. 6 pins of the L298N chip (U7) are electrically connected with No. 42 pins of C8051F340 chip (U2)；
No. 11 pins of the L298N chip (U7) are electrically connected with No. 41 pins of C8051F340 chip (U2)；
No. 8 pins of the L298N chip (U7) are grounded；
No. 9 pins of the L298N chip (U7) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of the L298N chip (U7) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U7) are electrically connected with one end of insulation arm pitch-control motor 6；
No. 2 pins of the L298N chip (U7) are electrically connected with the anode of diode D26；
The cathode of the diode D26 connects positive supply；
No. 2 pins of the L298N chip (U7) are electrically connected with the cathode of diode D36；
The plus earth of the diode D36；
No. 3 pins of the L298N chip (U7) are electrically connected with the other end of insulation arm pitch-control motor 6；
No. 3 pins of the L298N chip (U7) are electrically connected with the anode of diode D27；
The cathode of the diode D27 connects positive supply；
No. 3 pins of the L298N chip (U7) are electrically connected with the cathode of diode D37；
The plus earth of the diode D37；
No. 13 pins of the L298N chip (U7) are electrically connected with one end of insulation arm rotate steering wheel 7；
No. 13 pins of the L298N chip (U7) are electrically connected with the anode of diode D28；
The cathode of the diode D28 connects positive supply；
No. 13 pins of the L298N chip (U7) are electrically connected with the cathode of diode D38；
The plus earth of the diode D38；
No. 14 pins of the L298N chip (U7) are electrically connected with the other end of insulation arm rotate steering wheel 7；
No. 14 pins of the L298N chip (U7) are electrically connected with the anode of diode D29；
The cathode of the diode D29 connects positive supply；
No. 14 pins of the L298N chip (U7) are electrically connected with the cathode of diode D39；
The plus earth of the diode D39；
No. 1 pin of the L298N chip (U5) is electrically connected with one end of resistance R27；
No. 15 pins of the L298N chip (U5) are electrically connected with one end of resistance R28；
The other end of the resistance R27 is electrically connected with the other end of resistance R28；
The other end of the resistance R27 is grounded.
In a preferred solution, the second stroke limit switch circuit turns round large arm pitch-control motor 3, waist Steering engine 4, insulation arm pitch-control motor 6, insulation arm rotate steering wheel 7 motion state controlled, as shown in Fig. 4 and Figure 10, stroke Limit switch circuit includes 4 SW-SPST switches, resistance R31, resistance R32, resistance R37, resistance R38, resistance R41, resistance R42, resistance R43, resistance R44, photoelectrical coupler IC2, photoelectrical coupler IC4, photoelectrical coupler IC6 and photoelectrical coupler IC7, Wherein,
One end of the resistance R31 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of the resistance R31 is electrically connected with the one end switched SW-SPST；
The other end ground connection of the SW-SPST switch；
One end of the resistance R31 is electrically connected with one end of the emitting stage of photoelectrical coupler IC2；
The other end of the emitting stage of the photoelectrical coupler IC2 is grounded；
One end of the receiver stage of the photoelectrical coupler IC2 is electrically connected with one end of resistance R32；
The other end of the resistance R32 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of the photoelectrical coupler IC2 is electrically connected with No. 48 pins of C8051F340 chip (U2)；
The other end of the receiver stage of the photoelectrical coupler IC2 is grounded；
One end of the resistance R32 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of the resistance R41 is electrically connected with the one end switched SW-SPST；
The other end ground connection of the SW-SPST switch；
One end of the resistance R41 is electrically connected with one end of the emitting stage of photoelectrical coupler IC6；
The other end of the emitting stage of the photoelectrical coupler IC6 is grounded；
One end of the receiver stage of the photoelectrical coupler IC6 is electrically connected with one end of resistance R42；
The other end of the resistance R42 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of the photoelectrical coupler IC6 is electrically connected with No. 32 pins of C8051F340 chip (U2)；
The other end of the receiver stage of the photoelectrical coupler IC6 is grounded；
One end of the resistance R37 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of the resistance R37 is electrically connected with the one end switched SW-SPST；
The other end ground connection of the SW-SPST switch；
One end of the resistance R37 is electrically connected with one end of the emitting stage of photoelectrical coupler IC4；
The other end of the emitting stage of the photoelectrical coupler IC4 is grounded；
One end of the receiver stage of the photoelectrical coupler IC4 is electrically connected with one end of resistance R38；
The other end of the resistance R38 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of the photoelectrical coupler IC4 is electrically connected with No. 40 pins of C8051F340 chip (U2)；
The other end of the receiver stage of the photoelectrical coupler IC4 is grounded；
One end of the resistance R43 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of the resistance R43 is electrically connected with the one end switched SW-SPST；
The other end ground connection of the SW-SPST switch；
One end of the resistance R43 is electrically connected with one end of the emitting stage of photoelectrical coupler IC47；
The other end of the emitting stage of the photoelectrical coupler IC7 is grounded；
One end of the receiver stage of the photoelectrical coupler IC7 is electrically connected with one end of resistance R44；
The other end of the resistance R44 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of the photoelectrical coupler IC7 is electrically connected with No. 24 pins of C8051F340 chip (U2)；
The other end of the receiver stage of the photoelectrical coupler IC7 is grounded.
In a preferred solution, first power circuit is powered the component of mechanical arm upper end, and first Power circuit includes capacitor C6, capacitor C7, NS6316 chip (* 1), 1117-3.3 chip (P1), inductance L1, resistance R2, resistance R3, resistance R10, capacitor C5, electrolytic capacitor C3, capacitor C4, electrolytic capacitor C1, capacitor C2, resistance R1 and light emitting diode D1, In,
One end of the capacitor C6 is electrically connected with the power output end of 24V 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 24V battery；
The other end of the capacitor C7 is grounded；
The power output end of the 24V battery is electrically connected with No. 4 pins of NS6316 chip；
No. 7 pins of the NS6316 chip (* 1) are grounded；
No. 8 pins of the NS6316 chip (* 1) are grounded；
No. 5 pins of the NS6316 chip (* 1) are electrically connected with one end of inductance L1；
No. 6 pins of the NS6316 chip (* 1) are electrically connected with one end of inductance L1；
No. 3 pins of the NS6316 chip (* 1) are electrically connected with the other end of inductance L1；
No. 3 pins of the NS6316 chip (* 1) are electrically connected with one end of resistance R2；
No. 2 pins of the NS6316 chip (* 1) are electrically connected with the other end of resistance R2；
No. 2 pins of the NS6316 chip (* 1) are electrically connected with one end of resistance R3；
No. 1 pin of the NS6316 chip (* 1) is electrically connected with the other end of resistance R3；
The other end of the resistance R3 is electrically connected with one end of resistance R10；
The other end of the resistance R10 is grounded；
No. 2 pins of the NS6316 chip (* 1) are as 5V out-put supply end, No. 2 pins of NS6316 chip (* 1) It is electrically connected with one end of capacitor C5；
The other end of the capacitor C5 is grounded；
One end of the capacitor C5 is electrically connected with the anode of electrolytic capacitor C3；
The other end of the capacitor C5 is electrically connected with the cathode of electrolytic capacitor C3；
One end of the capacitor C5 is electrically connected with one end of capacitor C4；
The other end of the capacitor C5 is electrically connected with the other end of capacitor C4；
One end of the capacitor C5 is electrically connected with No. 1 pin of 1117-3.3 chip；
No. 2 pins of the 1117-3.3 chip (P1) are grounded；
No. 3 pins of the 1117-3.3 chip (P1) are electrically connected with the anode of electrolytic capacitor C1；
The minus earth of the electrolytic capacitor C1；
No. 3 pins of the 1117-3.3 chip (P1) are as 3.3V out-put supply end, and the 3 of 1117-3.3 chip (P1) Number pin is electrically connected with No. 10 pins of C8051F340 chip (U1)；
No. 3 pins of the 1117-3.3 chip (P1) are electrically connected with one end of capacitor C2；
The other end of the capacitor C2 is grounded；
No. 3 pins of the 1117-3.3 chip (P1) are electrically connected with one end of resistance R1；
The other end of the resistance R1 is electrically connected with the anode of light emitting diode D1；
The minus earth of the light emitting diode D1.
In a preferred solution, first radio communication circuit includes nRF905 chip (* 4), wherein
No. 1 pin of the nRF905 chip (* 4) is electrically connected with No. 3 pins of 1117-3.3 chip；
No. 2 pins of the nRF905 chip (* 4) are electrically connected with No. 22 pins of C8051F340 chip (U1)；
No. 3 pins of the nRF905 chip (* 4) are electrically connected with No. 15 pins of C8051F340 chip (U1)；
No. 4 pins of the nRF905 chip (* 4) are electrically connected with No. 21 pins of C8051F340 chip (U1)；
No. 8 pins of the nRF905 chip (* 4) are electrically connected with No. 20 pins of C8051F340 chip (U1)；
No. 9 pins of the nRF905 chip (* 4) are electrically connected with No. 16 pins of C8051F340 chip (U1)；
No. 10 pins of the nRF905 chip (* 4) are electrically connected with No. 19 pins of C8051F340 chip (U1)；
No. 11 pins of the nRF905 chip (* 4) are electrically connected with No. 17 pins of C8051F340 chip (U1)；
No. 12 pins of the nRF905 chip (* 4) are electrically connected with No. 18 pins of C8051F340 chip (U1)；
No. 13 pins of the nRF905 chip (* 4) are grounded；
No. 14 pins of the nRF905 chip (* 4) are grounded.
