CN209240004U - Intelligent machine arm system - Google Patents
Intelligent machine arm system Download PDFInfo
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- CN209240004U CN209240004U CN201821575283.2U CN201821575283U CN209240004U CN 209240004 U CN209240004 U CN 209240004U CN 201821575283 U CN201821575283 U CN 201821575283U CN 209240004 U CN209240004 U CN 209240004U
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 72
- 238000012545 processing Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 6
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- 230000005055 memory storage Effects 0.000 claims description 3
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Abstract
The utility model provides a kind of intelligent machine arm system, including Bionic gloves and mechanical arm, the Bionic gloves include sequentially connected finger part, palm portion, small arm section and big arm section, and mechanical arm includes pedestal, the first support arm for rolling the idler wheel of connection positioned at the pedestal and pedestal and be fixedly connected with the base on the pedestal.Since intelligent machine arm system provided by the utility model can be dressed, worker can be correspondingly rotated by manually controlling the sequentially connected finger part of Bionic gloves, palm portion, small arm section and big arm section, the operation such as be correspondingly rotated, taken controlling mechanical arm with this.And the intelligent machine arm system is easily operated, and manufacturing cost is lower, solves the problems, such as that midget plant cannot improve operation automation level because of reasons such as technology, the talent or fund limitations.
Description
Technical field
The utility model relates to intelligence, mechanical arm technical field, in particular to a kind of intelligent machine arm system.
Background technique
Mechanical arm is a complication system, and there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.Cause
And there is also uncertainties for the modeler model of mechanical arm, for different tasks, need to plan the fortune in joint of mechanical arm space
Dynamic rail mark constitutes end pose to cascade.Mechanical arm in the prior art is all intelligent higher, but factory is some
Worker's educational background is all relatively low, can not realize effective control to intelligent higher mechanical arm.
Utility model content
The utility model provides a kind of intelligent machine arm system, including Bionic gloves and mechanical arm, the Bionic gloves packet
Sequentially connected finger part, palm portion, small arm section and big arm section are included, the finger part and palmar hand divide it
Between be provided with first angle detection device, second angle detection device, institute are provided between the palm portion and small arm section
It states and is provided with third angle detection device between small arm section and big arm section, the large arm and loins are provided with fourth angle inspection
Survey device；
The mechanical arm includes pedestal, roll positioned at the pedestal and pedestal the idler wheel of connection and be located at the pedestal it
On the first support arm for being fixedly connected with the base, first support arm is hinged with first rotating arm by first motor,
The first rotating arm is hinged with the second rotating arm by the second motor, and second rotating arm passes through third motor and manipulator
Connection, the manipulator include the 4th motor and are controlled by the 4th motor and carry out two clamping plates of opening and closing；
Further include processing unit, processing unit respectively with the first angle detection device, second angle detection device,
Three angle detection devices and the connection of fourth angle detection device, and receive first angle detection device, second angle detection dress
It sets, first angle information, the second angle information, the third angle of the output of third angle detection device and fourth angle detection device
Information and fourth angle information are spent, and according to first angle information, second angle information, third angle information and fourth angle
Degree information control first motor, the second motor, third motor and the 4th motor are rotated.
Further,
The processing unit includes first processor and second processor；
The first processor and the first angle detection device, second angle detection device, third angle detection fill
It sets and the electrical connection of fourth angle detection device, for receiving the first angle detection device, second angle detection device, the
First angle information that three angle detection devices and fourth angle detection device export respectively, second angle information, the third angle
Spend information and fourth angle information；
The processor is electrically connected with the first motor, the second motor, third motor and the 4th motor respectively, described
First processor is connect with the second processor by communication unit.
Further,
The communication unit includes NRF radio-cell, bluetooth unit, infrared unit, WIFI unit and high speed data lines
In any one or more.
Further,
The first angle detection device, second angle detection device, third angle detection device and fourth angle inspection
Device is surveyed as any one in angular encoder or angular transducer.
Further,
The intelligent machine arm system includes the memory connecting with the processing unit, the first triggering key and the second touching
Send out key, when first triggering key is triggered, the processing unit will receive first motor, the second motor, third motor with
And the 4th motor rotation data and in being stored in memory, when second triggering key is triggered, the processing is single
Member transfer the rotation data of memory storage and control first motor, the second motor, third motor and the 4th motor into
Row rotation.
Further,
The pedestal is fixedly connected with an image collecting device by a bracket, and described image acquisition device is for obtaining
The image information in intelligent machine arm system institute's face direction.
Further,
Described image acquisition device is camera.
Other features and advantages of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages can pass through
Structure specifically indicated in the written description, claims, and drawings is achieved and obtained.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of Bionic gloves；
Fig. 2 is the structural schematic diagram of mechanical arm.
11, finger part；12, palm portion；13, small arm section；14, big arm section；21, first angle detection device；
22, second angle detection device；23, third angle detection device；31, manipulator；32, the second rotating arm；33, the first rotation
Arm；34, the first support arm；35, pedestal；36, idler wheel；41, the 4th motor；42, third motor；43, the second motor；44, first
Motor；51, image collecting device.
Specific embodiment
It is illustrated below in conjunction with preferred embodiment of the attached drawing to the utility model, it should be understood that described herein excellent
It selects embodiment to be only used for describing and explaining the present invention, is not used to limit the utility model.
