CN208468360U - A kind of mobile mechanical arm and its remote control system - Google Patents
A kind of mobile mechanical arm and its remote control system Download PDFInfo
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- CN208468360U CN208468360U CN201821021996.4U CN201821021996U CN208468360U CN 208468360 U CN208468360 U CN 208468360U CN 201821021996 U CN201821021996 U CN 201821021996U CN 208468360 U CN208468360 U CN 208468360U
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- mechanical arm
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Abstract
The utility model discloses a kind of mobile mechanical arm and its remote control systems comprising mechanical arm and mobile chassis, the mechanical arm are arranged on the mobile chassis, are provided with master controller on the mobile chassis；Drive module connects the master controller, for controlling the movement of the mobile chassis and mechanical arm under the action of the master controller；Wireless communication module connects the master controller, for being wirelessly connected with remote control device.The utility model mobile mechanical arm and its remote control system are due to using the mechanical arm being arranged on mobile chassis, realize the range extension to home services, facilitate the application to mechanical arm, simultaneously using existing common component assembling, its cost is controlled, family market demand can be greatly adapted to.
Description
Technical field
The utility model relates to changing for a kind of intelligent machine field more particularly to a kind of mobile mechanical arm and its remote control system
Into.
Background technique
In recent years, with the fast development of robot technology, many robots enter education, food and drink, retail, industry manufacture
Etc. in every field.
In the prior art, robot target group in education sector is young youngster or students in middle and primary schools, by assembling, taking
It builds and runs robot and carry out teaching to young youngster or students in middle and primary schools, such as pupil completes game, interaction is handed over for assisting
Stream, making machine people model operate robot to cultivate the interest to science and technology of child.
However, above-mentioned robot is since function is simple, single and precision is low, so being unable to satisfy university student to robot
High request, and be unable to satisfy requirement of the colleges and universities to higher education.Currently, the application in terms of mobile mechanical arm education is,
The structure of product in terms of robot teaching is mainly module-spliced, overall fairly simple, is partial to become younger, simplify.
It there is no matured product in Higher-end machines people's education sector, existing other robot control is inconvenient, and manipulation movement is not
Flexibly.
Therefore, the existing technology needs to be improved and developed.
Utility model content
The purpose of this utility model is to provide a kind of mobile mechanical arm and its remote control systems, for the colleges and universities of the prior art
Educational requirement provides targetedly solution, realizes mobile mechanical arm, adapts to colleges and universities' demand, to realize that motion control is flexible,
Control more easily technical purpose.
The technical solution of the utility model includes:
A kind of mobile mechanical arm, wherein include: mechanical arm and mobile chassis, the mechanical arm is arranged at the mobile bottom
On disk, it is provided on the mobile chassis
Master controller；
Drive module connects the master controller, for controlling the mobile chassis under the action of master controller
With the movement of the mechanical arm；
Wireless communication module connects the master controller, for being wirelessly connected with remote control device.
The mobile mechanical arm, wherein the gyroscope arrangement for inertial navigation is additionally provided on the mobile chassis,
And infrared sensor, ultrasonic sensor or impact switch for avoidance.
The mobile mechanical arm, wherein the mechanical arm includes the control circuit for controlling execution end motion, described
Control circuit is electrically connected with the master controller.
The mobile mechanical arm, wherein the mechanical arm includes pedestal, and the control circuit is installed on the pedestal
Interior, the pedestal is equipped with the interface for being connected to the control circuit for data exchange.
The mobile mechanical arm, wherein the mobile chassis is equipped with the fixing groove being placed in for the pedestal.
The mobile mechanical arm, wherein the drive module includes the driving motor being arranged on the mobile chassis,
Each return pulley being arranged on the mobile chassis is driven for corresponding, the driving motor uses DC micro motor, and sets
It sets with magnetic coder, for feeding back the position of the driving motor according to activation bit to obtain velocity and acceleration, just
Just closed-loop control is carried out.