In a preferred solution, the first servo driving circuit to wrist pitch-control motor 1, gripper motor, Wrist rotate steering wheel 10, wrist wave steering engine 12 and carry out drive control, as in figs. 3 and 11, the first servo driving circuit packet Include L298N chip (U4), L298N chip (U6), diode D6, diode D7, diode D8, diode D9, diode D14, Diode D15, diode D16, diode D17, diode D22, diode D23, diode D24, diode D25, diode D32, diode D33, diode D34, diode D35, resistance R19, resistance R20, resistance R25, resistance R26, wherein
No. 5 pins of the L298N chip (U4) are electrically connected with No. 38 pins of C8051F340 chip (U1)；
No. 7 pins of the L298N chip (U4) are electrically connected with No. 37 pins of C8051F340 chip (U1)；
No. 10 pins of the L298N chip (U4) are electrically connected with No. 36 pins of C8051F340 chip (U1)；
No. 12 pins of the L298N chip (U4) are electrically connected with No. 35 pins of C8051F340 chip (U1)；
No. 6 pins of the L298N chip (U4) are electrically connected with No. 34 pins of C8051F340 chip (U1)；
No. 11 pins of the L298N chip (U4) are electrically connected with No. 33 pins of C8051F340 chip (U1)；
No. 8 pins of the L298N chip (U4) are grounded；
No. 9 pins of the L298N chip (U4) are electrically connected with No. 2 pins of NS6316 chip (* 1)；
No. 4 pins of the L298N chip (U4) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U4) are electrically connected with one end of wrist pitch-control motor 1；
No. 2 pins of the L298N chip (U4) are electrically connected with the anode of diode D6；
The cathode of the diode D6 connects positive supply；
No. 2 pins of the L298N chip (U4) are electrically connected with the cathode of diode D14；
The plus earth of the diode D14；
No. 3 pins of the L298N chip (U4) are electrically connected with the other end of wrist pitch-control motor 1；
No. 3 pins of the L298N chip (U4) are electrically connected with the anode of diode D7；
The cathode of the diode D7 connects positive supply；
No. 3 pins of the L298N chip (U4) are electrically connected with the cathode of diode D15；
The plus earth of the diode D15；
No. 13 pins of the L298N chip (U4) are electrically connected with one end that wrist waves steering engine 12；
No. 13 pins of the L298N chip (U4) are electrically connected with the anode of diode D8；
The cathode of the diode D8 connects positive supply；
No. 13 pins of the L298N chip (U4) are electrically connected with the cathode of diode D16；
The plus earth of the diode D16；
No. 14 pins of the L298N chip (U4) are electrically connected with the other end that wrist waves steering engine 12；
No. 14 pins of the L298N chip (U4) are electrically connected with the anode of diode D9；
The cathode of the diode D9 connects positive supply；
No. 14 pins of the L298N chip (U4) are electrically connected with the cathode of diode D17；
The plus earth of the diode D17；
No. 1 pin of the L298N chip (U4) is electrically connected with one end of resistance R20；
No. 15 pins of the L298N chip (U4) are electrically connected with one end of resistance R19；
The other end of the resistance R20 is electrically connected with the other end of resistance R19；
The other end of the resistance R20 is grounded；
No. 5 pins of the L298N chip (U6) are electrically connected with No. 30 pins of C8051F340 chip (U1)；
No. 7 pins of the L298N chip (U6) are electrically connected with No. 29 pins of C8051F340 chip (U1)；
No. 10 pins of the L298N chip (U6) are electrically connected with No. 28 pins of C8051F340 chip (U1)；
No. 12 pins of the L298N chip (U6) are electrically connected with No. 27 pins of C8051F340 chip (U1)；
No. 6 pins of the L298N chip (U6) are electrically connected with No. 26 pins of C8051F340 chip (U1)；
No. 11 pins of the L298N chip (U6) are electrically connected with No. 25 pins of C8051F340 chip (U1)；
No. 8 pins of the L298N chip (U6) are grounded；
No. 9 pins of the L298N chip (U6) are electrically connected with No. 2 pins of NS6316 chip (* 1)；
No. 4 pins of the L298N chip (U6) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U6) are electrically connected with one end of wrist rotate steering wheel 10；
No. 2 pins of the L298N chip (U6) are electrically connected with the anode of diode D22；
The cathode of the diode D22 connects positive supply；
No. 2 pins of the L298N chip (U6) are electrically connected with the cathode of diode D32；
The plus earth of the diode D32；
No. 3 pins of the L298N chip (U6) are electrically connected with the other end of wrist rotate steering wheel 10；
No. 3 pins of the L298N chip (U6) are electrically connected with the anode of diode D23；
The cathode of the diode D23 connects positive supply；
No. 3 pins of the L298N chip (U6) are electrically connected with the cathode of diode D33；
The plus earth of the diode D33；
No. 13 pins of the L298N chip (U6) are electrically connected with one end of gripper motor；
No. 13 pins of the L298N chip (U6) are electrically connected with the anode of diode D24；
The cathode of the diode D24 connects positive supply；
No. 13 pins of the L298N chip (U6) are electrically connected with the cathode of diode D34；
The plus earth of the diode D34；
No. 14 pins of the L298N chip (U6) are electrically connected with the other end of gripper motor；
No. 14 pins of the L298N chip (U6) are electrically connected with the anode of diode D25；
The cathode of the diode D25 connects positive supply；
No. 14 pins of the L298N chip (U6) are electrically connected with the cathode of diode D35；
The plus earth of the diode D35；
No. 1 pin of the L298N chip (U4) is electrically connected with one end of resistance R26；
No. 15 pins of the L298N chip (U4) are electrically connected with one end of resistance R25；
The other end of the resistance R25 is electrically connected with the other end of resistance R26；
The other end of the resistance R26 is grounded.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
The present invention realizes the automatic operation of 7 degree-of-freedom manipulators by control module, so that 7 degree-of-freedom manipulators exist Meet stationarity height, flexible requirement when operation.
Detailed description of the invention
Fig. 1 is the mechanical construction drawing of embodiment 1.
Fig. 2 is the mechanical mechanism broken away view of embodiment 1.
Fig. 3 is C8051F340 chip (U1) circuit diagram of the tool arm upper end control unit of embodiment 1.
Fig. 4 is the C8051F340 chip circuit figure of the tool arm lower end control unit of embodiment 1.
Fig. 5 is the second source circuit diagram of the tool arm lower end control unit of embodiment 1.
Fig. 6 is the first power circuit diagram of the tool arm upper end control unit of embodiment 1.
Fig. 7 is the second radio communication circuit figure of the tool arm lower end control unit of embodiment 1.
Fig. 8 is the first radio communication circuit figure of the tool arm upper end control unit of embodiment 1.
Fig. 9 is the second servo driving circuit diagram of the tool arm lower end control unit of embodiment 1.
Figure 10 is the second stroke limit switch circuit figure of the tool arm lower end control unit of embodiment 1.
Figure 11 is the first servo driving circuit diagram of the tool arm upper end control unit of embodiment 1.
Figure 12 is the first stroke limit switch circuit figure of the tool arm upper end control unit of embodiment 1.
Figure 13 is the power driving circuit figure of the tool arm upper end control unit of embodiment 1.
Figure 14 is the C8051F340 chip circuit figure of the remote control mould group of embodiment 2.
Figure 15 is the third radio communication circuit figure of the remote control mould group of embodiment 2.
Figure 16 is the third power circuit diagram that embodiment 2 is remotely controlled mould group.
Figure 17 is the module map of the control module of embodiment 1.
Figure 18 is the module map of the control module of embodiment 2.
Label declaration: 1, wrist pitch-control motor；2, pedestal；3, large arm pitch-control motor；4, waist turns round steering engine；5, alloy is big Arm；6, insulation arm pitch-control motor；7, insulation arm rotate steering wheel；8, camera；9, gripper；10, wrist rotate steering wheel；11, absolutely Edge arm；12, wrist waves steering engine；13, headlamp；14, string holes is controlled；15, screw hole；16, host computer communication module；17, slave is logical Believe module.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to better illustrate this embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent actual product Size；
To those skilled in the art, it is to be understood that certain known features and its explanation, which may be omitted, in attached drawing 's.
