CN206263963U - A kind of mechanical arm control system caught to hand motion - Google Patents
A kind of mechanical arm control system caught to hand motion Download PDFInfo
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- CN206263963U CN206263963U CN201621311931.4U CN201621311931U CN206263963U CN 206263963 U CN206263963 U CN 206263963U CN 201621311931 U CN201621311931 U CN 201621311931U CN 206263963 U CN206263963 U CN 206263963U
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- host computer
- finger
- arm
- field controller
- mechanical
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Abstract
The utility model discloses a kind of mechanical arm control system caught to hand motion, including host computer and the host computer hand motion acquisition module for connecting and the manipulator being connected with host computer；Host computer receives the data signal that hand motion acquisition module sends, and the data signal that will be received is sent to manipulator after being converted into control signal；Hand motion acquisition module gathers the hand exercise of people, and the hand motion that will be collected is converted into data signal and is sent to host computer；Manipulator receives the control signal that host computer sends, and is acted according to control signal control machinery hand.The utility model has the advantages that：Mechanical arm is controlled using the motion for catching human hand, without complicated programming, strong adaptability；Using tree topology, extension is easy in modularized design.
Description
Technical field
The utility model is related to a kind of dynamic collect system, and in particular to a kind of mechanical arm caught to hand motion
Control system.
Background technology
With the development of network skill, the direction that the networking operation problem of manipulator develops after being also.Industrial robot
It is a kind of high-tech automated production equipment that recent decades grow up.Industry mechanical arm be industrial robot a weight
Want branch.Its feature is that various expected job tasks can be completed by programming, and has people and machine concurrently on construction and performance
The respective advantage of device, especially embodies the intelligence and adaptability of people.Complete to make in the accuracy of mechanical manual task and various environment
The ability of industry, has vast potential for future development in all fields of national economy.Manipulator is during mechanization, automated production
A kind of new device for growing up.In present-day procedure, manipulator is widely applied in automatic assembly line, machinery
The development and production of people have turned into high-tech sector, the emerging technology of develop rapidly, and it more promotes machine
The development of tool hand so that manipulator can be better achieved the combination with mechanization and automation.Although manipulator might as well
Staff is flexible like that, but it has energy constantly repeated work and work, does not know fatigue, is fearless of danger, the strength ratio of snatch weight
The characteristics of people's hand-power is big, therefore, manipulator is paid attention to by many departments, and is applied more and more widely.China
Plastics machinery has turned into one of machinery manufacturing industry industry with fastest developing speed, and annual requirement is constantly being increased.China's plastics machinery
The high speed development of industry mainly has following two big factors：One is the renewal of the equipment brought to the demand of high technology content equipment
And obsolete equipment is superseded；Two is the high speed development of plastic processing industry through the country, to the in great demand of plastics machinery.
Existing mechanical arm is operated according to default program, and it is inflexible to work, and practicality is not strong, it is impossible to undertake
Complex work.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of new Mechanical arm control method, it is therefore intended that provide
A kind of mechanical arm control system caught to hand motion, solving existing mechanical arm is entered according to default program
Row work, it is inflexible to work, and practicality is not strong, it is impossible to undertake the problem of complex work.
The utility model is achieved through the following technical solutions：
A kind of mechanical arm control system caught to hand motion, including host computer and the hand of host computer connection
Action acquisition module and the manipulator being connected with host computer；
Host computer：The data signal that hand motion acquisition module sends is received, the data signal that will be received is converted into control
Manipulator is sent to after signal processed；
Hand motion acquisition module：The hand exercise of people is gathered, the hand motion that will be collected is converted into data signal hair
Give host computer；
Manipulator：The control signal that host computer sends is received, is acted according to control signal control machinery hand.