A kind of control method of the mobile mechanical arm comprising following steps:
A, the master controller receives the data of the remote control device by the wireless communication module, and judge whether be
The mobile chassis data；
B, if it is the mobile chassis data, then it is sent to the mobile chassis, and by the drive module according to phase
The rotation of data control return pulley should be controlled；If it is position and speed, then packaged data are sent to each control of the mechanical arm
Unit.
The control method, wherein the mobile chassis data processing in the step B further includes following step
It is rapid:
B1, target velocity is calculated；
B2, feedback speed is calculated；
B3, PID control parameter PID arithmetic is carried out；
B4, output pwm signal to return pulley the driving motor control unit.
A kind of mobile mechanical arm remote control system, wherein including any mobile mechanical arm, the mobile mechanical arm is logical
It crosses remote control device wireless connection to be controlled, the remote control device is used to send control instruction to the mobile mechanical arm to control
The movement of the mobile mechanical arm and mobile chassis.
The mobile mechanical arm remote control system, wherein the remote control device uses game paddle or model airplane remote controller, and
Different control button groups to the mechanical arm and the mobile chassis are set simultaneously on the remote control device.
A kind of mobile mechanical arm provided by the utility model and its remote control system are arranged due to using in mobile chassis
On mechanical arm, realize to the extension of the range of University Education, facilitate the application to mechanical arm, while using existing common
Component assembling, controls its cost, can greatly adapt to the University Education market demand.
Detailed description of the invention
Fig. 1 is the system composition schematic diagram of mobile mechanical arm in an embodiment of the present invention.
Fig. 2 is remote controler schematic diagram in an embodiment of the present invention.
Fig. 3 is an embodiment of the present invention hardware module structural schematic diagram.
Fig. 4 is the control flow schematic diagram of an embodiment of the present invention mobile mechanical arm and its remote control system.
Fig. 5 and Fig. 6 is the structural schematic diagram of mobile mechanical arm described in an embodiment of the present invention.
Specific embodiment
The mobile mechanical arm of the utility model and its one embodiment of remote control system are described in detail below.
Mobile mechanical arm described in the utility model and its remote control system reduce cost primarily directed to University Education demand
With elevating mechanism arm multifunctionality and accuracy, feature is needed to meet the Higher-end machines people exploitation crowd of University Education.It is mobile
Mechanical arm such as has Omni-mobile, fast moves, is remotely controlled at the functions, by dobot2.0 mechanical arm, three-wheel omnidirectional chassis, wireless game
The components such as handle composition, has rechargeable battery, using modularized design, conveniently repairs replacement.It is described in the utility model
Mobile mechanical arm equipment as a whole, also can be applied to family's use demand, forms relatively advanced household intelligence
Energy robot, the mobile mechanical arm can be used to do a little substitution sex works, such as pickup sort articles etc..
The mobile mechanical arm uses desktop grade mechanical arm, including can such as be schemed by driven Multi-shaft mechanical arm 110 is controlled
Shown in 1, such as it can drive design by preprogramming and realize various required functions with three axis.This desktop grade is mechanical
The cost of arm is low, easy to control, and realizes multi-functional suitable for University Education.The mechanical arm is arranged in a mobile chassis
On, it is provided with circuit function module on the mobile chassis, including master controller and drive module, the drive module
The master controller is connected, for controlling the movement of the mobile chassis and mechanical arm under the action of the master controller；Together
When be provided with wireless communication module, connect the master controller, for remote control device be wirelessly connected, with realize to the movement
The manipulation of mechanical arm and mobile chassis.
Mobile mechanical arm described in the utility model is arranged on the mobile chassis 120, as shown in Figure 1, the mobile chassis
120 bottoms are provided with return pulley 121, the setting of return pulley 121 using it is controlled can multidirectional movement castor structure, return pulley can be set
It is three or four, and uses Mecanum wheel；Differential steering is carried out by wheel in the return pulley 121, so as to controlled progress
Turn to movement.Mecanum wheel is that multiple oblique trundles to contact to earth are arranged on wheel face, the effect of trundle be can with
Bull wheel moving direction moves on vertical direction, i.e. transverse shifting, but because trundle cannot fast move, transverse shifting is
For adjusting position, the main moving direction of bull wheel rotating direction or the mobile chassis 120.