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
A kind of 7 degree-of-freedom manipulator systems, including 7 degree-of-freedom manipulators and control module；
As depicted in figs. 1 and 2,7 degree-of-freedom manipulators include mechanical arm upper end and mechanical arm lower end, mechanical arm lower end Portion includes pedestal 2, large arm pitch-control motor 3, waist revolution steering engine 4, alloy large arm 5, insulation arm pitch-control motor 6, insulation arm rotation Steering engine 7, insulation arm 11, wherein
11 inner hollow of insulation arm has cavity；The setting of pedestal 2 turns round steering engine 4 in ground, the top surface of pedestal and waist Underrun screw hole 15 is attached, and the axis collinear of the central axes of pedestal 2 and waist revolution steering engine 4, it is real that waist turns round steering engine 4 Existing 360 ° of rotations；
Large arm pitch-control motor 3 and the side of waist revolution steering engine 4 are attached by screw hole 15, and large arm pitch-control motor 3 It is mutually perpendicular to waist revolution steering engine 4, large arm pitch-control motor 3 realizes 180 ° of rotations；
The side of one end of alloy large arm 5 and large arm pitch-control motor 3 is attached by screw hole 15, and alloy large arm 5 with Large arm pitch-control motor 3 is mutually perpendicular to；
The other end of alloy large arm 5 and the side of insulation arm pitch-control motor 6 are attached by screw hole 15, and alloy large arm 5 are mutually perpendicular to insulation arm pitch-control motor 6, and insulation arm pitch-control motor 6 realizes 360 ° of rotations；
One end of insulation arm pitch-control motor 6 and one end of insulation arm rotate steering wheel 7 are attached by screw hole 15, insulation arm Rotate steering wheel 7 realizes 180 ° of rotations；
The side of insulation arm rotate steering wheel 7 and one end of insulation arm 11 are attached by screw hole 15, and insulation arm rotates Steering engine 7 is mutually perpendicular to insulation arm 11.
Mechanical arm upper end includes that wrist pitch-control motor 1, camera 8, gripper 9, wrist rotate steering wheel 10, wrist wave Steering engine 12, headlamp 13 and gripper motor, wherein
Gripper motor control gripper 9 works；
The side of the other end of insulation arm 11 and wrist pitch-control motor 1 is attached by screw hole 15, and insulation arm 11 with Wrist pitch-control motor 1 is mutually perpendicular to, and wrist pitch-control motor 1 realizes 360 ° of rotations；
The side that steering engine 12 is waved with wrist in one end of wrist pitch-control motor 1 is attached by screw hole 15, and wrist is bowed It faces upward steering engine 1 and waves steering engine 12 with wrist and be mutually perpendicular to, wrist waves steering engine 12 and realizes 360 ° of rotations；
Wrist waves one end of steering engine 12 and is attached with the side of wrist rotate steering wheel 10 by screw hole 15, and wrist shakes Pendulum steering engine 12 is mutually perpendicular to wrist rotate steering wheel 10；
One end of wrist rotate steering wheel 10 and the bottom end of gripper 9 are attached by screw hole 15, and wrist rotate steering wheel 10 with the axis collinear of gripper 9；
The outer periphery that wrist waves steering engine 12 is provided with headlamp 13；
The top that wrist waves the outside of steering engine 12 is provided with camera 8；
Alloy large arm 5, gripper 9, large arm pitch-control motor 3, waist turn round steering engine 4, insulation arm pitch-control motor 6, insulation arm The outside that rotate steering wheel 7, wrist rotate steering wheel 10, wrist wave steering engine 12 and wrist pitch-control motor 1, which is all covered with, meets GB/ The insulated shielding cover of T12168 standard.
Control module includes mechanical arm upper end control unit and mechanical arm lower end control unit, and mechanical arm lower end control unit is to tool arm The control of upper end control unit shape, is master-slave relationship each other, as shown in figure 17.
Mechanical arm upper end control unit controls mechanical arm upper end, and mechanical arm upper end control unit includes C8051F340 Chip (U1), the first power circuit, the first radio communication circuit, the first servo driving circuit, first stroke limit switch circuit, Power driving circuit and 24V battery, wherein
C8051F340 chip (U1) is electrically connected with the first radio communication circuit；
C8051F340 chip (U1) is electrically connected with the first servo driving circuit；
C8051F340 chip (U1) is electrically connected with first stroke limit switch circuit；
C8051F340 chip (U1) is electrically connected with power driving circuit；
As shown in Figure 3 and Figure 6, the first power circuit is powered the component of mechanical arm upper end, the first power circuit packet Include capacitor C6, capacitor C7, NS6316 chip (* 1), 1117-3.3 chip (P1), inductance L1, resistance R2, resistance R3, resistance R10, Capacitor C5, electrolytic capacitor C3, capacitor C4, electrolytic capacitor C1, capacitor C2, resistance R1 and light emitting diode D1, wherein
One end of capacitor C6 is electrically connected with the power output end of 24V battery；
The other end of capacitor C6 is grounded；
One end of capacitor C7 is electrically connected with the power output end of 24V battery；
The other end of capacitor C7 is grounded；
The power output end of 24V battery is electrically connected with No. 4 pins of NS6316 chip；
No. 7 pins of NS6316 chip (* 1) are grounded；
No. 8 pins of NS6316 chip (* 1) are grounded；
No. 5 pins of NS6316 chip (* 1) are electrically connected with one end of inductance L1；
No. 6 pins of NS6316 chip (* 1) are electrically connected with one end of inductance L1；
No. 3 pins of NS6316 chip (* 1) are electrically connected with the other end of inductance L1；
No. 3 pins of NS6316 chip (* 1) are electrically connected with one end of resistance R2；
No. 2 pins of NS6316 chip (* 1) are electrically connected with the other end of resistance R2；
No. 2 pins of NS6316 chip (* 1) are electrically connected with one end of resistance R3；
No. 1 pin of NS6316 chip (* 1) is electrically connected with the other end of resistance R3；
The other end of resistance R3 is electrically connected with one end of resistance R10；
The other end of resistance R10 is grounded；
No. 2 pins of NS6316 chip (* 1) are as 5V out-put supply end, No. 2 pins and capacitor of NS6316 chip (* 1) One end of C5 is electrically connected；
The other end of capacitor C5 is grounded；
One end of capacitor C5 is electrically connected with the anode of electrolytic capacitor C3；
The other end of capacitor C5 is electrically connected with the cathode of electrolytic capacitor C3；
One end of capacitor C5 is electrically connected with one end of capacitor C4；
The other end of capacitor C5 is electrically connected with the other end of capacitor C4；
One end of capacitor C5 is electrically connected with No. 1 pin of 1117-3.3 chip；
No. 2 pins of 1117-3.3 chip (P1) are grounded；
No. 3 pins of 1117-3.3 chip (P1) are electrically connected with the anode of electrolytic capacitor C1；
The minus earth of electrolytic capacitor C1；
No. 3 pins of 1117-3.3 chip (P1) are as 3.3V out-put supply end, No. 3 pins of 1117-3.3 chip (P1) It is electrically connected with No. 10 pins of C8051F340 chip (U1)；
No. 3 pins of 1117-3.3 chip (P1) are electrically connected with one end of capacitor C2；
The other end of capacitor C2 is grounded；
No. 3 pins of 1117-3.3 chip (P1) are electrically connected with one end of resistance R1；
The other end of resistance R1 is electrically connected with the anode of light emitting diode D1；
The minus earth of light emitting diode D1.
As shown in figures 3 and 8, the first radio communication circuit includes nRF905 chip (* 4), wherein
No. 1 pin of nRF905 chip (* 4) is electrically connected with No. 3 pins of 1117-3.3 chip；
No. 2 pins of nRF905 chip (* 4) are electrically connected with No. 22 pins of C8051F340 chip (U1)；
No. 3 pins of nRF905 chip (* 4) are electrically connected with No. 15 pins of C8051F340 chip (U1)；
No. 4 pins of nRF905 chip (* 4) are electrically connected with No. 21 pins of C8051F340 chip (U1)；
No. 8 pins of nRF905 chip (* 4) are electrically connected with No. 20 pins of C8051F340 chip (U1)；
No. 9 pins of nRF905 chip (* 4) are electrically connected with No. 16 pins of C8051F340 chip (U1)；
No. 10 pins of nRF905 chip (* 4) are electrically connected with No. 19 pins of C8051F340 chip (U1)；
No. 11 pins of nRF905 chip (* 4) are electrically connected with No. 17 pins of C8051F340 chip (U1)；
No. 12 pins of nRF905 chip (* 4) are electrically connected with No. 18 pins of C8051F340 chip (U1)；
No. 13 pins of nRF905 chip (* 4) are grounded；
No. 14 pins of nRF905 chip (* 4) are grounded.
