CN205219117U

CN205219117U - Gesture is from correcting mechanical hand system based on angular transducer

Info

Publication number: CN205219117U
Application number: CN201521076162.XU
Authority: CN
Inventors: 高超; 周铭; 刘刚; 孙为国
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2015-12-22
Filing date: 2015-12-22
Publication date: 2016-05-11
Anticipated expiration: 2025-12-22

Abstract

The utility model discloses a gesture is from correcting mechanical hand system based on angular transducer, characterized by, including manipulator, singlechip, angular transducer, motor drive and power module, angular transducer and motor drive are connected with the singlechip respectively, the joint punishment of manipulator bie is connected with angular transducer and motor drive, power module is connected with angular transducer, motor drive, singlechip, manipulator respectively, the singlechip adopts the singlechip from taking AD conversion module. The utility model discloses the beneficial effect who reaches: adopt the angular transducer module to measure the acceleration of orthogonal direction, confirm to treat the measuring inclination through calculating, the singlechip can acquire the angle column that the angle sensor measurement was arrived as the master control through the ADC module in real time, and the number of pass certificate is compared, can realize the self calibration function of angle.

Description

Based on the attitude self-correction arm-and-hand system of obliquity sensor

Technical field

The utility model relates to a kind of attitude self-correction arm-and-hand system based on obliquity sensor, belongs to attitude and automatically corrects technical field.

Background technology

Along with becoming increasingly prosperous of machinery production, a large amount of industrial production all monopolize by manipulator, but current manipulator is due to the restriction of physical condition, very difficult realization controls accurately, especially under being the scene that required precision is higher, if walk out of existing deviation, very large loss will be caused.Therefore, it is possible to realizing the self-alignment arm-and-hand system of attitude is visual plant indispensable in research and production, especially there is extremely important status at high accuracy scientific research field.

For the calibration of manipulator, there is a variety of method.The too Tian Hao of Co., Ltd. JTEKT fills, to well Kang Qing, rugged and the calibration steps that also etc. proposes for robot in natural pond and calibration system (CN201310067312), the posture of manipulator changed over by the servomotor that joint position bid value outputted to drive link from controller multiple postures that redundancy allows, this connecting rod forms the manipulator that its far-end is fixed, and calibrated by the parameter drift-out obtaining the robot constant of manipulator based on the actual measured value from the rotary encoder not being arranged at servomotor after joint position bid value and the change of each posture, need special servomotor and Special rotary encoder, cost is high, complex structure, not easily realize.

Utility model content

For solving the deficiencies in the prior art, the purpose of this utility model is to provide a kind of attitude self-correction arm-and-hand system based on obliquity sensor, micromechanics angular transducer is utilized to carry out the angle of measurement mechanical hand actual motion, the compensation with controlled motion angle is judged with microprocessor, do not need particular components, structure is simple, and cost is low, is easy to manufacture.

In order to realize above-mentioned target, the utility model adopts following technical scheme:

Based on an attitude self-correction arm-and-hand system for obliquity sensor, it is characterized in that, comprise manipulator, single-chip microcomputer, obliquity sensor, motor driver and power module; Described obliquity sensor is connected with single-chip microcomputer respectively with motor driver; The joint of described manipulator is connected with motor driver with obliquity sensor respectively; Described power module is connected with obliquity sensor, motor driver, single-chip microcomputer, manipulator respectively; Described single-chip microcomputer adopts the single-chip microcomputer carrying AD conversion module.

The aforesaid attitude self-correction arm-and-hand system based on obliquity sensor, is characterized in that, described single-chip microcomputer adopts MSP430F169 single-chip microcomputer.

The aforesaid attitude self-correction arm-and-hand system based on obliquity sensor, is characterized in that, described obliquity sensor adopts MMA7361 chip.

The aforesaid attitude self-correction arm-and-hand system based on obliquity sensor, is characterized in that, described motor driver adopts L298N driver module.

The beneficial effect that the utility model reaches: adopt obliquity sensor to measure the acceleration of orthogonal direction, determine inclination angle to be measured; Single-chip microcomputer, can the angle-data that measures of Real-time Obtaining angular transducer by ADC module as main control, by comparing, can realize the self-calibration function of angle.