The hand motion acquisition module is included at the bottom of the upper level sensor being connected with host computer and host computer connection
Reason device and the lower bit processor intermediate sensor for connecting and the tip sensor being connected with lower bit processor；
Upper level sensor：The detection three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement that the intermediary movements data and tip sensor of intermediate sensor transmission send
Data, are integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
The manipulator includes the field controller being connected with host computer, the manipulator being connected on field controller
Arm, the mechanical palms being connected on field controller, the mechanical finger being connected on field controller, it is connected to field controller
On arm feedback transducer, the palm feedback transducer being connected on field controller, the hand that is connected on field controller
Refer to feedback transducer；
Field controller：The control signal that host computer sends is received, with reference to the arm feedback that arm feedback transducer sends
After signal to mechanical arm send arm control signal, with reference to palm feedback transducer send arm feedback signal after to machinery
Palm send palm control signal, with reference to finger feedback transducer send arm feedback signal after to mechanical finger send finger
Control signal；
Mechanical arm：The arm control signal for receiving field controller transmission is acted；
Mechanical palms：The palm control signal for receiving field controller transmission is acted；
Mechanical finger：The finger control signal for receiving field controller transmission is acted；
Arm feedback transducer：The action of arm is detected, live control is sent to using testing result as arm feedback signal
Device processed；
Palm feedback transducer：The action of palm is detected, live control is sent to using testing result as palm feedback signal
Device processed；
Finger feedback transducer：The action of finger is detected, live control is sent to using testing result as finger feedback signal
Device processed.
When system works, upper level sensor is arranged on the arm of hand to be measured, and intermediate sensor is arranged on hand to be measured
On palm, tip sensor is arranged on the finger of hand to be measured.Because upper level sensor is arranged on arm, upper level sensor is adopted
Collect the three-axis moving state of itself and be the three-axis moving state of arm, similarly the motion state of intermediate sensor detection palm,
Tip sensor detects the motion state of finger, and the data is activation that intermediate sensor and tip sensor will be detected is given at bottom
Reason device, is sent to upper after the Data Integration that the data that lower bit processor sends intermediate sensor send with tip sensor
Machine, the data that the data that host computer sends slave computer send with upper level sensor send after carrying out Data Matching by same time
Control signal carries out extraction process to field controller, field controller to control signal, by the upper of the transmission of upper level sensor
Position exercise data is extracted, and with reference to after the arm feedback signal that arm feedback transducer sends, is processed into arm control signal
It is sent to mechanical arm；The intermediary movements data of the transmission of intermediate sensor are extracted, is sent with reference to palm feedback transducer
Palm feedback signal after, be processed into palm control signal and be sent to mechanical palms；The end of the transmission of tip sensor is transported
Dynamic data are extracted, and with reference to after the finger feedback signal that finger feedback transducer sends, are processed into the transmission of finger control signal
To mechanical finger, mechanical arm, mechanical palms, mechanical finger is acted according to corresponding control signal.
The quantity of the mechanical finger is at least one, the lower bit processor quantity at least with the quantity phase of mechanical finger
Together.Each mechanical finger finger to be measured with is corresponding, while each one finger of lower bit processor correspondence, therefore, under
Quantity of the quantity of bit processor at least with mechanical finger is identical.
Quantity of the tip sensor quantity being connected on lower bit processor at least with lower bit processor is identical.End
Sensor is connected on finger, each one finger of lower bit processor correspondence, thus tip sensor quantity at least with bottom
The quantity of processor is identical.
The intermediate sensor quantity being connected on lower bit processor is one.Generally, only meeting on an arm
Only needing to an intermediate sensor in connection one palm, therefore set of system can make system worked well.
The utility model compared with prior art, has the following advantages and advantages：
1st, a kind of mechanical arm control system caught to hand motion of the utility model, using the fortune for catching human hand
It is dynamic that mechanical arm is controlled, without complicated programming, strong adaptability；
2nd, a kind of mechanical arm control system caught to hand motion of the utility model, using tree topology,
Extension is easy in modularized design.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the utility model embodiment, constitutes the one of the application
Part, does not constitute the restriction to the utility model embodiment.In the accompanying drawings：
Fig. 1 is the utility model system structure diagram.
Specific embodiment
To make the purpose of this utility model, technical scheme and advantage become more apparent, with reference to embodiment and accompanying drawing,
The utility model is described in further detail, and exemplary embodiment of the present utility model and its explanation are only used for explaining this
Utility model, is not intended as to restriction of the present utility model.