First servo driving circuit waves rudder to wrist pitch-control motor 1, gripper motor, wrist rotate steering wheel 10, wrist Machine 12 carries out drive control, and as in figs. 3 and 11, the first servo driving circuit includes L298N chip (U4), L298N chip (U6), diode D6, diode D7, diode D8, diode D9, diode D14, diode D15, diode D16, diode D17, diode D22, diode D23, diode D24, diode D25, diode D32, diode D33, diode D34, two Pole pipe D35, resistance R19, resistance R20, resistance R25, resistance R26, wherein
No. 5 pins of L298N chip (U4) are electrically connected with No. 38 pins of C8051F340 chip (U1)；
No. 7 pins of L298N chip (U4) are electrically connected with No. 37 pins of C8051F340 chip (U1)；
No. 10 pins of L298N chip (U4) are electrically connected with No. 36 pins of C8051F340 chip (U1)；
No. 12 pins of L298N chip (U4) are electrically connected with No. 35 pins of C8051F340 chip (U1)；
No. 6 pins of L298N chip (U4) are electrically connected with No. 34 pins of C8051F340 chip (U1)；
No. 11 pins of L298N chip (U4) are electrically connected with No. 33 pins of C8051F340 chip (U1)；
No. 8 pins of L298N chip (U4) are grounded；
No. 9 pins of L298N chip (U4) are electrically connected with No. 2 pins of NS6316 chip (* 1)；
No. 4 pins of L298N chip (U4) are electrically connected with the power output end of 24V battery；
No. 2 pins of L298N chip (U4) are electrically connected with one end of wrist pitch-control motor 1；
No. 2 pins of L298N chip (U4) are electrically connected with the anode of diode D6；
The cathode of diode D6 connects positive supply；
No. 2 pins of L298N chip (U4) are electrically connected with the cathode of diode D14；
The plus earth of diode D14；
No. 3 pins of L298N chip (U4) are electrically connected with the other end of wrist pitch-control motor 1；
No. 3 pins of L298N chip (U4) are electrically connected with the anode of diode D7；
The cathode of diode D7 connects positive supply；
No. 3 pins of L298N chip (U4) are electrically connected with the cathode of diode D15；
The plus earth of diode D15；
No. 13 pins of L298N chip (U4) are electrically connected with one end that wrist waves steering engine 12；
No. 13 pins of L298N chip (U4) are electrically connected with the anode of diode D8；
The cathode of diode D8 connects positive supply；
No. 13 pins of L298N chip (U4) are electrically connected with the cathode of diode D16；
The plus earth of diode D16；
No. 14 pins of L298N chip (U4) are electrically connected with the other end that wrist waves steering engine 12；
No. 14 pins of L298N chip (U4) are electrically connected with the anode of diode D9；
The cathode of diode D9 connects positive supply；
No. 14 pins of L298N chip (U4) are electrically connected with the cathode of diode D17；
The plus earth of diode D17；
No. 1 pin of L298N chip (U4) is electrically connected with one end of resistance R20；
No. 15 pins of L298N chip (U4) are electrically connected with one end of resistance R19；
The other end of resistance R20 is electrically connected with the other end of resistance R19；
The other end of resistance R20 is grounded；
No. 5 pins of L298N chip (U6) are electrically connected with No. 30 pins of C8051F340 chip (U1)；
No. 7 pins of L298N chip (U6) are electrically connected with No. 29 pins of C8051F340 chip (U1)；
No. 10 pins of L298N chip (U6) are electrically connected with No. 28 pins of C8051F340 chip (U1)；
No. 12 pins of L298N chip (U6) are electrically connected with No. 27 pins of C8051F340 chip (U1)；
No. 6 pins of L298N chip (U6) are electrically connected with No. 26 pins of C8051F340 chip (U1)；
No. 11 pins of L298N chip (U6) are electrically connected with No. 25 pins of C8051F340 chip (U1)；
No. 8 pins of L298N chip (U6) are grounded；
No. 9 pins of L298N chip (U6) are electrically connected with No. 2 pins of NS6316 chip (* 1)；
No. 4 pins of L298N chip (U6) are electrically connected with the power output end of 24V battery；
No. 2 pins of L298N chip (U6) are electrically connected with one end of wrist rotate steering wheel 10；
No. 2 pins of L298N chip (U6) are electrically connected with the anode of diode D22；
The cathode of diode D22 connects positive supply；
No. 2 pins of L298N chip (U6) are electrically connected with the cathode of diode D32；
The plus earth of diode D32；
No. 3 pins of L298N chip (U6) are electrically connected with the other end of wrist rotate steering wheel 10；
No. 3 pins of L298N chip (U6) are electrically connected with the anode of diode D23；
The cathode of diode D23 connects positive supply；
No. 3 pins of L298N chip (U6) are electrically connected with the cathode of diode D33；
The plus earth of diode D33；
No. 13 pins of L298N chip (U6) are electrically connected with one end of gripper motor；
No. 13 pins of L298N chip (U6) are electrically connected with the anode of diode D24；
The cathode of diode D24 connects positive supply；
No. 13 pins of L298N chip (U6) are electrically connected with the cathode of diode D34；
The plus earth of diode D34；
No. 14 pins of L298N chip (U6) are electrically connected with the other end of gripper motor；
No. 14 pins of L298N chip (U6) are electrically connected with the anode of diode D25；
The cathode of diode D25 connects positive supply；
No. 14 pins of L298N chip (U6) are electrically connected with the cathode of diode D35；
The plus earth of diode D35；
No. 1 pin of L298N chip (U4) is electrically connected with one end of resistance R26；
No. 15 pins of L298N chip (U4) are electrically connected with one end of resistance R25；
The other end of resistance R25 is electrically connected with the other end of resistance R26；
The other end of resistance R26 is grounded.
First stroke limit switch circuit waves steering engine 12 to wrist pitch-control motor 1, wrist rotate steering wheel 10 and wrist Motion state is controlled, and as shown in Fig. 3 and Figure 12, first stroke limit switch circuit includes 3 SW-SPST switches, resistance R29, resistance R30, resistance R39, resistance R40, resistance R35, resistance R36, photoelectrical coupler IC1, photoelectrical coupler IC3, photoelectricity Coupler IC5, wherein
One end of resistance R29 is electrically connected with No. 2 pins of NS6316 chip (* 1)；
One end of resistance R29 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R29 is electrically connected with one end of the emitting stage of photoelectrical coupler IC1；
The other end of the emitting stage of photoelectrical coupler IC1 is grounded；
One end of the receiver stage of photoelectrical coupler IC1 is electrically connected with one end of resistance R30；
The other end of resistance R30 is electrically connected with No. 3 pins of 1117-3.3 chip (P1)；
One end of the receiver stage of photoelectrical coupler IC1 is electrically connected with No. 47 pins of C8051F340 chip (U1)；
The other end of the receiver stage of photoelectrical coupler IC1 is grounded；
One end of resistance R99 is electrically connected with No. 2 pins of NS6316 chip；
One end of resistance R39 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R39 is electrically connected with one end of the emitting stage of photoelectrical coupler IC5；
The other end of the emitting stage of photoelectrical coupler IC5 is grounded；
One end of the receiver stage of photoelectrical coupler IC5 is electrically connected with one end of resistance R40；
The other end of resistance R40 is electrically connected with No. 3 pins of 1117-3.3 chip (P1)；
One end of the receiver stage of photoelectrical coupler IC5 is electrically connected with No. 31 pins of C8051F340 chip (U1)；
The other end of the receiver stage of photoelectrical coupler IC5 is grounded；
One end of resistance R35 is electrically connected with No. 2 pins of NS6316 chip (* 1)；
One end of resistance R35 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R35 is electrically connected with one end of the emitting stage of photoelectrical coupler IC3；
The other end of the emitting stage of photoelectrical coupler IC3 is grounded；
One end of the receiver stage of photoelectrical coupler IC3 is electrically connected with one end of resistance R30；
The other end of resistance R36 is electrically connected with No. 3 pins of 1117-3.3 chip；
One end of the receiver stage of photoelectrical coupler IC3 is electrically connected with No. 39 pins of C8051F340 chip (U1)；
The other end of the receiver stage of photoelectrical coupler IC3 is grounded.
Power driving circuit is controlled by power supply of the relay to camera 8, headlamp 13 and gripper motor；Such as Shown in Fig. 3 and Figure 13, power driving circuit includes light emitting diode D4, light emitting diode D30, light emitting diode D40, resistance R16, resistance R17, resistance R18, resistance R23, resistance R24, resistance R33, resistance R34, diode D5, diode D31, diode D41, PNP triode Q1, PNP triode Q2, PNP triode Q3 and 3 relays, wherein
The anode of light emitting diode D4 connects positive supply；
The cathode of light emitting diode D4 is electrically connected with one end of resistance R16；
The other end of resistance R16 is electrically connected with the anode of diode D5；
The cathode of diode D5 connects positive supply；
One end of the controlled stage of the cathode and relay of diode D5 is electrically connected；
The other end of the controlled stage of the anode and relay of diode D5 is electrically connected；
The anode of diode D5 is electrically connected with the emitter of PNP triode Q1；
The grounded collector of PNP triode Q1；
The base stage of PNP triode Q1 is electrically connected with one end of resistance R17；
The other end of resistance R17 is electrically connected with No. 23 pins of C8051F340 chip (U1)；
One end of the switching stage of relay is electrically connected with the power output end of 24V battery；
The other end of the switching stage of relay is electrically connected with one end of headlamp 13；
The other end of headlamp 13 is electrically connected with one end of resistance R18；
The other end of resistance R18 is grounded；
The anode of light emitting diode D30 connects positive supply；
The cathode of light emitting diode D30 is electrically connected with one end of resistance R23；
The other end of resistance R23 is electrically connected with the anode of diode D31；
The cathode of diode D31 connects positive supply；
One end of the controlled stage of the cathode and relay of diode D31 is electrically connected；
The other end of the controlled stage of the anode and relay of diode D31 is electrically connected；
The anode of diode D31 is electrically connected with the emitter of PNP triode Q2；
The grounded collector of PNP triode Q2；
The base stage of PNP triode Q2 is electrically connected with one end of resistance R24；
The other end of resistance R24 is electrically connected with No. 16 pins of C8051F340 chip (U1)；
The switching stage of relay controls the power supply of camera 8；
The anode of light emitting diode D40 connects positive supply；
The cathode of light emitting diode D40 is electrically connected with one end of resistance R33；
The other end of resistance R33 is electrically connected with the anode of diode D41；
The cathode of diode D41 connects positive supply；
One end of the controlled stage of the cathode and relay of diode D41 is electrically connected；
The other end of the controlled stage of the anode and relay of diode D41 is electrically connected；
The anode of diode D41 is electrically connected with the emitter of PNP triode Q3；
The grounded collector of PNP triode Q3；
The base stage of PNP triode Q3 is electrically connected with one end of resistance R34；
The other end of resistance R34 is electrically connected with No. 15 pins of C8051F340 chip (U1)；
The switching stage of relay controls the power supply of gripper motor.
