CN208826615U - It is bionical to follow mechanical arm - Google Patents
It is bionical to follow mechanical arm Download PDFInfo
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- CN208826615U CN208826615U CN201821143915.8U CN201821143915U CN208826615U CN 208826615 U CN208826615 U CN 208826615U CN 201821143915 U CN201821143915 U CN 201821143915U CN 208826615 U CN208826615 U CN 208826615U
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- steering engine
- arm
- power supply
- control panels
- bionical
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Abstract
Bionical mechanical arm is followed the utility model relates to a kind of, including data-signal transfer device, arm, palm and execute system, execution system includes 32 steering engine control panels, steering engine and steering engine power supply module, and steering engine power supply module is powered to 32 steering engine control panels and steering engine；Operation data is passed to 32 steering engine control panels and receives the feedback information that 32 steering engine control panels have executed by data-signal transfer device, 32 steering engine control panels issue PWM square-wave signal to steering engine, steering engine is eight, it is respectively used to driving palm and arm joint, screen treated for showing STM32F103ZET6 micro controller module information.The bionical certain holding functions for following mechanical arm to imitate human arm, according to the perception operating device of fixed routine crawl, carrying object or operational instrument, the work that substitution manually solves some cumbersome danger reduces the generation of accident to reduce the risk of manpower operation.
Description
Technical field
The utility model relates to a kind of perception artificial limb, more particularly to a kind of bionical follow mechanical arm.
Background technique
Manipulator research starts from 20th century mid-term, the development of computer and automatic technology in recent years, for opening for robot
Hair is laid a good foundation.1954, the U.S. wore Wall and proposes the concept of industrial robot earliest, and the main points of concept are by servo
The joint of technical controlling robot carries out action teaching to robot using manpower, and robot is able to achieve the record and again of movement
Existing, existing robot almost all uses this control mode, and generally has 6 freedom degrees, and freedom degree is that manipulator is set
The key parameter of meter.Freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.
Either for industry mechanical arm, still medically or the manipulator of other field, China is all not yet
Reach advanced level, existing manipulator cannot be fed back and be sensed to actual conditions.In recent years, the research of this technology and
Development is always maintained at more quick growth momentum, and this product is also to improve and modify continuous, kind and performance
It is constantly to increase, is also constantly expanding with field aspect.
Bionics is the new branch of science to grow up in the recent period, its development promotes bionical machine closely related therewith
The birth and development of tool.The research of nuclear energy technology requires certain manipulators that people is replaced to handle radioactive substance, and there are also one
A little extremely dangerous industries, such as bomb disposal.
Currently, the artificial limb of medical domain substantially there are two types of, cosmetic limb and practicability artificial limb.Myoelectric control above elbow prosthesis
It there are two degrees of freedom and Three Degree Of Freedom, two degrees of freedom is that the opening and closing of hand, elbow bend and stretch active control, and Three Degree Of Freedom is hand
Opening and closing, the bending and stretching of wrist (or rotation), elbow bend and stretch active control.The precondition of assembly is that must have different electromyography signals
For controlling the activity of terminal device and elbow joint, since freedom degree is more, it is more difficult to carry out using visibly different electromyography signal
Control, is more easy to appear malfunction, so most of patients is to install the myoelectric limb of two degrees of freedom.
Existing manipulator presence is not easy to operate, acts insensitive, palm and arm information collection inaccuracy, driving voltage height
The problem of.
Utility model content
The utility model in view of the above-mentioned deficiencies in the prior art, provides and a kind of bionical follows mechanical arm.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
One kind is bionical to follow mechanical arm, including data-signal transfer device, arm, palm and execution system, executes system
System includes 32 steering engine control panels, steering engine and steering engine power supply module, and steering engine power supply module gives 32 steering engine control panels
It powers with steering engine；Operation data is passed to 32 steering engine control panels and receives 32 steering engine control panels by data-signal transfer device
The feedback information executed, 32 steering engine control panels issue PWM square-wave signal to steering engine, and steering engine is eight, is respectively used to drive
Palm and arm joint, screen treated for showing STM32F103ZET6 micro controller module information.