Embodiment
As shown in figure 1, a kind of mechanical arm control system caught to hand motion of the utility model, for catching hand
The control to mechanical arm, including host computer and the upper biography of host computer connection are realized in the motion of arm, palm and a finger
What the intermediate sensor and lower bit processor of the lower bit processor and the connection of lower bit processor of sensor and host computer connection were connected
Tip sensor and the field controller of host computer connection, the mechanical arm being connected on field controller, connection are controlled at the scene
Mechanical palms, the mechanical finger being connected on field controller on device processed, the arm being connected on field controller feedback are passed
Sensor, the palm feedback transducer being connected on field controller, the finger feedback transducer being connected on field controller；Institute
Microcomputer of the host computer using Intel Xeon E5 processors is stated, database uses hard disk, lower bit processor to use MC9S12H, existing
Field controller uses S12MagniV, the upper level sensor, intermediate sensor, lower level sensor, arm feedback transducer, hand
, using MPU6050 three axis accelerometer instrument chips, three-axis gyroscope can simultaneously determine 6 for palm feedback transducer and finger feedback transducer
The position in individual direction, motion track accelerates.When system works, upper level sensor is arranged on the arm of hand to be measured, and centre passes
Sensor is arranged on the palm of hand to be measured, and tip sensor is arranged on the finger of hand to be measured.Because upper level sensor is arranged on
On arm, upper level sensor gathers the three-axis moving state of the three-axis moving state as arm of itself, similarly intermediate sensor
Detect that the motion state of palm, tip sensor detect the motion state of finger, intermediate sensor and tip sensor will be detected
The data is activation for arriving gives lower bit processor, the number that the data that lower bit processor sends intermediate sensor send with tip sensor
According to host computer is sent to after integration, the data that host computer sends slave computer press same time with the data that upper level sensor sends
Control signal is sent to field controller after carrying out Data Matching, and field controller carries out extraction process to control signal, will be upper
The upper motor data of the transmission of level sensor are extracted, after the arm feedback signal with reference to the transmission of arm feedback transducer,
It is processed into arm control signal and is sent to mechanical arm；The intermediary movements data of the transmission of intermediate sensor are extracted, with reference to
After the palm feedback signal that palm feedback transducer sends, it is processed into palm control signal and is sent to mechanical palms；End is passed
The end movement data of the transmission of sensor are extracted, and with reference to after the finger feedback signal that finger feedback transducer sends, are processed
Mechanical finger is sent into finger control signal, mechanical arm, mechanical palms, mechanical finger are carried out according to corresponding control signal
Action.
The lower bit processor quantity being connected on host computer is two, one of them lower bit processor one hand of correspondence
Refer to, another idle spare, the tip sensor quantity being connected on lower bit processor at least with the number of lower bit processor
Amount is identical.Tip sensor is connected on finger, each one finger of lower bit processor correspondence, thus tip sensor quantity
Quantity at least with lower bit processor is identical.The intermediate sensor quantity being connected on lower bit processor is one.General feelings
Can only be connected under condition, on an arm only need to an intermediate sensor in a palm, therefore set of system and can make system
Normal work.
Host computer：Receive the upper motor number that the lower motor data and upper level sensor of lower bit processor transmission send
According to, dynamic data will be formed after upper motor data and lower motor Data Matching, dynamic data is sent to database；
Upper level sensor：The detection three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement that the intermediary movements data and tip sensor of intermediate sensor transmission send
Data, are integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation；
Mechanical arm：The arm control signal for receiving field controller transmission is acted；
Mechanical palms：The palm control signal for receiving field controller transmission is acted；
Mechanical finger：The finger control signal for receiving field controller transmission is acted；
Arm feedback transducer：The action of arm is detected, live control is sent to using testing result as arm feedback signal
Device processed；
Palm feedback transducer：The action of palm is detected, live control is sent to using testing result as palm feedback signal
Device processed；
Finger feedback transducer：The action of finger is detected, live control is sent to using testing result as finger feedback signal
Device processed.
Above-described specific embodiment, is entered to the purpose of this utility model, technical scheme and beneficial effect
One step is described in detail, be should be understood that and be the foregoing is only specific embodiment of the present utility model, is not used to limit
Fixed protection domain of the present utility model, all any modifications within spirit of the present utility model and principle, made, equally replaces
Change, improve, should be included within protection domain of the present utility model.