Mechanical arm lower end control unit controls mechanical arm lower end, and mechanical arm lower end control unit includes C8051F340 Chip (U2), second source circuit, the second radio communication circuit, the second servo driving circuit, second stroke limit switch circuit With 24V battery, wherein
C8051F340 chip (U2) is electrically connected with the second radio communication circuit；
C8051F340 chip (U2) is electrically connected with the second servo driving circuit；
C8051F340 chip (U2) is electrically connected with second stroke limit switch circuit.
As shown in Figure 4 and Figure 5, second source circuit is powered the component of mechanical arm lower end, and power circuit includes electricity Hold C17, capacitor C19, NS6316 chip (* 2), 1117-3.3 chip (P2), inductance L2, resistance R6, resistance R7, resistance R11, electricity Hold C14, electrolytic capacitor C12, capacitor C13, electrolytic capacitor C8, capacitor C9, resistance R4 and light emitting diode D2, wherein
One end of capacitor C17 is electrically connected with the power output end of 24V battery；
The other end of capacitor C17 is grounded；
One end of capacitor C19 is electrically connected with the power output end of 24V battery；
The other end of capacitor C19 is grounded；
The power output end of 24V battery is electrically connected with No. 4 pins of NS6316 chip (* 2)；
No. 7 pins of NS6316 chip (* 2) are grounded；
No. 8 pins of NS6316 chip (* 2) are grounded；
No. 5 pins of NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 6 pins of NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 3 pins of NS6316 chip (* 2) are electrically connected with the other end of inductance L2；
No. 3 pins of NS6316 chip (* 2) are electrically connected with one end of resistance R6；
No. 2 pins of NS6316 chip (* 2) are electrically connected with the other end of resistance R6；
No. 2 pins of NS6316 chip (* 2) are electrically connected with one end of resistance R7；
No. 1 pin of NS6316 chip (* 2) is electrically connected with the other end of resistance R7；
The other end of resistance R7 is electrically connected with one end of resistance R11；
The other end of resistance R11 is grounded；
No. 2 pins of NS6316 chip (* 2) are as 5V out-put supply end, No. 2 pins and capacitor of NS6316 chip (* 2) One end of C14 is electrically connected；
The other end of capacitor C14 is grounded；
One end of capacitor C14 is electrically connected with the anode of electrolytic capacitor C12；
The other end of capacitor C14 is electrically connected with the cathode of electrolytic capacitor C12；
One end of capacitor C14 is electrically connected with one end of capacitor C13；
The other end of capacitor C14 is electrically connected with the other end of capacitor C13；
One end of capacitor C14 is electrically connected with No. 1 pin of 1117-3.3 chip (P2)；
No. 2 pins of 1117-3.3 chip (P2) are grounded；
No. 3 pins of 1117-3.3 chip (P2) are electrically connected with the anode of electrolytic capacitor C8；
The minus earth of electrolytic capacitor C8；
No. 3 pins of 1117-3.3 chip (P2) are as 3.3V out-put supply end, No. 3 pins of 1117-3.3 chip (P2) It is electrically connected with No. 10 pins of C8051F340 chip (U2)；
No. 3 pins of 1117-3.3 chip (P2) are electrically connected with one end of capacitor C9；
The other end of capacitor C9 is grounded；
No. 3 pins of 1117-3.3 chip (P2) are electrically connected with one end of resistance R4；
The other end of resistance R4 is electrically connected with the anode of light emitting diode D2；
The minus earth of light emitting diode D2.
As shown in figs. 4 and 7, the second radio communication circuit includes nRF905 chip (* 5),
No. 1 pin of nRF905 chip (* 5) is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
No. 2 pins of nRF905 chip (* 5) are electrically connected with No. 22 pins of C8051F340 chip (U2)；
No. 3 pins of nRF905 chip (* 5) are electrically connected with No. 15 pins of C8051F340 chip (U2)；
No. 4 pins of nRF905 chip (* 5) are electrically connected with No. 21 pins of C8051F340 chip (U2)；
No. 8 pins of nRF905 chip (* 5) are electrically connected with No. 20 pins of C8051F340 chip (U2)；
No. 9 pins of nRF905 chip (* 5) are electrically connected with No. 16 pins of C8051F340 chip (U2)；
No. 10 pins of nRF905 chip (* 5) are electrically connected with No. 19 pins of C8051F340 chip (U2)；
No. 11 pins of nRF905 chip (* 5) are electrically connected with No. 17 pins of C8051F340 chip (U2)；
No. 12 pins of nRF905 chip (* 5) are electrically connected with No. 18 pins of C8051F340 chip (U2)；
No. 13 pins of nRF905 chip (* 5) are grounded；
No. 14 pins of nRF905 chip (* 5) are grounded.
Second servo driving circuit turns round steering engine 4, insulation arm pitch-control motor 6, insulation arm to large arm pitch-control motor 3, waist Rotate steering wheel 7 carries out drive control, and as shown in figures 4 and 9, the second servo driving circuit includes L298N chip (U5), L298N Chip (U7), diode D10, diode D11, diode D12, diode D13, diode D18, diode D19, diode D20, diode D21, diode D26, diode D27, diode D28, diode D29, diode D36, diode D37, two Pole pipe D38, diode D39, resistance R21, resistance R22, resistance R27, resistance R28, wherein
No. 5 pins of L298N chip (U5) are electrically connected with No. 3 pins of C8051F340 chip (U2)；
No. 7 pins of L298N chip (U5) are electrically connected with No. 4 pins of C8051F340 chip (U2)；
No. 10 pins of L298N chip (U5) are electrically connected with No. 5 pins of C8051F340 chip (U2)；
No. 12 pins of L298N chip (U5) are electrically connected with No. 6 pins of C8051F340 chip (U2)；
No. 6 pins of L298N chip (U5) are electrically connected with No. 2 pins of C8051F340 chip (U2)；
No. 11 pins of L298N chip (U5) are electrically connected with No. 1 pin of C8051F340 chip (U2)；
No. 8 pins of L298N chip (U5) are grounded；
No. 9 pins of L298N chip (U5) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of L298N chip (U5) are electrically connected with the power output end of 24V battery；
No. 2 pins of L298N chip (U5) are electrically connected with one end of waist revolution steering engine 4；
No. 2 pins of L298N chip (U5) are electrically connected with the anode of diode D10；
The cathode of diode D11 connects positive supply；
No. 2 pins of L298N chip (U5) are electrically connected with the cathode of diode D18；
The plus earth of diode D18；
No. 3 pins of L298N chip (U5) are electrically connected with the other end of waist revolution steering engine 4；
No. 3 pins of L298N chip (U5) are electrically connected with the anode of diode D11；
The cathode of diode D11 connects positive supply；
No. 3 pins of L298N chip (U5) are electrically connected with the cathode of diode D19；
The plus earth of diode D19；
No. 13 pins of L298N chip (U5) are electrically connected with one end of large arm pitch-control motor 3；
No. 13 pins of L298N chip (U5) are electrically connected with the anode of diode D12；
The cathode of diode D12 connects positive supply；
No. 13 pins of L298N chip (U5) are electrically connected with the cathode of diode D20；
The plus earth of diode D20；
No. 14 pins of L298N chip (U5) are electrically connected with the other end of large arm pitch-control motor 3；
No. 14 pins of L298N chip (U5) are electrically connected with the anode of diode D13；
The cathode of diode D13 connects positive supply；
No. 14 pins of L298N chip (U5) are electrically connected with the cathode of diode D21；
The plus earth of diode D21；
No. 1 pin of L298N chip (U5) is electrically connected with one end of resistance R21；
No. 15 pins of L298N chip (U5) are electrically connected with one end of resistance R22；
The other end of resistance R21 is electrically connected with the other end of resistance R22；
The other end of resistance R22 is grounded；
No. 5 pins of L298N chip (U7) are electrically connected with No. 46 pins of C8051F340 chip (U2)；
No. 7 pins of L298N chip (U7) are electrically connected with No. 45 pins of C8051F340 chip (U2)；
No. 10 pins of L298N chip (U7) are electrically connected with No. 44 pins of C8051F340 chip (U2)；
No. 12 pins of L298N chip (U7) are electrically connected with No. 43 pins of C8051F340 chip (U2)；
No. 6 pins of L298N chip (U7) are electrically connected with No. 42 pins of C8051F340 chip (U2)；
No. 11 pins of L298N chip (U7) are electrically connected with No. 41 pins of C8051F340 chip (U2)；
No. 8 pins of L298N chip (U7) are grounded；
No. 9 pins of L298N chip (U7) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of L298N chip (U7) are electrically connected with the power output end of 24V battery；
No. 2 pins of L298N chip (U7) are electrically connected with one end of insulation arm pitch-control motor 6；
No. 2 pins of L298N chip (U7) are electrically connected with the anode of diode D26；
The cathode of diode D26 connects positive supply；
No. 2 pins of L298N chip (U7) are electrically connected with the cathode of diode D36；
The plus earth of diode D36；
No. 3 pins of L298N chip (U7) are electrically connected with the other end of insulation arm pitch-control motor 6；
No. 3 pins of L298N chip (U7) are electrically connected with the anode of diode D27；
The cathode of diode D27 connects positive supply；
No. 3 pins of L298N chip (U7) are electrically connected with the cathode of diode D37；
The plus earth of diode D37；
No. 13 pins of L298N chip (U7) are electrically connected with one end of insulation arm rotate steering wheel 7；
No. 13 pins of L298N chip (U7) are electrically connected with the anode of diode D28；
The cathode of diode D28 connects positive supply；
No. 13 pins of L298N chip (U7) are electrically connected with the cathode of diode D38；
The plus earth of diode D38；
No. 14 pins of L298N chip (U7) are electrically connected with the other end of insulation arm rotate steering wheel 7；
No. 14 pins of L298N chip (U7) are electrically connected with the anode of diode D29；
The cathode of diode D29 connects positive supply；
No. 14 pins of L298N chip (U7) are electrically connected with the cathode of diode D39；
The plus earth of diode D39；
No. 1 pin of L298N chip (U5) is electrically connected with one end of resistance R27；
No. 15 pins of L298N chip (U5) are electrically connected with one end of resistance R28；
The other end of resistance R27 is electrically connected with the other end of resistance R28；
The other end of resistance R27 is grounded.