Therefore, any free mobile to realize, it is described in mobile mechanical arm described in the utility model and its remote control system
Return pulley 121 can also use common castor, and realized by the steering mechanism on wheel shaft and turn to movement, only this movement side
Formula needs turning radius, can not be as may be implemented to translate using Mecanum wheel mode.In moving machine described in the utility model
Corresponding control system is provided in tool arm, and driving method is provided with switch in driver interface, can be converted
The control mode of ordinary wheel, or the control mode using Mecanum wheel.
The Mecanum wheel control mode refers to that the return pulley 121 advances and the speed in traversing direction can be passed to master control
The resolution of velocity algorithm of the return pulley 121 is decomposed four corresponding driving motors, before completing the return pulley 121 by device processed
Into retrogressing and left and right translation.The ordinary wheel control mode refers to that the speed in the traversing direction of the return pulley 121 can be directly arranged
It is 0, the only speed of direction of advance can be just input in master controller, and master controller receives after velocity information according to same
Resolution of velocity algorithm decomposes four driving motors, it can the return pulley 121 is allowed to move under ordinary wheel mode.
When using Mecanum wheel control mode, due to the trundle on wheel face in bull wheel rotation process with ground
It contacts and unsmooth, will lead to trembling for the mobile chassis 120, the shifting of Oscillation Amplitude and frequency and the mobile chassis 120
Dynamic speed is related with the size and distribution density of trundle, therefore to prevent excessively trembling for mobile chassis, and described in guaranteeing
The normal operating of mobile mechanical arm is additionally provided with shock-absorbing system between the return pulley 121 and the bottom plate of the mobile chassis 120
System.The structure of these suspension systems and steering system is known implementation, therefore is repeated no more.
The utility model in one embodiment, the mobile chassis 120 must be using the bottom plate knot of plate carrying
Structure, and return pulley 121 is just assemblied on the bottom plate, can be set to three or four, even more, to realize to the movement
The mobile support on chassis 120.
Mobile mechanical arm described in the utility model in one embodiment, as shown in Figure 5 and Figure 6, the mobile chassis
120 settings use a box body structure, and a bottom loading plates can be arranged in box body structure bottom, are provided in box body corresponding
Governor circuit, corresponding position is provided with the installation site 123 with return pulley 121, specifically can according to need and be set as
Three or four are as shown in Figure 5 and Figure 6 return pulley 121 using Mecanum wheel.It is additionally provided on the box body structure
Display unit can also be shown by other external equipments, and one is additionally provided on the box body structure for fixing institute
The fixing groove 124 for stating 110 bottom base 111 of mechanical arm, is preferably arranged the pedestal 111 and the fixing groove 124 is pair
That answers is rectangular, so as to form firm fixation, and can assist fixing with bolt or buckle structure, this fixing groove 124
The dismounting and change to the mechanical arm 110 is facilitated simultaneously.
The mechanical arm of an embodiment of the present invention has three joints (i.e. driving axial), and has firm arm knot
Structure；Control interface with opening is set, and user can use development interface and control mechanical arm.End clamping machine simultaneously
Structure can be sucker, laser, clip etc. component, can also equally be controlled by development interface there are many selection.At this
In the control system of mechanical arm described in utility model, it is additionally provided with PLC technology unit, user can pass through PLC technology
Unit is programmed, and setting opens corresponding programming Control interface in system, by the program that editor is complicated, makes robot complete
The tasks such as laser engraving can be completed since the utility model mechanical arm accuracy is high at various tasks.
The mobile chassis of an embodiment of the present invention has the function such as Omni-mobile, controlled reception, mechanical arm control
Can, wherein master controller is stm32 high performance control chip, it may be implemented 4 road code-disc signal acquisitions, several PWM output channels,
Closed-loop control can be carried out to the driving motor of mobile chassis return pulley；The drive module includes the drive of the correspondence return pulley on chassis
Dynamic motor, the driving motor is using DC micro motor, band magnetic coder, can by the processing of drive control circuit,
The position of motor at this time is fed back according to activation bit, may further obtain velocity and acceleration, facilitates respond and be closed
Ring control；The driver is using modular product, and reliable and stable, compatible 5v and 3.3v is inputted, and the linearity is good.
The utility model additionally provides a mobile mechanical arm remote control system, the corresponding mechanical arm side for using the various embodiments described above
Case, the remote control system include remote control device, are used to module by wireless communication and master controller and drive module communication link
It connects.As depicted in figs. 1 and 2, remote controler 130 also sets up using game paddle and realizes remote control, utilizes game paddle
Remote control technology and remote control coding receive the manipulation instruction on game paddle under the control of the master controller, pass through
In advance to the different group control buttons of mechanical arm and mobile chassis, controlled while realization to mechanical arm and mobile chassis.
Such as it is shown in Fig. 2, the upper key 131 in upper left side is set as the mobile driving of X-direction of mechanical arm, right key
132 are set as the mobile driving key of Y-direction of mechanical arm, and lower key 133 is set as the mobile driving key of Z-direction of mechanical arm；
Four keys 134 on right side are used to control the folding of mechanical arm end.In the key of lower section two of the game paddle, left side is pressed
Key 135 is used to control chassis rotation, and with the direction of rotation for shaking control chassis respectively up and down of key, right button
136 be used to control the X moving direction or Y moving direction on chassis, and by shaking controlling up and down for key.
It, can be by switching control mode, so as to similarly press in the remote control system of the utility model one embodiment
Key can complete different control functions: under chassis control mode, rocking bar can complete the motion control on chassis；In arm mould
Under formula, rocking bar can complete the control of mechanical arm.Mode selector switch is some key on remote controler, to facilitate switching to make
With.
The remote controler mode being arranged using game paddle or model airplane remote controller, is easy to allow and is familiar with game paddle or model airplane remote control
The user group of device selects known control mode according to hobby, preferably, the model airplane remote controller of compatible sbus form message, mobile
Mechanical arm can be game paddle or model airplane remote controller with automatic identification, and using the product accessories of game paddle, market
Cost substantially reduces.Certainly, the utility model remote controler can also use the remote controler mode of other forms, and be not limited to game
Handle.
In the mobile mechanical arm and its remote control system of an embodiment of the present invention, the course of work as shown in figure 3,
Include: the data that master controller 140 receives the i.e. described remote controler 130 of remote control device, data are divided into chassis control part
With mechanical arm control section, corresponding data is sent to different control channels respectively；Chassis control part is converted into chassis
Control amount, mechanical arm control section then passes through the joint drive spindle motor that development interface agreement is transferred to the mechanical arm 110,
Realize the coordinated control of mechanical arm and chassis.As shown in figure 3, the master controller 140 is arranged on mobile chassis, control master
Useful multiple control interfaces are set on chip, is respectively intended to control and connects the remote controler 130 and the control to the mechanical arm 110
Data output processed, while being provided with the independent control interface to each return pulley of mobile chassis and channel, the driving to return pulley
Motor 141 not only sends driving parameter, while also by PWM drive control mode to the driving unit 142 of each driving motor
Driving signal is sent, by the driving of the driving unit 142, so that motor can work normally.Same key is set to exist
Different function is completed in the case of different control sections.For example, a key can complete the movement on chassis under chassis control part
Control；In mechanical arm control section, same key can complete the control of mechanical arm.
In the utility model mobile mechanical arm and its an embodiment product of remote control system, the running parameter packet that may be implemented
It includes: indoor wireless remote control distance 15m, continuous operations time 0.5h, chassis speed 1m/s, the property of mechanical arm tail end precision 0.2mm
Can, can by sucker draw small article, have entertainment, it is educational, even if user edit complexity programming, can also complete
Assignment of mission.
In one embodiment of mobile mechanical arm described in the utility model and its remote control system, control system hardware is by such as lower part
It is grouped as:
Master controller: stm32f103 core board, Resources on Chip is abundant, has multichannel code-disc acquisition channel and PWM output logical
Road meets the motor control demand on omnidirectional chassis.
Drive module: electric-motor drive unit, high power DC electric machine drive module, there is PWM speed regulation, positive and negative rotation to control,
The functions such as 5v output, ESD protection, it is reliable and stable using half-bridge driven chip, use the high-power MOS tube of imported with original packaging, driving
Ability is very strong.
Motor: it is driven using miniature DC motor as chassis, motor is fed back with code-disc, can detecte motor present bit
It sets, obtains motor speed etc..
As shown in figure 4, being the drive control implementation method of mobile mechanical arm described in the utility model and its remote control system
Flow diagram, after system initialization, module receives the Digiplex i.e. control of handle to master controller by wireless communication
Data, due to being provided with control button or knob to reply different piece on invalid remote control device, for controlling the work of mechanical arm
Whether making such as orientation and movement and clamping, and, to the motion control such as direction of advance on chassis, away from discrete time etc., master
Controller must carry out judging whether it is chassis-date, if it is be sent to chassis, and phase after receiving the data of remote controler
Target velocity should be calculated according to this, calculates feedback speed, carry out PID(Proportional-Integral-Differential
Control: PID control parameter) operation, output pwm signal is to driving unit, for controlling corresponding driving motor work
Make, works for controlling corresponding return pulley by drive motor, thus the whole movement for realizing entire mechanical arm chassis, by corresponding
Drive module controls the rotation of the return pulley according to corresponding control data；It is then to calculate position if it is determined that not being chassis-date
The information such as speed are set, and are packaged all drive control datas, are sent to each control unit of mechanical arm.
As shown in figure 4, the process of chassis-date processing is further comprising the steps of in step B described in the utility model: B1,
Calculate target velocity；B2, feedback speed is calculated；B3, PID control parameter PID arithmetic is carried out；B4, output pwm signal are given
The driving motor control unit of return pulley.It is possible thereby to realize the motion control on chassis described in the utility model, control reaction is more
It is flexible.
In one embodiment of mobile mechanical arm remote control system described in the utility model, the mobile mechanical arm and game paddle
Communication process is as follows:
Communication module uses game paddle 2.4G twireless radio-frequency communication, it is ensured that data are transmitted reliable and stable, effectively
Transmission range reaches 15m or more.Game hand pommel has 16 channels, fully meets the demand for control of mobile mechanical arm, wherein
Passage portion is for controlling mobile chassis, and for passage portion for controlling mechanical arm, remaining channel is idle, extends in necessary function
When carry out again using.
With the communication of mechanical arm:
UART interface is used with the communication physical layer of mechanical arm, application layer controls it by mechanical arm api interface
System, can control mechanical arm and moves along the direction XYZ, can also individually control each joint motions of mechanical arm, can be with
Control the clamping device folding of mechanical arm tail end.
Human-computer interaction:
User can realize the linkage of mobile chassis and mechanical arm by game paddle or model airplane remote controller, and in increase
Position machine, realizes the track 3D of real-time display mobile chassis, so that operation is more intuitive；It can by game paddle or model airplane remote controller
So that required operation is clearer, all around moving for mobile chassis and mechanical arm can be controlled simultaneously in control process.
For the situation of certain fixations, such as process can be preset, such as route and movement, can also passed through in routine use
Manual control is operated, meanwhile, for preparatory setting process, can also be recorded by manual control operating process,
By master control according to the movement and operation of preset time and driven by program mechanical arm.
On the mobile chassis of mechanical arm described in the utility model, GPS positioning system can also be set, to make system
Opereating specification is wider, manipulates more accurate.For the accuracy for realizing mobile chassis movement, can also be set on the mobile chassis
It is equipped with gyroscope, for doing gyroscope navigation.Each module on mechanical arm and mobile chassis described in the utility model, including bottom
Each component such as wheel, mechanical arm all uses modular design method, so as to the convenient replacement to damage component.The movement
Chassis and the mechanical arm can be split at any time, and chassis can be used alone, and mechanical arm also can be used alone, and the two is altogether
It can also be used together.