Preferably, data-signal transfer device includes that perception gloves, control system and screen, control system include
STM32F103ZET6 micro controller module, linear slide rheostat, 6050 gyroscopes and control system power supply module, control system
System power supply module to control system power and by power supply altogether in a manner of be connected with steering engine power supply module, linear slide variable resistance
Device and 6050 gyroscopes are mounted on perception gloves, and linear slide rheostat is for acquiring digital flexion information, 6050 gyroscopes
For acquiring arm and palm action information, steering engine is mounted on arm and palm for executing the bending and shifting of arm and palm
Dynamic, the information of acquisition is passed to STM32F103ZET6 micro controller module by linear slide rheostat and 6050 gyroscopes,
By treated, control signal passes to 32 steering engines of 32 steering engine control panels and reception to STM32F103ZET6 micro controller module
The feedback information that control panel has executed, 32 steering engine control panels issue PWM square-wave signal to steering engine, and steering engine is eight, is used respectively
In driving finger and arm joint, treated that information is shown for STM32F103ZET6 micro controller module for screen.
Preferably, data-signal transfer device is computer exercise data manipulative procedure.
Preferably, steering engine is 270 ° of twin shaft steering engines, 270 ° of uniaxial steering engines or 180 ° of uniaxial steering engines.
Preferably, arm is made of acrylic board.
Preferably, palm is formed using photosensitive resin as material Photocuring solidification.
Compared with prior art, the utility model has the beneficial effects that
It is bionical follow mechanical arm imitate human arm certain holding functions, according to fixed routine crawl, carry object or
The perception operating device of operational instrument, substitution manually solves the work of some cumbersome danger, to reduce the danger of manpower operation
Property, reduce the generation of accident.Specifically, bionical follow mechanical arm to have the advantages that
(1) from heavy and light: this works arm segment is made by acrylic board, half lighter than simple glass, to extend steering engine
Service life.Palm portion forms structure novel by 3D printing.
(2) processing speed is fast: using 32 high-speed CPUs, processing speed faster, controls more accurate, more stable, the product of operation
Powerful.
(3) accuracy is high: perception gloves are fitted closely with manpower, and curvature sensor error is small, can accurately complete each
Movement.
(4) real-time: the data perceived are observed by liquid crystal display, can be made adjustment in time to information.
Detailed description of the invention
Fig. 1 is one working principle block diagram of the utility model embodiment；
Fig. 2 is two working principle block diagram of the utility model embodiment；
Fig. 3 is the utility model information acquisition circuit and helm control circuit figure；
Fig. 4 is the utility model voltage regulator circuit and JTAG download circuit figure；
Fig. 5 is the utility model serial ports level translation circuit diagram；
Fig. 6 is the utility model lcd on-screen display circuit figure；
Fig. 7 is that the utility model chip runs circuit diagram；
Fig. 8 is the part A circuit diagram of Fig. 7；
Fig. 9 is the part B circuit diagram of Fig. 7；
Figure 10 is the C portion circuit diagram of Fig. 7；
Figure 11 is the D partial circuit diagram of Fig. 7；
Figure 12 is the E partial circuit diagram of Fig. 7；
Figure 13 is the F partial circuit diagram of Fig. 7.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment one
One kind is bionical to follow mechanical arm, including data-signal transfer device, arm, palm and execution system, data letter
Number transfer device includes perception gloves, control system and screen, and the system that executes includes that 32 steering engine control panels, steering engine and steering engine supply
Power supply module, steering engine power supply module are powered to 32 steering engine control panels and steering engine；Data-signal transfer device will operate