Second stroke limit switch circuit to large arm pitch-control motor 3, waist revolution steering engine 4, insulation arm pitch-control motor 6, absolutely The motion state of edge arm rotate steering wheel 7 is controlled, and as shown in Fig. 4 and Figure 10, lead limit switch circuit includes 4 SW- Spst switch, resistance R31, resistance R32, resistance R37, resistance R38, resistance R41, resistance R42, resistance R43, resistance R44, photoelectricity Coupler IC2, photoelectrical coupler IC4, photoelectrical coupler IC6 and photoelectrical coupler IC7, wherein
One end of resistance R31 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of resistance R31 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R31 is electrically connected with one end of the emitting stage of photoelectrical coupler IC2；
The other end of the emitting stage of photoelectrical coupler IC2 is grounded；
One end of the receiver stage of photoelectrical coupler IC2 is electrically connected with one end of resistance R32；
The other end of resistance R32 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of photoelectrical coupler IC2 is electrically connected with No. 48 pins of C8051F340 chip (U2)；
The other end of the receiver stage of photoelectrical coupler IC2 is grounded；
One end of resistance R32 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of resistance R41 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R41 is electrically connected with one end of the emitting stage of photoelectrical coupler IC6；
The other end of the emitting stage of photoelectrical coupler IC6 is grounded；
One end of the receiver stage of photoelectrical coupler IC6 is electrically connected with one end of resistance R42；
The other end of resistance R42 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of photoelectrical coupler IC6 is electrically connected with No. 32 pins of C8051F340 chip (U2)；
The other end of the receiver stage of photoelectrical coupler IC6 is grounded；
One end of resistance R37 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of resistance R37 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R37 is electrically connected with one end of the emitting stage of photoelectrical coupler IC4；
The other end of the emitting stage of photoelectrical coupler IC4 is grounded；
One end of the receiver stage of photoelectrical coupler IC4 is electrically connected with one end of resistance R38；
The other end of resistance R38 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of photoelectrical coupler IC4 is electrically connected with No. 40 pins of C8051F340 chip (U2)；
The other end of the receiver stage of photoelectrical coupler IC4 is grounded；
One end of resistance R43 is electrically connected with No. 2 pins of NS6316 chip (* 2)；
One end of resistance R43 is electrically connected with the one end switched SW-SPST；
The other end ground connection of SW-SPST switch；
One end of resistance R43 is electrically connected with one end of the emitting stage of photoelectrical coupler IC47；
The other end of the emitting stage of photoelectrical coupler IC7 is grounded；
One end of the receiver stage of photoelectrical coupler IC7 is electrically connected with one end of resistance R44；
The other end of resistance R44 is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
One end of the receiver stage of photoelectrical coupler IC7 is electrically connected with No. 24 pins of C8051F340 chip (U2)；
The other end of the receiver stage of photoelectrical coupler IC7 is grounded.
The present embodiment 1 is crossed mechanical arm upper end control unit and is controlled mechanical arm upper end, is controlled by mechanical arm lower end Portion controls mechanical arm lower end, and due to the hollow setting of insulation arm, mechanical arm upper end control unit is crossed to be controlled with mechanical arm lower end Portion processed is communicated by the first radio communication circuit and the second radio communication circuit block, and is set as mechanical arm lower end control unit Based on, mechanical arm upper end control unit is from mechanical arm lower end control unit forms mechanical arm upper end control unit and controls.It is basic herein On, the movement of entire 7 degree-of-freedom manipulator can be set out by the C8051F340 chip of mechanical arm lower end control unit.Meanwhile Since mechanical arm lower end includes hollow insulation arm, high-tension current can not flow into mechanical arm lower end by mechanical arm upper end, And the insulation arm of different insulative performance can be replaced according to actual needs.
Embodiment 2
Embodiment 2 is extended on the basis of embodiment 1, increases remote control mould group, by remote control module remotely to implementation Example 1 is controlled, as shown in figure 18.
Remote control module includes C8051F340 chip (U3), operation button, touch screen, third radio communication circuit, 24V storage Battery and third power circuit, wherein
C8051F340 chip (U3) is electrically connected with operation button；
C8051F340 chip (U3) is electrically connected with touch screen；
C8051F340 chip (U3) is electrically connected with third radio communication circuit.
As shown in Figure 13 and Figure 15, third power circuit to remote control mould group be powered, power circuit include capacitor C20, Capacitor C21, NS6316 chip (* 3), 1117-3.3 chip (P3), inductance L3, resistance R8, resistance R9, resistance R12, capacitor C18, Electrolytic capacitor C15, capacitor C16, electrolytic capacitor C10, capacitor C11, resistance R5 and light emitting diode D3, wherein
One end of capacitor C20 is electrically connected with the power output end of 24V battery；
The other end of capacitor C20 is grounded；
One end of capacitor C21 is electrically connected with the power output end of 24V battery；
The other end of capacitor C21 is grounded；
The power output end of 24V battery is electrically connected with No. 4 pins of NS6316 chip (* 3)；
No. 7 pins of NS6316 chip (* 3) are grounded；
No. 8 pins of NS6316 chip (* 3) are grounded；
No. 5 pins of NS6316 chip (* 3) are electrically connected with one end of inductance L3；
No. 6 pins of NS6316 chip (* 3) are electrically connected with one end of inductance L3；
No. 3 pins of NS6316 chip (* 3) are electrically connected with the other end of inductance L3；
No. 3 pins of NS6316 chip (* 3) are electrically connected with one end of resistance R8；
No. 2 pins of NS6316 chip (* 3) are electrically connected with the other end of resistance R8；
No. 2 pins of NS6316 chip (* 3) are electrically connected with one end of resistance R9；
No. 1 pin of NS6316 chip (* 3) is electrically connected with the other end of resistance R9；
The other end of resistance R9 is electrically connected with one end of resistance R12；
The other end of resistance R12 is grounded；
No. 2 pins of NS6316 chip (* 3) are as 5V out-put supply end, No. 2 pins and capacitor of NS6316 chip (* 3) One end of C18 is electrically connected；
The other end of capacitor C18 is grounded；
One end of capacitor C18 is electrically connected with the anode of electrolytic capacitor C15；
The other end of capacitor C18 is electrically connected with the cathode of electrolytic capacitor C15；
One end of capacitor C18 is electrically connected with one end of capacitor C16；
The other end of capacitor C18 is electrically connected with the other end of capacitor C16；
One end of capacitor C18 is electrically connected with No. 1 pin of 1117-3.3 chip (P3)；
No. 2 pins of 1117-3.3 chip (P3) are grounded；
No. 3 pins of 1117-3.3 chip (P3) are electrically connected with the anode of electrolytic capacitor C10；
The minus earth of electrolytic capacitor C10；
No. 3 pins of 1117-3.3 chip (P3) are as 3.3V out-put supply end, No. 3 pins of 1117-3.3 chip (P3) It is electrically connected with No. 10 pins of C8051F340 chip (U3)；
No. 3 pins of 1117-3.3 chip (P3) are electrically connected with one end of capacitor C11；
The other end of capacitor C11 is grounded；
No. 3 pins of 1117-3.3 chip (P3) are electrically connected with one end of resistance R5；
The other end of resistance R5 is electrically connected with the anode of light emitting diode D3；
The minus earth of light emitting diode D3.