In addition, camera etc. can also be arranged on the chassis, so as to form automatic recognition system, so as at it
Avoidance is realized in moving process；Avoidance can also be using infrared sensor or ultrasonic sensor or impact switch；In movement
Cradle head structure can also be set on chassis, it is more stable to image, so as to be arranged to follow function, with GPS system phase
Cooperation, may be implemented the positioning and information transmit-receive to oneself position.
The one kind that is mainly characterized by being capable of providing of mobile mechanical arm described in the utility model and its remote control system is used for colleges and universities
The mobile mechanical arm of education, multi-functional, safety, accuracy can satisfy the requirement of University Education service machine people.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Claims (8)
1. a kind of mobile mechanical arm characterized by comprising mechanical arm and mobile chassis, the mechanical arm are arranged in the shifting
On dynamic chassis, it is provided on the mobile chassis
Master controller；
Drive module connects the master controller, for controlling the mobile chassis and institute under the action of the master controller
State the movement of mechanical arm；
Wireless communication module connects the master controller, for being wirelessly connected with remote control device.
2. mobile mechanical arm according to claim 1, which is characterized in that be additionally provided on the mobile chassis for inertia
The gyroscope arrangement of navigation, and, infrared sensor, ultrasonic sensor or impact switch for avoidance.
3. mobile mechanical arm according to claim 1, which is characterized in that the mechanical arm includes for controlling actuating station fortune
Dynamic control circuit, the control circuit are electrically connected with the master controller.
4. mobile mechanical arm according to claim 3, which is characterized in that the mechanical arm includes pedestal, the control electricity
Road is installed in the pedestal, and the pedestal is equipped with the interface for being connected to the control circuit for data exchange.
5. mobile mechanical arm according to claim 4, which is characterized in that the mobile chassis is equipped with for the pedestal
The fixing groove of merging.
6. mobile mechanical arm according to claim 1, which is characterized in that the drive module includes being arranged in the movement
Driving motor on chassis drives each return pulley being arranged on the mobile chassis for corresponding, and the driving motor uses
DC micro motor, and be arranged with magnetic coder, it is obtained for feeding back the position of the driving motor according to activation bit
Velocity and acceleration out facilitates carry out closed-loop control.
7. a kind of mobile mechanical arm remote control system, which is characterized in that including any mobile mechanical arm of claim 1-6,
The mobile mechanical arm is controlled by remote control device wireless connection, and the remote control device is used to send out to the mobile mechanical arm
Control instruction is sent to control the movement of the mobile mechanical arm and the mobile chassis.
8. mobile mechanical arm remote control system according to claim 7, which is characterized in that the remote control device uses game hand
Handle or model airplane remote controller, and setting simultaneously controls the mechanical arm and the different of the mobile chassis on the remote control device
Key group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201821021996.4U CN208468360U (en) | 2018-06-29 | 2018-06-29 | A kind of mobile mechanical arm and its remote control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821021996.4U CN208468360U (en) | 2018-06-29 | 2018-06-29 | A kind of mobile mechanical arm and its remote control system |
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Family
ID=65212109
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| CN201821021996.4U Active CN208468360U (en) | 2018-06-29 | 2018-06-29 | A kind of mobile mechanical arm and its remote control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN110614621A (en) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | Four-wheel omnidirectional robot moving platform |
| CN110878881A (en) * | 2019-12-02 | 2020-03-13 | 徐州伊泽瑞智智能设备有限公司 | Universal base for mobile intelligent robot |
-
2018
- 2018-06-29 CN CN201821021996.4U patent/CN208468360U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN110614621A (en) * | 2019-08-15 | 2019-12-27 | 大连理工江苏研究院有限公司 | Four-wheel omnidirectional robot moving platform |
| CN110878881A (en) * | 2019-12-02 | 2020-03-13 | 徐州伊泽瑞智智能设备有限公司 | Universal base for mobile intelligent robot |
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