CN204868876U - A controlling means for intelligent machine hand - Google Patents
A controlling means for intelligent machine hand Download PDFInfo
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- CN204868876U CN204868876U CN201520424660.2U CN201520424660U CN204868876U CN 204868876 U CN204868876 U CN 204868876U CN 201520424660 U CN201520424660 U CN 201520424660U CN 204868876 U CN204868876 U CN 204868876U
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Abstract
The utility model relates to a controlling means for intelligent machine hand, including control system, display control unit, motor orientation module, wireless communication module, operation control module, motor driver module and working power supply module that control system includes central control system, is connected with central control system, this a controlling means for intelligent machine hand pass through wireless communication module and have realized the central control system 1 of user to the central control system 0 hand, simultaneously through the accurate positioning of motor orientation module to the motor to carry out the accurate control to the motor, improved the intellectuality of intelligent machine hand.
Description
Technical field
The utility model relates to a kind of control device for puma manipulator.
Background technology
In the scientific domain of China, along with the fast development of science and technology, the intelligent control technology of China also has no small breakthrough.
In present automated production producer, all slowly start to adopt some simple manipulators to replace loaded down with trivial details or dangerous work, so not only release labour and also improve production safety coefficient.But adding of manipulator, certainly will bring the problem that some control, due to when control manipulator, the detection and localization inaccuracy of control system, often causes the production failure of product, causes huge loss.
Utility model content
The technical problems to be solved in the utility model is: in order to overcome the coarse deficiency of prior art detection and localization, provide a kind of there is multiple mode of operation and detection and localization accurately for the control device of puma manipulator.
The utility model solves the technical scheme that its technical problem adopts: a kind of control device for puma manipulator, comprise control system, described control system comprises central control system, the display control module be connected with central control system, motor locating module, wireless communication module, operation control module, motor drive module and working power module;
Described motor locating module comprises motor positioning circuit, first resistance, second resistance, 3rd resistance, 4th resistance, 5th resistance, 6th resistance, first triode, phototriode, first Zener diode, second Zener diode, light emitting diode, first operational amplifier, first reverser and adjustable resistance, the base stage of described first triode is by the external 15V DC voltage power supply of the first resistance, the base stage of described first triode is by the first Zener diode ground connection, the described colelctor electrode of the first triode is connected with the negative electrode of light emitting diode and passes through the external 15V DC voltage power supply of light emitting diode, the emitter stage of described first triode is by the second resistance eutral grounding, described 15V DC voltage power supply passes through adjustable resistance, the series circuit ground connection of the 3rd resistance and phototriode composition, the reverse input end of described first operational amplifier is by the external 15V DC voltage power supply of the 4th resistance, the reverse input end of described first operational amplifier is by the second Zener diode ground connection, the input in the same way of described first operational amplifier is connected with the output of the first operational amplifier with the series circuit that the 6th resistance forms by the 5th resistance, the output of described first operational amplifier is by the external 15V DC voltage power supply of the 6th resistance, the output of described first operational amplifier is connected with the input of the first reverser.
As optimization, described display control module is electrically connected with touch display screen.
As optimization, described operation control module is electrically connected with numeric keypad.
As optimization, described wireless communication module is by WIFI signal transmission.
As optimization, described motor locating module and motor drive module are all electrically connected with stepper motor.
The beneficial effects of the utility model are, this control device being used for puma manipulator achieves the operated from a distance of user to puma manipulator by wireless communication module, pass through motor locating module to the accurate location of motor simultaneously, thus motor is accurately controlled, improve the intellectuality of puma manipulator.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the system construction drawing of the utility model for the control device of puma manipulator;
Fig. 2 is the circuit theory diagrams of the utility model for the motor positioning circuit of the control device of puma manipulator;
In figure: 1. central control system, 2. display control module, 3. motor locating module, 4. wireless communication module, 5. operate control module, 6. motor drive module, 7. working power module, R1. the first resistance, R2. the second resistance, R3. the 3rd resistance, R4. the 4th resistance, R5. the 5th resistance, R6. the 6th resistance, Q1. first triode, Q2. phototriode, D1. the first Zener diode, D2. the second Zener diode, D3. light emitting diode, U1. first operational amplifier, U2. the first reverser, Rp1. adjustable resistance.