As shown in Figure 14 and Figure 15, the second radio communication circuit includes nRF905 chip (* 6),
No. 1 pin of nRF905 chip (* 6) is electrically connected with No. 3 pins of 1117-3.3 chip (P3)；
No. 2 pins of nRF905 chip (* 6) are electrically connected with No. 22 pins of C8051F340 chip (U3)；
No. 3 pins of nRF905 chip (* 6) are electrically connected with No. 15 pins of C8051F340 chip (U3)；
No. 4 pins of nRF905 chip (* 6) are electrically connected with No. 21 pins of C8051F340 chip (U3)；
No. 8 pins of nRF905 chip (* 6) are electrically connected with No. 20 pins of C8051F340 chip (U3)；
No. 9 pins of nRF905 chip (* 6) are electrically connected with No. 16 pins of C8051F340 chip (U3)；
No. 10 pins of nRF905 chip (* 6) are electrically connected with No. 19 pins of C8051F340 chip (U3)；
No. 11 pins of nRF905 chip (* 6) are electrically connected with No. 17 pins of C8051F340 chip (U3)；
No. 12 pins of nRF905 chip (* 6) are electrically connected with No. 18 pins of C8051F340 chip (U3)；
No. 13 pins of nRF905 chip (* 6) are grounded；
No. 14 pins of nRF905 chip (* 6) are grounded.
The present embodiment 2 controls embodiment 2 by being remotely controlled mould group, realizes the control remotely to embodiment 2.Work Personnel give mechanical arm lower end control unit by being remotely controlled mould group remote input control instruction, and mechanical arm lower end control unit refers to according to control The movement of operating robotic arm lower end is enabled, and issues control signal and gives mechanical arm upper end control unit, mechanical arm upper end control unit root According to the movement of control instruction operating robotic arm upper end.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；On The extended mode stated still falls within the protection scope of this patent, and not only using embodiment as the limitation of this patent.
For those of ordinary skill in the art, other not similar shapes can also be made on the basis of the above description The variation or variation of formula.There is no necessity and possibility to exhaust all the enbodiments.It is all in the spirit and principles in the present invention Within made any modifications, equivalent replacements, and improvements etc., should all be included in the scope of protection of the claims of the present invention.

Claims (10)

1. a kind of 7 degree-of-freedom manipulator systems, which is characterized in that including 7 degree-of-freedom manipulators and control module, wherein
The axis of the rotation of the adjacent motor of any two of 7 degree-of-freedom manipulators is mutually perpendicular to；
The control module is connect with 7 degree-of-freedom manipulators, and control module is used to control the steering engine in 7 degree-of-freedom manipulators Movement.
2. 7 degree-of-freedom manipulator system according to claim 1, which is characterized in that 7 degree-of-freedom manipulators include Mechanical arm upper end and mechanical arm lower end, mechanical arm upper end include wrist pitch-control motor, gripper, wrist rotate steering wheel, Wrist waves steering engine and gripper motor, mechanical arm lower end includes, large arm pitch-control motor, waist revolution steering engine, alloy large arm, Insulation arm pitch-control motor, insulation arm rotate steering wheel, insulation arm；Control module includes mechanical arm upper end control unit and mechanical arm lower end Control unit, mechanical arm upper end control unit control the movement of mechanical arm upper end, and mechanical arm lower end control unit is to mechanical arm The movement of lower end is controlled, and mechanical arm lower end control unit controls tool arm upper end control unit.
3. 7 degree-of-freedom manipulator system according to claim 2, which is characterized in that the mechanical arm upper end control unit Mode is attached by wireless communication with mechanical arm lower end control unit.
4. 7 degree-of-freedom manipulator system according to claim 3, which is characterized in that the 7 degree-of-freedom manipulator systems It further include remote control module, mode is attached by wireless communication for the remote control module and mechanical arm lower end control unit.
5. 7 degree-of-freedom manipulator system according to claim 3, which is characterized in that the remote control module includes C8051F340 chip (U3), operation button, touch screen, third radio communication circuit, the 3rd 24V battery and third power supply electricity Road, wherein
The C8051F340 chip (U3) is electrically connected with operation button；
The C8051F340 chip (U3) is electrically connected with touch screen；
The C8051F340 chip (U3) is electrically connected with third radio communication circuit；
The 3rd 24V battery is electrically connected with third power circuit；
The third power circuit is powered remote control module.
6. the 7 degree-of-freedom manipulator system according to any claim in claim 2 to 5, which is characterized in that described Mechanical arm lower end control unit includes C8051F340 chip (U2), second source circuit, the second radio communication circuit, the second steering engine Driving circuit, second stroke limit switch circuit and the 2nd 24V battery, wherein
The C8051F340 chip (U2) is electrically connected with the second radio communication circuit；
The C8051F340 chip (U2) is electrically connected with the second servo driving circuit；
The C8051F340 chip (U2) is electrically connected with second stroke limit switch circuit；
Mode is connect second radio communication circuit with third radio communication circuit signal by wireless communication；
The 2nd 24V battery is electrically connected with second source circuit；
The second source circuit powers to mechanical arm lower end control unit.
7. 7 degree-of-freedom manipulator system according to claim 6, which is characterized in that the mechanical arm upper end control unit Including C8051F340 chip (U1), the first power circuit, the first radio communication circuit, the first servo driving circuit, first stroke Limit switch circuit, power driving circuit and 24V battery, wherein
The C8051F340 chip (U1) is electrically connected with the first radio communication circuit；
The C8051F340 chip (U1) is electrically connected with the first servo driving circuit, and the first servo driving circuit is for driving The steering engine of mechanical arm upper end；
The C8051F340 chip (U1) is electrically connected with first stroke limit switch circuit；
The C8051F340 chip (U1) is electrically connected with power driving circuit；
Mode is connect first radio communication circuit with the second radio communication circuit signal by wireless communication；
The first 24V battery is electrically connected with the first power circuit；
First power circuit powers to mechanical arm upper end control unit.
8. 7 degree-of-freedom manipulator system according to claim 7, which is characterized in that the second source circuit includes Capacitor C17, capacitor C19, NS6316 chip (* 2), 1117-3.3 chip (P2), inductance L2, resistance R6, resistance R7, resistance R11, Capacitor C14, electrolytic capacitor C12, capacitor C13, electrolytic capacitor C8, capacitor C9, resistance R4 and light emitting diode D2, wherein
One end of the capacitor C17 is electrically connected with the power output end of 24V 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 24V battery；
The other end of the capacitor C19 is grounded；
The power output end of the 24V battery is electrically connected with No. 4 pins of NS6316 chip (* 2)；
No. 7 pins of the NS6316 chip (* 2) are grounded；
No. 8 pins of the NS6316 chip (* 2) are grounded；
No. 5 pins of the NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 6 pins of the NS6316 chip (* 2) are electrically connected with one end of inductance L2；
No. 3 pins of the NS6316 chip (* 2) are electrically connected with the other end of inductance L2；
No. 3 pins of the NS6316 chip (* 2) are electrically connected with one end of resistance R6；
No. 2 pins of the NS6316 chip (* 2) are electrically connected with the other end of resistance R6；
No. 2 pins of the NS6316 chip (* 2) are electrically connected with one end of resistance R7；
No. 1 pin of the NS6316 chip (* 2) is electrically connected with the other end of resistance R7；
The other end of the resistance R7 is electrically connected with one end of resistance R11；
The other end of the resistance R11 is grounded；
No. 2 pins of the NS6316 chip (* 2) are as 5V out-put supply end, No. 2 pins and electricity of NS6316 chip (* 2) Hold one end electrical connection of C14；
The other end of the capacitor C14 is grounded；
One end of the capacitor C14 is electrically connected with the anode of electrolytic capacitor C12；
The other end of the capacitor C14 is electrically connected with the cathode of electrolytic capacitor C12；
One end of the capacitor C14 is electrically connected with one end of capacitor C13；
The other end of the capacitor C14 is electrically connected with the other end of capacitor C13；
One end of the capacitor C14 is electrically connected with No. 1 pin of 1117-3.3 chip (P2)；
No. 2 pins of the 1117-3.3 chip (P2) are grounded；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with the anode of electrolytic capacitor C8；
The minus earth of the electrolytic capacitor C8；
No. 3 pins of the 1117-3.3 chip (P2) draw as 3.3V out-put supply end, No. 3 of 1117-3.3 chip (P2) Foot is electrically connected with No. 10 pins of C8051F340 chip (U2)；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with one end of capacitor C9；
The other end of the capacitor C9 is grounded；
No. 3 pins of the 1117-3.3 chip (P2) are electrically connected with one end of resistance R4；
The other end of the resistance R4 is electrically connected with the anode of light emitting diode D2；
The minus earth of the light emitting diode D2.