Claims (7)
1. a kind of mechanical arm control system caught to hand motion, it is characterised in that connect including host computer and host computer
The hand motion acquisition module for connecing and the manipulator being connected with host computer；
Host computer：The data signal that hand motion acquisition module sends is received, the data signal that will be received is converted into control letter
Manipulator is sent to after number；
Hand motion acquisition module：The hand exercise of people is gathered, the hand motion that will be collected is converted into data signal and is sent to
Host computer；
Manipulator：The control signal that host computer sends is received, is acted according to control signal control machinery hand.
2. a kind of mechanical arm control system caught to hand motion according to claim 1, it is characterised in that institute
State lower bit processor that hand motion acquisition module includes that the upper level sensor that be connected with host computer and host computer connect and under
The intermediate sensor of bit processor connection and the tip sensor being connected with lower bit processor；
Upper level sensor：The detection three-axis moving state processing of itself is upper motor data is activation to host computer；
Lower bit processor：Receive the end movement number that the intermediary movements data and tip sensor of intermediate sensor transmission send
According to being integrated into lower motor data is activation to host computer；
Intermediate sensor：The detection three-axis moving state processing of itself gives lower bit processor for intermediary movements data is activation；
Tip sensor：The detection three-axis moving state processing of itself gives lower bit processor for end movement data is activation.
3. a kind of mechanical arm control system caught to hand motion according to claim 2, it is characterised in that institute
Stating manipulator includes the field controller being connected with host computer, the mechanical arm being connected on field controller, is connected to
Mechanical palms, the mechanical finger being connected on field controller on field controller, the arm being connected on field controller
Feedback transducer, the palm feedback transducer being connected on field controller, the finger being connected on field controller feedback are passed
Sensor；
Field controller：The control signal that host computer sends is received, with reference to the arm feedback signal that arm feedback transducer sends
Afterwards to mechanical arm send arm control signal, with reference to palm feedback transducer send arm feedback signal after to mechanical palms
Palm control signal is sent, is worked with reference to finger is sent to mechanical finger after the arm feedback signal that finger feedback transducer sends
Signal；
Mechanical arm：The arm control signal for receiving field controller transmission is acted；
Mechanical palms：The palm control signal for receiving field controller transmission is acted；
Mechanical finger：The finger control signal for receiving field controller transmission is acted；
Arm feedback transducer：The action of arm is detected, field controller is sent to using testing result as arm feedback signal；
Palm feedback transducer：The action of palm is detected, field controller is sent to using testing result as palm feedback signal；
Finger feedback transducer：The action of finger is detected, field controller is sent to using testing result as finger feedback signal.
4. a kind of mechanical arm control system caught to hand motion according to claim 3, it is characterised in that
When system works, upper level sensor is arranged on the arm of hand to be measured, and intermediate sensor is arranged on the palm of hand to be measured, end
Sensor is arranged on the finger of hand to be measured.
5. a kind of mechanical arm control system caught to hand motion according to claim 3, it is characterised in that institute
The quantity for stating mechanical finger is at least one, and quantity of the lower bit processor quantity at least with mechanical finger is identical.
6. a kind of mechanical arm control system caught to hand motion according to claim 3, it is characterised in that institute
State quantity of the tip sensor quantity being connected on lower bit processor at least with lower bit processor identical.
7. a kind of mechanical arm control system caught to hand motion according to claim 3, it is characterised in that institute
It is one to state the intermediate sensor quantity being connected on lower bit processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311931.4U CN206263963U (en) | 2016-11-30 | 2016-11-30 | A kind of mechanical arm control system caught to hand motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621311931.4U CN206263963U (en) | 2016-11-30 | 2016-11-30 | A kind of mechanical arm control system caught to hand motion |
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| Publication Number | Publication Date |
|---|---|
| CN206263963U true CN206263963U (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621311931.4U Expired - Fee Related CN206263963U (en) | 2016-11-30 | 2016-11-30 | A kind of mechanical arm control system caught to hand motion |
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| CN (1) | CN206263963U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
-
2016
- 2016-11-30 CN CN201621311931.4U patent/CN206263963U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426183A (en) * | 2016-11-30 | 2017-02-22 | 成都跟驰科技有限公司 | Mechanical arm control system for simulating hand movement |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170620 Termination date: 20171130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |