CN208375302U

CN208375302U - A kind of more control robot arm devices

Info

Publication number: CN208375302U
Application number: CN201820638576.4U
Authority: CN
Inventors: 汤莉莉; 王胜; 刘进; 程升强; 卢志超; 汪玉凤
Original assignee: Zhixing College of Hubei University
Current assignee: Zhixing College of Hubei University
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2019-01-15
Anticipated expiration: 2028-04-27

Abstract

The utility model provides one kind and controls robot arm device more, including the first controller for controlling mechanical arm steering engine group and the second controller for acquiring the movement of gesture induction gloves, first controller is connect by serial ports with microcontroller chip and bluetooth module connection is to carry out information exchange with microcontroller chip and bluetooth module, first controller is connect with wireless module by SPI communication to receive gesture induction gloves action signal, and first controller connects steering engine group to be controlled by steering engine grouping machine tool arm by control line；The steering engine group installation carries out movement to the control signal according to the first controller on the robotic arm to control mechanical arm.Using multiple control modes such as mobile phone app, computer client, gesture induction gloves and automatic runnings, switch suitable control mode in different operating environments, mechanical arm is allowed to be preferably applied for different work, reduces operation difficulty.

Description

A kind of more control robot arm devices

Technical field

The utility model relates to mechanical arm control fields, control robot arm device more particularly to one kind more.

Background technique

With the development of embedded technology, industrial production is also increasingly automated, if mechanical arm rises in conjunction with Internet of Things Come, it will so that industrial production and scientific investigation technology are more progressive, allow mechanical arm to have multiple functions by multiple control modes, fit Varying environment and crowd are answered, and has various data-transformation facilities, can preferably complete work requirements is mechanical arm development One important direction.

Utility model content

The purpose of this utility model is to provide one kind to control robot arm device more, is capable of providing cell phone application control, gesture sense The multiple control modes such as gloves control and PC control are answered, mechanical arm is allowed to control more diversification.

The technical solution of the utility model includes:

A kind of more control robot arm devices, including the first controller for controlling mechanical arm steering engine group and for acquiring hand The second controller of gesture sensor glove movement,

First controller by serial ports connect with microcontroller chip and bluetooth module connect to micro-control coremaking Piece and bluetooth module carry out information exchange, and the first controller is connect with wireless module to receive gesture induction by SPI communication Gloves action signal, first controller connect steering engine group to be controlled by steering engine grouping machine tool arm by control line System；

The microcontroller chip connects image information of the camera to receive camera acquisition, microcontroller by USB line Chip is by LAN connection PC machine to carry out information exchange to the first microcontroller chip；

The second controller connects wireless module transmitting terminal, wireless module transmitting terminal and wireless module by SPI communication It carries out wireless communication, second controller is sensed by the 3-axis acceleration that Integration Bus connection is mounted on gesture induction gloves Device；

The bluetooth module and intelligent terminal carry out Bluetooth communication connection；

The steering engine group installation carries out movement to the control signal according to the first controller on the robotic arm to machine Tool arm is controlled.

The steering engine group include for control mechanical arm rotation the first steering engine, for control mechanical arm lift with lowly The second steering engine, for control mechanical arm gripper rotate third steering engine and for control mechanical arm gripper open with 4th steering engine of closure.

First steering engine, the second steering engine, third steering engine and the 4th steering engine use Futaba S-9001 type steering engine.

First controller and second controller use STM32 series monolithic.

The microcontroller chip uses S3C2440 chip.

The bluetooth module uses the bluetooth module of HC-05.

The wireless module uses NRF24L01 chip.

The intelligent terminal is smart phone or PAD with blue-tooth device.

The 3-axis acceleration sensor uses ADXL345 sensor.

The communication module is communicated using 101 specifications, 104 specifications or modbus specification with host computer.

The beneficial effects of the utility model are: there is camera by mechanical arm, mechanical arm or ambient enviroment can be regarded Frequency monitors, and mechanical arm can timely be stopped by having around mechanical arm when people or object blocking, it is ensured that the operation of mechanical arm Safety, using multiple control modes such as mobile phone app, computer client, gesture induction gloves and automatic runnings, in different work Switch suitable control mode under environment, mechanical arm is allowed to be preferably applied for different work, reduces operation difficulty.

Detailed description of the invention

Fig. 1 is the utility model principle structural schematic diagram；

Fig. 2 is the gesture induction gloves schematic diagram of the utility model.

Figure label respectively indicates: the 1-the first controller, 2-cameras, 3-microcontroller chips, 4-PC machines, 5-rudders Unit, 6-wireless modules, 7-bluetooth modules, 8-wireless module transmitting terminals, 9-second controllers, 10-3-axis accelerations pass Sensor.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Referring to Fig. 1, the technical solution of the utility model includes:

A kind of more control robot arm devices, including the first controller 1 for controlling mechanical arm steering engine group and for acquiring The second controller 9 of gesture induction gloves movement,

First controller 1 by serial ports connect with microcontroller chip 3 and bluetooth module 7 connect to microcontroller Chip 3 and bluetooth module 7 carry out information exchange, and the first controller 1 is connect with wireless module 6 to receive hand by SPI communication Gesture sensor glove action signal, first controller 1 connect steering engine group 5 to pass through 5 pairs of machinery of steering engine group by control line Arm is controlled；

The microcontroller chip 3 connects image information of the camera 2 to receive the acquisition of camera 2, micro-control by USB line Coremaking piece 3 is by LAN connection PC machine 4 to carry out information exchange to the first microcontroller chip 1；

The second controller 9 connects wireless module transmitting terminal 8 by SPI communication, wireless module transmitting terminal 8 and wireless Module 6 carries out wireless communication, and second controller 9 connects the 3-axis acceleration being mounted on gesture induction gloves by Integration Bus Sensor 10；

The bluetooth module 7 carries out Bluetooth communication connection with intelligent terminal；

The installation of steering engine group 5 is on the robotic arm to carry out movement according to the control signal of the first controller 1 to right Mechanical arm is controlled.

The steering engine group 5 include for control mechanical arm rotation the first steering engine, for control mechanical arm lift with it is low Under the second steering engine, for control mechanical arm gripper rotate third steering engine and for control mechanical arm gripper open With the 4th steering engine of closure.

First steering engine, the second steering engine, third steering engine and the 4th steering engine are using Japanese double leaf electronics industry strain formula meeting The Futaba S-9001 type steering engine of society.

The STM32 series monolithic that first controller 1 and second controller 9 are produced using STMicw Electronics.

The S3C2440 chip that the microcontroller chip 3 is produced using Samsung.

The bluetooth module 7 uses the bluetooth module of HC-05.

The wireless module 6 uses NRF24L01 chip.

The intelligent terminal is smart phone or PAD with blue-tooth device.

The 3-axis acceleration sensor 10 uses the ADXL345 sensor of ADI company.

Directly accurate control is carried out using Bluetooth of mobile phone, mechanical arm is made to make different movements, it is convenient and efficient, it is suitble in family Civilian mechanical arm use.

Mechanical arm is controlled using computer client, facilitates the long-range control in industrial production.

Mechanical arm is controlled using gesture induction gloves, so that people, which can be convenient, efficiently controls mechanical arm, as The hand to draw oneself up is general, this function can be applied to humanoid robot, more can quickly control than other control modes, more can It is suitble to the manipulation of the robot of mankind's form.

The design is configured with the camera of real time monitoring, can monitor in real time or control in any one computer of local area network Mechanical arm processed provides convenience for long-range control and real-time understanding information.

Since the design provides multiple control modes, mechanical arm adaptation can be allowed to work under different needs.

It could be improved and add there are many function, such as:

Two zigbee can be used between the mechanical arm and S3C2440 development board of STM32 control to be attached, one is Coordinator, one is terminal, so, can not only make development board can be with remote management machine tool arm, even more can be simultaneously Manage multiple mechanical arms.

The identifier that can show all devices on the client, designs complete agreement, so that user can choose control Which terminal made.

Gesture induction gloves add multiple sensors, and mechanical arm can preferably be allowed to simulate the movement of manpower.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims

1. much a kind of control robot arm devices, it is characterised in that: including for controlling mechanical arm steering engine group the first controller and For acquiring the second controller of gesture induction gloves movement,

First controller by serial ports connect with microcontroller chip and bluetooth module connect to microcontroller chip and Bluetooth module carries out information exchange, and the first controller is connect with wireless module by SPI communication to receive gesture induction gloves Action signal, first controller connect steering engine group to be controlled by steering engine grouping machine tool arm by control line；

The microcontroller chip connects image information of the camera to receive camera acquisition, microcontroller chip by USB line By LAN connection PC machine to carry out information exchange to the first microcontroller chip；

The second controller connects wireless module transmitting terminal by SPI communication, and wireless module transmitting terminal and wireless module carry out Wireless communication, second controller connect the 3-axis acceleration sensor being mounted on gesture induction gloves by Integration Bus；

The steering engine group installation carries out movement to the control signal according to the first controller on the robotic arm to mechanical arm It is controlled.

2. a kind of more control robot arm devices according to claim 1, it is characterised in that: the steering engine group includes for controlling First steering engine of mechanical arm rotation, for control mechanical arm lift with the second low steering engine, for controlling the machine of mechanical arm The third steering engine of machinery claw rotation and the 4th steering engine for opening with being closed for controlling mechanical arm gripper.

Much a kind of control robot arm devices 3. according to claim 2, it is characterised in that: first steering engine, the second steering engine, Third steering engine and the 4th steering engine use Futaba S-9001 type steering engine.

4. a kind of more control robot arm devices according to claim 1, it is characterised in that: first controller and the second control Device processed uses STM32 series monolithic.

5. a kind of more control robot arm devices according to claim 1, it is characterised in that: the microcontroller chip uses S3C2440 chip.

6. a kind of more control robot arm devices according to claim 1, it is characterised in that: the bluetooth module uses HC-05 Bluetooth module.

7. a kind of more control robot arm devices according to claim 1, it is characterised in that: the wireless module uses NRF24L01 chip.

8. a kind of more control robot arm devices according to claim 1, it is characterised in that: the intelligent terminal is with bluetooth The smart phone or PAD of device.

9. a kind of more control robot arm devices according to claim 1, it is characterised in that: the 3-axis acceleration sensor is adopted With ADXL345 sensor.