Data pass to 32 steering engine control panels and receive the feedback information that 32 steering engine control panels have executed, 32 steering engine control panel hairs
PWM square-wave signal is to steering engine out, screen treated for showing STM32F103ZET6 micro controller module information.Control system
System includes STM32F103ZET6 micro controller module, linear slide rheostat, 6050 gyroscopes and control system power supply module,
Control system power supply module to control system power and by power supply altogether in a manner of be connected with steering engine power supply module, straight line cunning
Dynamic rheostat and 6050 gyroscopes are mounted on perception gloves, and linear slide rheostat is for acquiring digital flexion information, and 6050
For acquiring arm and palm action information, steering engine is mounted on arm and palm for executing the curved of arm and palm gyroscope
The information of acquisition is passed to STM32F103ZET6 microcontroller mould by bent and movement, linear slide rheostat and 6050 gyroscopes
Block, by treated, control signal passes to 32 steering engine control panels and reception 32 to STM32F103ZET6 micro controller module
The feedback information that steering engine control panel has executed, 32 steering engine control panels issue PWM square-wave signal to steering engine, and steering engine is eight, point
Finger and arm joint Yong Yu not driven.Steering engine uses 270 ° of twin shaft steering engines.Arm is made by acrylic board, acrylic tool
There is transparency splendid, weatherability is excellent, is not only suitble to the characteristic of machining but also easily thermoforming, plasticity is extremely strong, from heavy and light, than general
The weight that the logical light half of glass, steering engine and bracket are born is small, to extend the steering engine service life.The palm portion of mechanical arm is to utilize
Made of photocuring technology printing, stereolithography apparatus technique (Stereolithography Apparatus, SLA) is with light
Quick resin is as material, and ultraviolet laser will be scanned the photosensitive resin of liquid to make it layer-by-layer under control of the computer
Coagulation forming, SLA technique can produce the high geometry three-dimensional model of precision in a manner of succinct and is full automatic.
Embodiment two
The embodiment and embodiment one the difference is that: data-signal transfer device is the manipulation of computer exercise data
Program.
Working principle:
Data-signal transfer device carries out data acquisition or programming, carries out data conversion and string through STM32F103ZET6
Port communications simultaneously generate corresponding pulse signal, steering engine control panel return pulse signal, analyze duty ratio, and control steering engine turns
Different angles is moved, arm or more, front and back free movement is driven, keeps arm more flexible, completes corresponding movement, is realized mechanical
Arm and robot arm move synchronously.Because steering engine is high power device steering engine, power supply cannot be powered using USB, and steering engine control panel needs
Two power supplys, steering engine power supply and chip power are wanted, chip power can be powered by USB by computer, if very using USB power supply
Computer and 32 road steering engine control panels may be burnt out.
6050 gyroscopes detect palm and arm action information, send the data to single-chip microcontroller with the communication modes of IIC,
Single-chip microcontroller STM32F103ZET6 carries out data processing and in the screen information that shows that treated, including palm angle and hand
Refer to bending degree data.Single-chip microcontroller STM32F103ZET6 will treated that control signal is transferred to 32 steering engine control panels, and 32
Steering engine control panel return pulse signal analyzes duty ratio, and control steering engine rotates different angles, drives arm or more, front and back certainly
By moving, keep arm more flexible, complete corresponding movement, realizes moving synchronously for mechanical arm and robot arm, 32 steering engines controls
Result after execution is fed back to single-chip microcontroller STM32F103ZET6 by plate.
Circuit fundamental diagram: linear slide rheostat is mounted on perception gloves, and digital flexion changes voltage equivalent, single
Voltage is converted into digital quantity and handled by piece machine STM32F103ZET6.Linear slide rheostat believes the bending perceived
Number analog-to-digital conversion is carried out, inputs a signal analog (such as voltage signal), export a number corresponding with analog quantity
It measures (being often binary form), reference voltage VREF is 5V, using 8 analog-digital converters, when input voltage is 0, output
Digital quantity 0,000 0000, when the voltage of input is 5V, the digital quantity of output is 1,111 1111.When the voltage of input is from 0V
To when 5V variation, the digital quantity of output changes from 0,000 0000 to 1,111 1111.Input voltage value each in this way is one corresponding
Digital quantity is exported, that is, realizes analog-to-digital conversion.Converted data are transferred to single-chip microcontroller, in serial communication, data are at 1
Transmitted in wide single line, the data of a byte will be divided into 8 times, little-endian in order one one into
Row transmission.The data of serial communication are transmitted by turn, and each of sender's transmission all has fixed time interval, are received
Side receives each according to the same time interval of sender, to control mechanical arm precise movement.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (6)
1. one kind is bionical to follow mechanical arm, it is characterised in that: including data-signal transfer device, arm, palm and execute system
System, the system that executes include 32 steering engine control panels, steering engine and steering engine power supply module, and steering engine power supply module gives 32 rudders
Machine control panel and steering engine power supply；Operation data is passed to 32 steering engine control panels and receives 32 rudders by data-signal transfer device
The feedback information that machine control panel has executed, 32 steering engine control panels issue PWM square-wave signal to steering engine, and steering engine is eight, respectively
For driving palm and arm joint, screen treated for showing STM32F103ZET6 micro controller module information.
2. bionical mechanical arm is followed according to claim 1, it is characterised in that: the data-signal transfer device includes
Perceive gloves, control system and screen, control system include STM32F103ZET6 micro controller module, linear slide rheostat,
6050 gyroscopes and control system power supply module, control system power supply module to control system power and by power supply altogether in a manner of
It is connected with steering engine power supply module, linear slide rheostat and 6050 gyroscopes are mounted on perception gloves, and linear slide becomes
Resistance device is for acquiring digital flexion information, and for 6050 gyroscopes for acquiring arm and palm action information, steering engine is mounted on arm
With, for executing the bending and movement of arm and palm, linear slide rheostat and 6050 gyroscopes are by the information of acquisition on palm
STM32F103ZET6 micro controller module is passed to, control signal passes STM32F103ZET6 micro controller module by treated
It passs 32 steering engine control panels and receives the feedback information that 32 steering engine control panels have executed, 32 steering engine control panels issue PWM
For square-wave signal to steering engine, steering engine is eight, is respectively used to driving finger and arm joint, screen is micro- for STM32F103ZET6
Treated that information is shown for controller module.
3. bionical mechanical arm is followed according to claim 1, it is characterised in that: the data-signal transfer device is electricity
Brain exercise data manipulative procedure.
Bionical follow mechanical arm 4. according to claim 1, it is characterised in that: the steering engine be 270 ° of twin shaft steering engines,
270 ° of uniaxial steering engines or 180 ° of uniaxial steering engines.
5. bionical mechanical arm is followed according to claim 1, it is characterised in that: the arm is made of acrylic board.
Bionical follow mechanical arm 6. according to claim 1, it is characterised in that: the palm using photosensitive resin as
The molding of material Photocuring solidification.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821143915.8U CN208826615U (en) | 2018-07-19 | 2018-07-19 | It is bionical to follow mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821143915.8U CN208826615U (en) | 2018-07-19 | 2018-07-19 | It is bionical to follow mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208826615U true CN208826615U (en) | 2019-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821143915.8U Expired - Fee Related CN208826615U (en) | 2018-07-19 | 2018-07-19 | It is bionical to follow mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208826615U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| WO2022127365A1 (en) * | 2020-12-18 | 2022-06-23 | 广州城市理工学院 | Control method for sign language robotic arm |
-
2018
- 2018-07-19 CN CN201821143915.8U patent/CN208826615U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| WO2022127365A1 (en) * | 2020-12-18 | 2022-06-23 | 广州城市理工学院 | Control method for sign language robotic arm |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20200719 |
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| CF01 | Termination of patent right due to non-payment of annual fee |