Detailed description of the invention
By reference to the accompanying drawings the utility model is described in further detail now.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present utility model are described in a schematic way, and therefore it only shows the formation relevant with the utility model.
As depicted in figs. 1 and 2, a kind of control device for puma manipulator, comprise control system, described control system comprises central control system 1, the display control module 2 be connected with central control system 1, motor locating module 3, wireless communication module 4, operates control module 5, motor drive module 6 and working power module 7;
Described motor locating module 3 comprises motor positioning circuit, first resistance R1, second resistance R2, 3rd resistance R3, 4th resistance R4, 5th resistance R5, 6th resistance R6, first triode Q1, phototriode Q2, first Zener diode D1, second Zener diode D2, light emitting diode D3, first operational amplifier U1, first reverser U2 and adjustable resistance Rp1, the base stage of described first triode Q1 is by the external 15V DC voltage power supply of the first resistance R1, the base stage of described first triode Q1 is by the first Zener diode D1 ground connection, the colelctor electrode of described first triode Q1 is connected with the negative electrode of light emitting diode D3 and passes through the external 15V DC voltage power supply of light emitting diode D3, the emitter stage of described first triode Q1 is by the second resistance R2 ground connection, described 15V DC voltage power supply is by adjustable resistance Rp1, the series circuit ground connection that 3rd resistance R3 and phototriode Q2 forms, the reverse input end of described first operational amplifier U1 is by the external 15V DC voltage power supply of the 4th resistance R4, the reverse input end of described first operational amplifier U1 is by the second Zener diode D2 ground connection, the input in the same way of described first operational amplifier U1 is connected with the output of the first operational amplifier U1 with the series circuit that the 6th resistance R6 forms by the 5th resistance R5, the output of described first operational amplifier U1 is by the external 15V DC voltage power supply of the 6th resistance R6, the output of described first operational amplifier U1 is connected with the input of the first reverser U2.
As optimization, described display control module 2 is electrically connected with touch display screen.
As optimization, described operation control module 5 is electrically connected with numeric keypad.
As optimization, described wireless communication module 4 is by WIFI signal transmission.
As optimization, described motor locating module 3 and motor drive module 6 are all electrically connected with stepper motor.
In fact: the junction of the first operational amplifier U1 and the 4th resistance R4 is A point, the current collection very B point of phototriode Q2.
In fact: the operation principle of motor positioning circuit is, in order to prevent the fluctuation of supply voltage to infrared light-emitting diode D3, model is the impact of HG413 light intensity, in infraluminescence circuit, have employed constant-current source circuit, make by the current constant in light emitting diode D3, thus light intensity is remained unchanged.Because the change of light intensity both can affect the reliability of location, the accuracy of location can be affected again.First by the second Zener diode D2, ensure that the level equalization of A point, subsequently by being the main hysteresis comparator formed by the first operational amplifier U1, improve circuit anti-interference ability.When phototriode Q2 ends, the first reverser U2 output low level.When mechanical mechanism moves to locating hole or slit, phototriode Q2 conducting, the first reverser U2 exports high level.As can be seen here, the lagging characteristics of hysteresis comparator improves the antijamming capability of motor positioning circuit, also improves certainty of measurement simultaneously.
In fact: this is used in the control device of puma manipulator, central control system 1, for controlling modules, improves the intelligence degree of device; Display control module 2, for showing associative operation information to user, can also carry out relevant simple operations to control device by touch display screen simultaneously; Motor locating module 3 is for accurately locating stepper motor; Wireless communication module 4, for carrying out real-time communication with backstage, can not only make staff understand in real time working site situation, can also carry out real-time operation to manipulator; Operation control module 5 carries out field control operation for field personnel to manipulator, improves the practicality of control device; Motor drive module 6 is for the work of control step motor; Working power module 7 is for improving power supply to modules.
