CN205799548U - Six degree of freedom manipulator remote control device - Google Patents

Abstract

The utility model discloses six degree of freedom manipulator remote control device, be made up of the one-chip computer module circuit board (1) in housing (12), transparent transmission transceiver (2), OLED display module (3) and power supply (4)；The electric loop of described one-chip computer module circuit board (1) is connected single-chip microcomputer (11) formed by power module (5), communication interface circuit (6), display module interface circuit (7), button (8), keyboard interface circuit (9), display lamp (10).Being arranged action parameter and the time of mechanical hand by the keyboard of remote control unit, and store data in single-chip microcomputer memorizer, scene determines manually or automatically to be run, it is ensured that robot security's reliability service, effectively save cost, improves ease of use.

Description

Six degree of freedom manipulator remote control device

Technical field

This utility model relates to highway catch-basin intelligence Qing Tao robot, is specifically related to a kind of six degree of freedom manipulator remote control Device.

Background technology

Along with the quickening of Urbanization in China, the draining maintenance work of urban sewage has become the heaviest, occurs Problem the most complicated.Sewerage system once goes wrong, it will directly affect the properly functioning of each enterprise and department, The orthobiosis of people can be affected by serious too.Traditional labor cleaning's mode inefficiency, working environment are about Shu Xing great, special-purpose machinery range of application is less, and it is relatively low to draw clearly rate ratio.Domestic to sewerage system cleaning, especially rainwater The research that well is drawn clearly is the most at the early-stage, mostly remains in and improves original plant equipment and direct importer external equipment Stage.

Summary of the invention

The purpose of this utility model is: a kind of six degree of freedom manipulator remote control device of design, by this device and controller Cooperation, it is achieved the wireless intelligent of Qing Tao robot is controlled, solve catch-basin narrow field, human users's inefficiency and The problem such as of low quality, effectively save cost, improves ease of use.

Technical solution of the present utility model is: this six degree of freedom manipulator remote control device is by housing, display, key Dish, communication interface, transparent transmission transceiver, power supply and circuit board composition, install display, keyboard, communication interface on housing With transparent transmission transceiver antennas, mounting circuit boards in housing, power supply, display, keyboard, communication interface, transparent transmission are received Send out device and connect circuit board, be monolithically fabricated remote control unit；The electric loop of described circuit board by central processing unit connect display circuit, Keyboard interface circuit, communication interface circuit, transparent transmission transceiver circuit and power circuit are formed, display, keyboard with communicate Module connects central processing unit by display interface circuit, keyboard interface circuit, communication interface circuit respectively；Central processing unit is certainly Band data storage arranges data to preserve remote control；Transparent transmission transceiver is by transparent transmission transceiver interface circuit and central authorities Processor connects composition.

Display of the present utility model uses 0-96 cun of OLED module, Display of Chinese characters, running status, setting up procedure and number Value, keyboard is made up of 3X8 matrix and a jerk button.

The beneficial effects of the utility model are: when 1, using, arrange function by the keyboard of remote control unit, arrange mechanical hand Action parameter and the time, and store data in single-chip microcomputer memorizer, remote field determine and manually or automatically run；2、 No matter automatically running or manual run, as occurred leading reason condition, carrying out interrupt processing by jerk button, to ensure robot The safe and reliable operation of device；3, this utility model integrated level, reliability, certainty of measurement and stability are high, for mechanical hand Carry out on-the-spot remote manipulation, it is achieved intelligentized control method, effectively save cost, improves ease of use；4, remote control unit and machinery Using wireless data transmission module to carry out data exchange in a transparent way between hand control device, transparent transmission transceiver uses band dormancy The JZ891 micropower wireless data transmission module of pattern is connected with single-chip microcomputer by communication interface circuit, reduces electric quantity consumption.

Accompanying drawing explanation

Fig. 1 is this utility model schematic block circuit diagram.

Fig. 2 is circuit theory diagrams.

Fig. 3 is digital transmission module and MCU mode of connection circuit theory diagrams.

Fig. 4 is keyboard circuit schematic diagram.

In figure: 1 one-chip computer module circuit board, 2 transparent transmission transceivers, 3 OLED display module, 4 power supplys, 5 power supply moulds Block, 6 communication interface circuits, 7 display module interface circuits, 8 buttons, 9 keyboard interface circuits, 10 display lamps, 11 single-chip microcomputers, 12 shells Body.