9. 7 degree-of-freedom manipulator system according to claim 7, which is characterized in that second radio communication circuit Including nRF905 chip (* 5),
No. 1 pin of the nRF905 chip (* 5) is electrically connected with No. 3 pins of 1117-3.3 chip (P2)；
No. 2 pins of the nRF905 chip (* 5) are electrically connected with No. 22 pins of C8051F340 chip (U2)；
No. 3 pins of the nRF905 chip (* 5) are electrically connected with No. 15 pins of C8051F340 chip (U2)；
No. 4 pins of the nRF905 chip (* 5) are electrically connected with No. 21 pins of C8051F340 chip (U2)；
No. 8 pins of the nRF905 chip (* 5) are electrically connected with No. 20 pins of C8051F340 chip (U2)；
No. 9 pins of the nRF905 chip (* 5) are electrically connected with No. 16 pins of C8051F340 chip (U2)；
No. 10 pins of the nRF905 chip (* 5) are electrically connected with No. 19 pins of C8051F340 chip (U2)；
No. 11 pins of the nRF905 chip (* 5) are electrically connected with No. 17 pins of C8051F340 chip (U2)；
No. 12 pins of the nRF905 chip (* 5) are electrically connected with No. 18 pins of C8051F340 chip (U2)；
No. 13 pins of the nRF905 chip (* 5) are grounded；
No. 14 pins of the nRF905 chip (* 5) are grounded.
10. the 7 degree-of-freedom manipulator system according to any claim in claim 7 to 9, which is characterized in that described The second servo driving circuit to large arm pitch-control motor 3, waist revolution steering engine 4, insulation arm pitch-control motor 6, insulation arm rotate rudder Machine 7 carries out drive control, and as shown in figures 4 and 9, the second servo driving circuit includes L298N chip (U5), L298N chip (U7), diode D10, diode D11, diode D12, diode D13, diode D18, diode D19, diode D20, two Pole pipe D21, diode D26, diode D27, diode D28, diode D29, diode D36, diode D37, diode D38, diode D39, resistance R21, resistance R22, resistance R27, resistance R28, wherein
No. 5 pins of the L298N chip (U5) are electrically connected with No. 3 pins of C8051F340 chip (U2)；
No. 7 pins of the L298N chip (U5) are electrically connected with No. 4 pins of C8051F340 chip (U2)；
No. 10 pins of the L298N chip (U5) are electrically connected with No. 5 pins of C8051F340 chip (U2)；
No. 12 pins of the L298N chip (U5) are electrically connected with No. 6 pins of C8051F340 chip (U2)；
No. 6 pins of the L298N chip (U5) are electrically connected with No. 2 pins of C8051F340 chip (U2)；
No. 11 pins of the L298N chip (U5) are electrically connected with No. 1 pin of C8051F340 chip (U2)；
No. 8 pins of the L298N chip (U5) are grounded；
No. 9 pins of the L298N chip (U5) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of the L298N chip (U5) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U5) are electrically connected with one end of waist revolution steering engine 4；
No. 2 pins of the L298N chip (U5) are electrically connected with the anode of diode D10；
The cathode of the diode D11 connects positive supply；
No. 2 pins of the L298N chip (U5) are electrically connected with the cathode of diode D18；
The plus earth of the diode D18；
No. 3 pins of the L298N chip (U5) are electrically connected with the other end of waist revolution steering engine 4；
No. 3 pins of the L298N chip (U5) are electrically connected with the anode of diode D11；
The cathode of the diode D11 connects positive supply；
No. 3 pins of the L298N chip (U5) are electrically connected with the cathode of diode D19；
The plus earth of the diode D19；
No. 13 pins of the L298N chip (U5) are electrically connected with one end of large arm pitch-control motor 3；
No. 13 pins of the L298N chip (U5) are electrically connected with the anode of diode D12；
The cathode of the diode D12 connects positive supply；
No. 13 pins of the L298N chip (U5) are electrically connected with the cathode of diode D20；
The plus earth of the diode D20；
No. 14 pins of the L298N chip (U5) are electrically connected with the other end of large arm pitch-control motor 3；
No. 14 pins of the L298N chip (U5) are electrically connected with the anode of diode D13；
The cathode of the diode D13 connects positive supply；
No. 14 pins of the L298N chip (U5) are electrically connected with the cathode of diode D21；
The plus earth of the diode D21；
No. 1 pin of the L298N chip (U5) is electrically connected with one end of resistance R21；
No. 15 pins of the L298N chip (U5) are electrically connected with one end of resistance R22；
The other end of the resistance R21 is electrically connected with the other end of resistance R22；
The other end of the resistance R22 is grounded；
No. 5 pins of the L298N chip (U7) are electrically connected with No. 46 pins of C8051F340 chip (U2)；
No. 7 pins of the L298N chip (U7) are electrically connected with No. 45 pins of C8051F340 chip (U2)；
No. 10 pins of the L298N chip (U7) are electrically connected with No. 44 pins of C8051F340 chip (U2)；
No. 12 pins of the L298N chip (U7) are electrically connected with No. 43 pins of C8051F340 chip (U2)；
No. 6 pins of the L298N chip (U7) are electrically connected with No. 42 pins of C8051F340 chip (U2)；
No. 11 pins of the L298N chip (U7) are electrically connected with No. 41 pins of C8051F340 chip (U2)；
No. 8 pins of the L298N chip (U7) are grounded；
No. 9 pins of the L298N chip (U7) are electrically connected with No. 2 pins of NS6316 chip (* 2)；
No. 4 pins of the L298N chip (U7) are electrically connected with the power output end of 24V battery；
No. 2 pins of the L298N chip (U7) are electrically connected with one end of insulation arm pitch-control motor 6；
No. 2 pins of the L298N chip (U7) are electrically connected with the anode of diode D26；
The cathode of the diode D26 connects positive supply；
No. 2 pins of the L298N chip (U7) are electrically connected with the cathode of diode D36；
The plus earth of the diode D36；
No. 3 pins of the L298N chip (U7) are electrically connected with the other end of insulation arm pitch-control motor 6；
No. 3 pins of the L298N chip (U7) are electrically connected with the anode of diode D27；
The cathode of the diode D27 connects positive supply；
No. 3 pins of the L298N chip (U7) are electrically connected with the cathode of diode D37；
The plus earth of the diode D37；
No. 13 pins of the L298N chip (U7) are electrically connected with one end of insulation arm rotate steering wheel 7；
No. 13 pins of the L298N chip (U7) are electrically connected with the anode of diode D28；
The cathode of the diode D28 connects positive supply；
No. 13 pins of the L298N chip (U7) are electrically connected with the cathode of diode D38；
The plus earth of the diode D38；
No. 14 pins of the L298N chip (U7) are electrically connected with the other end of insulation arm rotate steering wheel 7；
No. 14 pins of the L298N chip (U7) are electrically connected with the anode of diode D29；
The cathode of the diode D29 connects positive supply；
No. 14 pins of the L298N chip (U7) are electrically connected with the cathode of diode D39；
The plus earth of the diode D39；
No. 1 pin of the L298N chip (U5) is electrically connected with one end of resistance R27；
No. 15 pins of the L298N chip (U5) are electrically connected with one end of resistance R28；
The other end of the resistance R27 is electrically connected with the other end of resistance R28；
The other end of the resistance R27 is grounded.
CN201910544473.0A 2019-06-21 2019-06-21 A kind of 7 degree-of-freedom manipulator systems Pending CN110193823A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006000955A (en) * 2004-06-16 2006-01-05 National Institute Of Advanced Industrial & Technology Robot arm, and its rotating joint device and wrist device
CN1824469A (en) * 2005-02-24 2006-08-30 山东科技大学 Redundant freedom electric insulation type mechanical hand
CN206748436U (en) * 2017-01-20 2017-12-15 安徽大学 Multi-joint mechanical arm type remote control explosive ordnance disposal robot based on PLC
CN109397244A (en) * 2018-11-23 2019-03-01 华中科技大学 A kind of 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration pair and control method
CN210879657U (en) * 2019-06-21 2020-06-30 广东电网有限责任公司 7-degree-of-freedom mechanical arm system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006000955A (en) * 2004-06-16 2006-01-05 National Institute Of Advanced Industrial & Technology Robot arm, and its rotating joint device and wrist device
CN1824469A (en) * 2005-02-24 2006-08-30 山东科技大学 Redundant freedom electric insulation type mechanical hand
CN206748436U (en) * 2017-01-20 2017-12-15 安徽大学 Multi-joint mechanical arm type remote control explosive ordnance disposal robot based on PLC
CN109397244A (en) * 2018-11-23 2019-03-01 华中科技大学 A kind of 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration pair and control method
CN210879657U (en) * 2019-06-21 2020-06-30 广东电网有限责任公司 7-degree-of-freedom mechanical arm system

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