Compared with prior art, this control device being used for puma manipulator achieves the operated from a distance of user to puma manipulator by wireless communication module 4, simultaneously by the accurate location of motor locating module 3 pairs of motors, thus motor is accurately controlled, improve the intellectuality of puma manipulator.
With above-mentioned according to desirable embodiment of the present utility model for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this utility model technological thought, can carry out various change and amendment completely.The technical scope of this utility model is not limited to the content on description, must determine its technical scope according to right.
Claims (5)
1. the control device for puma manipulator, comprise control system, it is characterized in that, described control system comprises central control system (1), the display control module (2) be connected with central control system (1), motor locating module (3), wireless communication module (4), operates control module (5), motor drive module (6) and working power module (7);
Described motor locating module (3) comprises motor positioning circuit, first resistance (R1), second resistance (R2), 3rd resistance (R3), 4th resistance (R4), 5th resistance (R5), 6th resistance (R6), first triode (Q1), phototriode (Q2), first Zener diode (D1), second Zener diode (D2), light emitting diode (D3), first operational amplifier (U1), first reverser (U2) and adjustable resistance (Rp1), the base stage of described first triode (Q1) is by the external 15V DC voltage power supply of the first resistance (R1), the base stage of described first triode (Q1) is by the first Zener diode (D1) ground connection, the colelctor electrode of described first triode (Q1) is connected with the negative electrode of light emitting diode (D3) and passes through the external 15V DC voltage power supply of light emitting diode (D3), the emitter stage of described first triode (Q1) is by the second resistance (R2) ground connection, described 15V DC voltage power supply is by adjustable resistance (Rp1), the series circuit ground connection that 3rd resistance (R3) and phototriode (Q2) form, the reverse input end of described first operational amplifier (U1) is by the external 15V DC voltage power supply of the 4th resistance (R4), the reverse input end of described first operational amplifier (U1) is by the second Zener diode (D2) ground connection, the input in the same way of described first operational amplifier (U1) is connected with the output of the first operational amplifier (U1) with the series circuit that the 6th resistance (R6) forms by the 5th resistance (R5), the output of described first operational amplifier (U1) is by the external 15V DC voltage power supply of the 6th resistance (R6), the output of described first operational amplifier (U1) is connected with the input of the first reverser (U2).
2., as claimed in claim 1 for the control device of puma manipulator, it is characterized in that, described display control module (2) is electrically connected with touch display screen.
3., as claimed in claim 1 for the control device of puma manipulator, it is characterized in that, described operation control module (5) is electrically connected with numeric keypad.
4., as claimed in claim 1 for the control device of puma manipulator, it is characterized in that, described wireless communication module (4) is by WIFI signal transmission.
5., as claimed in claim 1 for the control device of puma manipulator, it is characterized in that, described motor locating module (3) and motor drive module (6) are all electrically connected with stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520424660.2U CN204868876U (en) | 2015-06-19 | 2015-06-19 | A controlling means for intelligent machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520424660.2U CN204868876U (en) | 2015-06-19 | 2015-06-19 | A controlling means for intelligent machine hand |
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| Publication Number | Publication Date |
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| CN204868876U true CN204868876U (en) | 2015-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520424660.2U Active CN204868876U (en) | 2015-06-19 | 2015-06-19 | A controlling means for intelligent machine hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105395302A (en) * | 2015-12-25 | 2016-03-16 | 张萍 | Intelligent cervical vertebra tractor with remote control function |
| CN106891342A (en) * | 2017-02-17 | 2017-06-27 | 福建品派包装有限公司 | A kind of intelligent robot for library book storage |
-
2015
- 2015-06-19 CN CN201520424660.2U patent/CN204868876U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105395302A (en) * | 2015-12-25 | 2016-03-16 | 张萍 | Intelligent cervical vertebra tractor with remote control function |
| CN106891342A (en) * | 2017-02-17 | 2017-06-27 | 福建品派包装有限公司 | A kind of intelligent robot for library book storage |
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