Detailed description of the invention

This six degree of freedom manipulator remote control device is as it is shown in figure 1, by the one-chip computer module circuit board 1 in housing 12, transparent Transmitting transceiver device 2, OLED display module 3 and power supply 4 form；Display cover, cover of keyboard, transparent transmission receipts are installed on housing 12 Send out device antenna, one-chip computer module circuit board 1, power supply 4, transparent transmission transceiver 2, OLED display module 3 be installed in housing 12, Power module 5, communication interface circuit 6, display module interface circuit 7, button 8, keyboard interface circuit 9, display lamp 10 and monolithic Machine 11 is arranged on one-chip computer module circuit board 1, is monolithically fabricated six degree of freedom manipulator remote control device；Described one-chip computer module The electric loop of circuit board 1 is by power module 5, communication interface circuit 6, display module interface circuit 7, button 8, keyboard interface circuit 9, display lamp 10 and single-chip microcomputer 11 form, and transparent transmission transceiver 2, OLED display module 3, power supply 4, button 8 are respectively by logical Letter interface circuit 6, display module interface circuit 7, power module 5, keyboard interface circuit 9 connect single-chip microcomputer 11, and transparent transmission is received The antennal interface sending out device 2 connects transparent transmission transceiver antennas.

As in figure 2 it is shown, single-chip microcomputer uses the single-chip microcomputer of STC series in circuit theory diagrams, concrete connection is as follows: row's resistance The 2-9 foot of R13 connects the P1.0-P1.7 foot of single-chip microcomputer U1 respectively, row's the 1st foot of resistance R13, the 31st of single-chip microcomputer U1 the, 40 Foot connects the positive VCC of power supply, and crystal oscillator Y1 two ends connect the 18th of single-chip microcomputer U1 the respectively, 19 feet, the 20th foot of single-chip microcomputer U1, electric capacity One end of C3, C4, R25 connects power supply ground, and the other end of electric capacity C3, C4 connects the 18th of single-chip microcomputer U1 the respectively, 19 feet, R25's The other end connects the 9th foot and one end of button S34, C2 of single-chip microcomputer U1, and the other end of button S34, C2 connects the positive VCC of power supply； The 1st of OLED display module 3,6,7 feet connect power supply ground, and the 2nd foot of OLED display module 3 connects the positive VCC of power supply, and OLED shows The 3rd of module 3,4,5 difference feet connect P1.0, P1.1, P1.2 foot of single-chip microcomputer U1, the 8th foot floating of OLED display module 3； Using power supply or battery to power, battery cathode connects socket negative pole, the 3rd foot of anode connecting valve SW1, and socket positive pole is even Connecing the 2nd foot of switch SW1, the 1st foot of switch SW1 connects power supply ground, switch after being sequentially connected in series resistance R14 and light emitting diode D1 Shunt capacitance C1 and C5 between 1st foot and the power supply ground of SW1, constitutes power module 5.

As it is shown on figure 3, transparent transmission transceiver 2 uses the JZ891 micropower wireless data transmission module of band park mode, pass through Communication interface circuit 6 is connected with single-chip microcomputer 11, particularly as follows: the 1st foot of JZ891 connects the positive VCC of power supply, the 2nd foot connects power supply Ground, the 3rd, 4 feet connect the 1st of interface J2 the respectively, 2 feet, the 5th, 6 feet connect the 4th of J3 the respectively, 3 feet；The 3rd of interface J2,4 feet Connecting P3.1, P3.0 foot of single-chip microcomputer U1 respectively, the 5th foot of interface J2 connects the 6th foot of the positive VCC of power supply, interface J2 and connects electricity Seedbed；The 1st of interface J3,2 feet connect power supplys ground, the 5th of interface J3 the, 6 feet do not connect P1.4, P1.5 foot of single-chip microcomputer U1；Just With short circuit cap respectively by 1 and 3,2 and 4 and the 3 of J3 and 5,4 and 6 short circuits of J2 when often using.

As shown in Figure 4, keypad is made up of 3X8 matrix and a jerk button, and the line unit of matrix connects single-chip microcomputer respectively The P2.0-P2.7 foot of U1, row key connects the P1.0-P1.3 foot of single-chip microcomputer U1 respectively；Rapid stop key connects the P3.7 foot of single-chip microcomputer U1.

