CN206497337U - A kind of controller for manipulator - Google Patents
A kind of controller for manipulator Download PDFInfo
- Publication number
- CN206497337U CN206497337U CN201720137488.1U CN201720137488U CN206497337U CN 206497337 U CN206497337 U CN 206497337U CN 201720137488 U CN201720137488 U CN 201720137488U CN 206497337 U CN206497337 U CN 206497337U
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- CN
- China
- Prior art keywords
- pcb board
- electromyographic signal
- motor
- motor drive
- signal collection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of controller for manipulator, including pcb board, Arduino control modules, electromyographic signal collection module, motor drive module, the Arduino control modules, electromyographic signal collection module and motor drive module are arranged on pcb board, electromyographic signal collection module and motor drive module are connected with Arduino control modules respectively, motor drive module is with setting motor connection on a robotic arm, and the pcb board is set on a robotic arm.The utility model is by using Arduino minimum systems, and combine the setting of electromyographic signal collection module and motor drive module on pcb board, effectively reduce the volume of whole pcb board, make the more convenient wearing of whole controller, make the manipulator for using the controller of the utility model offer comfort during use stronger, the control system control that the utility model is provided simultaneously is more flexible, can use enhanced convenience by every finger of the mechanical hand of different motor control.
Description
Technical field
The utility model is related to a kind of controller, more particularly to a kind of controller for manipulator.
Background technology
Manipulator can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation
The automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, it can
Instead of the heavy labor of people to realize the mechanization and automation of production, it can be operated under hostile environment to protect personal safety,
Thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Present manipulator is also used for human body
Wearing, so as to help some amputation or the people that can not independently start to carry out the action of hand.At present, use in the robot
Some controller volumes all than larger, be not suitable for wearing.
Utility model content
Utility model purpose：In order to overcome the deficiencies in the prior art, the utility model provides a kind of small volume, user
Just, the controller for manipulator of convenient wearing.
Technical scheme：The utility model provides a kind of controller for manipulator, including pcb board, Arduino are controlled
Module, electromyographic signal collection module, motor drive module, the Arduino control modules, electromyographic signal collection module and motor
Drive module setting is on pcb board, and electromyographic signal collection module and motor drive module connect with Arduino control modules respectively
Connect, motor drive module is with setting motor connection on a robotic arm, and the pcb board is set on a robotic arm.
Further, the Arduino control modules include control chip Atmega2560 and reset circuit, reset circuit with
Control chip Atmega2560 connections.
Further, the electromyographic signal collection module includes four road electromyographic signal collection circuits, wherein three tunnel electromyographic signals
Acquisition Circuit is arranged on the front of pcb board, and electromyographic signal collection circuit is arranged on the back side of pcb board all the way.So be conducive to subtracting
The spatial volume of small whole controller, reduces the area of whole pcb board.
Further, the motor drive module includes three road motor-drive circuits, and three road motor-drive circuit is all provided with
Put at the back side of pcb board.It so can effectively reduce the spatial volume of whole controller.
Beneficial effect：Compared with prior art, the utility model is by using Arduino minimum systems, and combines myoelectricity
The setting of signal acquisition module and motor drive module on pcb board, effectively reduces the volume of whole pcb board, makes whole
The more convenient wearing of controller, making the manipulator of the controller provided using the utility model, comfort is more during use
By force, while the control for the control system that the utility model is provided is more flexible, the every of the mechanical hand of different motor controls can be passed through
Root finger, uses enhanced convenience.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the positive structure schematic of pcb board in the utility model；
Fig. 3 is the structure schematic diagram of pcb board in the utility model；
Fig. 4 is the circuit diagram of electromyographic signal collection circuit in the utility model；
Fig. 5 is the circuit diagram of motor-drive circuit in the utility model.
Embodiment
The utility model is done below in conjunction with the accompanying drawings and further explained.