Accompanying drawing explanation

Fig. 1 is the syndeton schematic diagram of native system;

Fig. 2 is the overall structure schematic diagram of native system.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is further described.Following examples only for clearly the technical solution of the utility model being described, and can not limit protection domain of the present utility model with this.

Native system adopts low-power scm as main body control core, AD conversion module adopts the ADC module of single-chip microcomputer inside, obliquity sensor module is utilized to come inspected object motion and direction, pass through movement direction of object, the change of the transducer sensitivity of stressing conditions and setting and change output voltage, changed by A/D again, just can obtain measured angle, complete the control to manipulator finally by motor driver.

As shown in Figure 1, obliquity sensor, single-chip microcomputer, power module are connected, and are placed in each joint of manipulator, form the measuring system of robot movement angle, and complete angled measurement is also converted to digital quantity and gives ADC module and process.Motor driver, single-chip microcomputer, power module, manipulator are connected, and form movement angle bucking-out system, complete the function of manipulator angle calibration system.

As shown in Figure 2, the specific embodiment of native system, obliquity sensor adopts the minisize condenser type 3-axis acceleration sensor MMA7361 of Freescale company, the pin pin4 of this obliquity sensor, pin5, pin6 exports X successively, Y, the voltage in Z tri-directions, be connected to the P6.2 of the MSP430F169 single-chip microcomputer manufactured by TI Texas Instruments, P6.3, P6.4 tri-I/O mouths, P6.2, P6.3, P6.4 tri-I/O mouths are configured in A/D and change the second function, the result drawn after A/D sampling, here built-in ADC12 module has 12 conversion accuracies, 1 non-linear differential error, 1 non-linear integral error, built-in sampling and holding circuit, switching core can turn off, save system energy consumption.Pin7 is that the dormancy control pin low level of obliquity sensor MMA7361 represents dormancy, and high level represents normal work, and in this digital radio inclined angle measuring instrument, Pin7 connects 3.3V high level.

The pin pin1 of obliquity sensor MMA7361 is connected with the 3.3V in power module, and pin pin3 is connected with the signal ground GND in power module 1.Other pins of obliquity sensor MMA7361 are unsettled.The motor driver L298N that native system adopts two to be manufactured by SGS company carries out the control of 8 road steering wheels, and this servo driving inside comprises 4 channel logic drive circuits, is the special purpose driver of a kind of two-phase and four phase motors, can drives the motor of 46V, below 2A.Its IN1, IN2, IN3, IN4 access the P4.0 of single-chip microcomputer MSP430F169 respectively, P4.1, P4.2, P4.3 and P4.4, P4.5, P4.6, P1.5 pin.The output pin of motor driver L298N can be connected to each steering wheel of manipulator, and the output of the amount of compensating controls.The Enable Pin ENA of motor driver L298N, ENB connect the 5V height comment of power module respectively.The VSS of motor driver L298N meets power supply 5V, GND ground connection, and VS termination power 12V controls motor to export.Power module provides 5V and 12V direct current supply.

The above is only preferred embodiment of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvement and distortion, these improve and distortion also should be considered as protection domain of the present utility model.

Claims

1., based on an attitude self-correction arm-and-hand system for obliquity sensor, it is characterized in that, comprise manipulator, single-chip microcomputer, obliquity sensor, motor driver and power module; Described obliquity sensor is connected with single-chip microcomputer respectively with motor driver; The joint of described manipulator is connected with motor driver with obliquity sensor respectively; Described power module is connected with obliquity sensor, motor driver, single-chip microcomputer, manipulator respectively; Described single-chip microcomputer adopts the single-chip microcomputer carrying AD conversion module.

2. the attitude self-correction arm-and-hand system based on obliquity sensor according to claim 1, is characterized in that, described single-chip microcomputer adopts MSP430F169 single-chip microcomputer.

3. the attitude self-correction arm-and-hand system based on obliquity sensor according to claim 1, is characterized in that, described obliquity sensor adopts MMA7361 chip.

4. the attitude self-correction arm-and-hand system based on obliquity sensor according to claim 1, is characterized in that, described motor driver adopts L298N driver module.