During use, function is set by the keyboard of remote control unit, action parameter and the time of mechanical hand are set, and by data It is saved in the single-chip microcomputer memorizer of device, remote field determines and manually or automatically run；No matter automatically running or manual In operation, as abnormal conditions occur, carry out interrupt processing by jerk button, to ensure the safe and reliable operation of robot device.

This utility model is not directed to the most same as the prior art or uses prior art to be realized.

Claims (2)

1. six degree of freedom manipulator remote control device, it is characterised in that: this device includes the one-chip computer module circuit in housing (12) Plate (1), transparent transmission transceiver (2), OLED display module (3) and power supply (4)；Housing is installed display cover, keyboard Lid, transparent transmission transceiver antennas, install one-chip computer module circuit board (1), power supply (4), transparent transmission receipts in housing (12) Send out device (2), OLED display module (3), power module (5), communication interface circuit (6), display module interface circuit (7), button (8), keyboard interface circuit (9), display lamp (10) and single-chip microcomputer (11) be arranged on one-chip computer module circuit board (1), overall structure Become six degree of freedom manipulator remote control device；The electric loop of described one-chip computer module circuit board (1) is by power module (5), communication Interface circuit (6), display module interface circuit (7), button (8), keyboard interface circuit (9), display lamp (10) and single-chip microcomputer (11) composition, transparent transmission transceiver (2), OLED display module (3), power supply (4), button (8) are respectively by communication interface electricity Road (6), display module interface circuit (7), power module (5), keyboard interface circuit (9) connect single-chip microcomputer (11), transparent transmission The antennal interface of transceiver (2) connects transparent transmission transceiver antennas.

Six degree of freedom manipulator remote control device the most according to claim 1, it is characterised in that: the 2-9 foot of row resistance R13 Connecting the P1.0-P1.7 foot of single-chip microcomputer U1 respectively, row's the 1st foot of resistance R13, the 31st of single-chip microcomputer U1 the, 40 feet are just connecting power supply VCC, crystal oscillator Y1 two ends connect the 18th of single-chip microcomputer U1 the respectively, 19 feet, the 20th foot of single-chip microcomputer U1, the one of electric capacity C3, C4, R25 End connects power supply ground, and the other end of electric capacity C3, C4 connects the 18th of single-chip microcomputer U1 the respectively, 19 feet, and the other end of R25 connects monolithic 9th foot of machine U1 and one end of button S34, C2, the other end of button S34, C2 connects the positive VCC of power supply；OLED display module (3) The 1st, 6,7 feet connect power supplys ground, the 2nd foot of OLED display module (3) connects the positive VCC of power supply, the of OLED display module (3) 3,4,5 difference feet connect P1.0, P1.1, P1.2 foot of single-chip microcomputer U1, the 8th foot floating of OLED display module (3)；Use power supply Or battery powers, battery cathode connects socket negative pole, the 3rd foot of anode connecting valve SW1, socket positive pole connecting valve 2nd foot of SW1, the 1st foot of switch SW1 connects power supply ground after being sequentially connected in series resistance R14 and light emitting diode D1, switch SW1's Shunt capacitance C1 and C5 between 1st foot and power supply ground, constitutes power module (5)；Transparent transmission transceiver (2) uses band dormancy mould The JZ891 micropower wireless data transmission module of formula, is connected with single-chip microcomputer (11) by communication interface circuit (6), particularly as follows: 1st foot of JZ891 connects the positive VCC of power supply, and the 2nd foot connects power supply ground, the 3rd, 4 feet connect the 1st of interface J2 the respectively, 2 feet, the 5th, 6 feet connect the 4th of J3 the respectively, 3 feet；The 3rd of interface J2,4 feet connect P3.1, P3.0 foot of single-chip microcomputer U1 respectively, interface J2's 5th foot connects the 6th foot of the positive VCC of power supply, interface J2 and connects power supply ground；The 1st of interface J3,2 feet connect power supply ground, interface J3's 5th, 6 feet do not connect P1.4, P1.5 foot of single-chip microcomputer U1；With short circuit cap respectively by the 1 and 3,2 and 4 and J3 of J2 during normal use 3 and 5,4 and 6 short circuits；Button (8) is made up of 3X8 matrix and a jerk button, and the line unit of matrix connects single-chip microcomputer U1 respectively P2.0-P2.7 foot, row key connects the P1.0-P1.3 foot of single-chip microcomputer U1 respectively；Rapid stop key connects the P3.7 foot of single-chip microcomputer U1.