As shown in Fig. 1 ~ Fig. 3, the utility model provides a kind of controller for manipulator, including pcb board, and sets
Arduino control modules, electromyographic signal collection module, motor drive module and download program module on pcb board, wherein,
Arduino control modules include control chip Atmega2560 and reset circuit, and electromyographic signal collection module includes four groups
Electromyographic signal collection circuit, four road electromyographic signal collection circuits are connected with Arduino control modules respectively, in motor drive module
Including three road motor-drive circuits, it is connected, is driven per road motor with Arduino control modules per the input of road motor-drive circuit
Two direct current push rod motors work in the output end difference control machinery hand of dynamic circuit, the control of such three road motor-drive circuit
Five direct current push rod motors in manipulator, it is reserved port also to stay an output port.Download program module one end with
Arduino control modules are connected, and the other end is connected by Micro USB interfaces with computer.Download program module is by computer
Control content is transferred in Arduino control modules.Arduino control modules are arranged on the center at the back side of pcb board,
The leftmost side at the pcb board back side is provided with Micro USB interfaces, pcb board provided with three motor interfaces, the low order end at the back side of pcb board
Positive high order end is provided with three motor interfaces, and the positive low order end of pcb board is provided with four electromyographic signal collection interfaces, in PCB
The front of plate sets the road myoelectricity Acquisition Circuits of Bing Liao tri-；Electromyographic signal collection circuit all the way, three tunnels are provided with the back side of pcb board
Motor-drive circuit, Atmega2560 control chips and download program circuit.
Wherein, as shown in figure 4, electromyographic signal collection circuit includes：One AD8221 instrument amplifiers, four TL084D fortune
Amplifier and 1N4148 and multiple resistance and electric capacity are calculated, wherein, the electromyographic signal collected is first inputted to AD8221 instrument
In amplifier, suppress the common-mode signal in signal with this, then signal enters second link, is put by four TL084D computings
Big device is with 1N4148 and the current rectifying and wave filtering circuit of multiple resistance and electric capacity composition, and the signal after over commutation is input to circuit increasing
Benefit is, so as to change sense, then signal enters back into the 4th LPF being made up of TL084D in 1 negative circuit
Circuit, proceeds immediately to carry out signal amplification in the see-saw circuit that gain is 20, carries out the signal after smooth rectification amplification
Enter finally into and analog-to-digital conversion is carried out in AD be then input in Arduino control modules and handled.
As shown in figure 5, model DRV8833 motor drive ic is used in motor-drive circuit, so can same time control
Two positive counter-movement of motor are made, wherein, VINT and GND pin connect the both positive and negative polarity of power supply, AIN1 and AIN2 pins difference respectively
Connect two digital quantity output pins in Arduino control modules, Arduino control modules by the two pins AIN1 and
AIN2 inputs the driver of the first motor, BIN1 and BIN2 pins connect two digital quantities of Arduino control modules respectively
Output pin, Arduino control modules input the driver that BIN1 and BIN2 inputs the second motor by the two pins,
AOUT1 and AOUT2 pins connect the first motor, BOUT1 and BOUT2 pins connect the second motor.
During controller work for manipulator, electromyographic signal collection circuit is by myoelectricity conducting wire by the human body collected
Surface muscle electric signal transmission is on Arduino main control chips, and Arduino main control chips are according to the human body surface muscle received
Electric signal controlled motor drive circuit, motor-drive circuit drives corresponding motor movement, manipulator is made accordingly respectively
Action.
Claims (4)
1. a kind of controller for manipulator, it is characterised in that：Adopted including pcb board, Arduino control modules, electromyographic signal
Collect module, motor drive module, the Arduino control modules, electromyographic signal collection module and motor drive module are arranged on
On pcb board, electromyographic signal collection module and motor drive module are connected with Arduino control modules respectively, motor drive module
With setting motor connection on a robotic arm, the pcb board is set on a robotic arm.
2. the controller according to claim 1 for manipulator, it is characterised in that：The Arduino control modules bag
Control chip Atmega2560 and reset circuit are included, reset circuit is connected with control chip Atmega2560.
3. the controller according to claim 1 for manipulator, it is characterised in that：The electromyographic signal collection module bag
Four road electromyographic signal collection circuits are included, wherein three road electromyographic signal collection circuits are arranged on the front of pcb board, electromyographic signal all the way
Acquisition Circuit is arranged on the back side of pcb board.
4. the controller according to claim 1 for manipulator, it is characterised in that：The motor drive module includes three
Road motor-drive circuit, three road motor-drive circuit is arranged at the back side of pcb board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720137488.1U CN206497337U (en) | 2017-02-15 | 2017-02-15 | A kind of controller for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720137488.1U CN206497337U (en) | 2017-02-15 | 2017-02-15 | A kind of controller for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206497337U true CN206497337U (en) | 2017-09-15 |
Family
ID=59804894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720137488.1U Active CN206497337U (en) | 2017-02-15 | 2017-02-15 | A kind of controller for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206497337U (en) |
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2017
- 2017-02-15 CN CN201720137488.1U patent/CN206497337U/en active Active
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