The utility model embodiment provides a kind of intelligent machine arm system, as shown in Figure 1, including Bionic gloves and machinery
Arm, the Bionic gloves include sequentially connected finger part 11, palm portion 12, small arm section 13 and big arm section 14,
First angle detection device 21, the palm portion 12 and forearm are provided between the finger part 11 and palm portion 12
It is provided with second angle detection device 22 between part 13, third angle inspection is provided between small arm section 13 and big arm section 14
Survey device 23.In use, worker first dresses Bionic gloves, and wherein Bionic gloves can use rubber material,
And in donning process, finger, palm, forearm and the large arm of people respectively with the finger part of Bionic gloves 11, palmar hand
Divide 12, small arm section 13 and big arm section 14 corresponding, and the finger part 11 of Bionic gloves, palm portion 12, forearm
Part 13 and big arm section 14 can follow finger, palm, forearm and the large arm carry out activity of people.
Mechanical arm includes pedestal 35, rolls the idler wheel 36 of connection with pedestal 35 positioned at the pedestal 35 and be located at the bottom
The first support arm 34 being fixedly connected on seat 35 with the pedestal 35, first support arm 34 are hinged by first motor 44
There is first rotating arm 33, the first rotating arm 33 is hinged with the second rotating arm 32, second rotation by third motor 43
Arm 32 is connect by third motor 42 with manipulator 31, and it further includes the 4th motor 41 that the manipulator, which includes two clamping plates, is led to
Cross the angle that the 4th motor 41 controls two clamping plates.It is able to drive mechanical arm by idler wheel 36 to be moved, idler wheel 36 is controlled by
One is located at the driving motor of 35 lower part of pedestal fixed setting.Can be controlled by first motor 44, adjust the first support arm 34 with
And the angle between first rotating arm 33, it can be controlled by the second motor 43, adjust first rotating arm 33 and the second rotation
Angle between arm 32 adjusts the angle between the second rotating arm 32 and manipulator 31 by third motor 42, passes through the 4th
Motor 41 can control, adjust angle at manipulator 31 between two clamping plates.
Further include processing unit, processing unit respectively with the first angle detection device 21, second angle detection device
22 and third angle detection device 23 connect, and receive first angle detection device 21, second angle detection device 22 and
First angle information, second angle information and the third angle information that third angle detection device 23 exports, and according to first
Angle information, second angle information, third angle information and fourth angle information control first motor 44, the second motor 43,
Third motor 42 and the 4th motor 41 are rotated.Exported according to first angle detection device 21 first jiao of processing unit
The angle between information the first support arm 34 of control and first rotating arm 33 is spent, processing unit is according to second angle detection device
22 output second angle information control first rotating arms 33 and the second rotating arm 32 between angle, processing unit according to
The third angle information that third angle detection device 23 exports controls the angle between the second rotating arm 32 and manipulator 31, processing
Unit controls the angle between two clamping plates 311 according to the fourth angle information that fourth angle detection device 24 exports, wherein wrapping
Include and be set to an index line, the index line side is fixedly connected with the side of human body loins, the other side be located at big arm
Respectively fourth angle detection device 24 connect.
The effect of above-mentioned technical proposal is:
Since intelligent machine arm system provided by the utility model can be dressed, worker can be by manually controlling bionic hand
Sequentially connected finger part 11, palm portion 12, small arm section 13 and big arm section 14 is covered to be correspondingly rotated, with
This such as is correspondingly rotated, is taken controlling mechanical arm at operation.And the intelligent machine arm system is easily operated, manufacturing cost
Lower, asking for operation automation level cannot be improved by solving midget plant because of reasons such as technology, the talent or fund limitations
Topic.
In one embodiment, processing unit includes first processor and second processor.First processor with it is described
First angle detection device 21, second angle detection device 22 and third angle detection device 23 are electrically connected, for receiving
State first angle detection device 21, second angle detection device 22 and third angle detection device 23 and fourth angle detection
First angle information, second angle information, third angle information and the fourth angle information that device 24 exports respectively；Processor
It is electrically connected respectively with the first motor 44, the second motor 43, third motor 42 and the 4th motor 41, the first processor
It is connect with the second processor by communication unit.Wherein first processor and first processor are respectively STM32 single-chip microcontroller.
Communication unit includes any one in NRF radio-cell, bluetooth unit, infrared unit, WIFI unit and high speed data lines
Or it is a variety of.
In one embodiment, first angle detection device 21, second angle detection device 22 and third angle detection
Device 23 is any one in angular encoder or angular transducer.
In one embodiment, intelligent machine arm system include the memory being connect with processing unit, the first triggering key with
And second triggering key, when first triggering key is triggered, the processor will receive first motor 44, the second motor 43,
The rotation data of third motor 42 and the 4th motor 41 and in being stored in memory, when second triggering key is triggered
When, the processing unit transfers the rotation data of the memory storage and controls first motor 44, the second motor 43, third electricity
Machine 42 and the 4th motor 41 are rotated.By above technical scheme, it can achieve the intelligent machine arm system and carry out automatically
The purpose of memory, repetitive operation.
Pedestal 35 is fixedly connected with an image collecting device 51 by a bracket, and described image acquisition device 51 is used for
Obtain the image information in intelligent machine arm system institute's face direction.And the automatic detection in path is carried out according to image information analysis,
It is reminded if path is wrong by a loudspeaker.Processing unit analyzes the gray value of image information, and
Gray value based on image information carries out the sort operation etc. of commodity.
Obviously, it is practical without departing from this can to carry out various modification and variations to the utility model by those skilled in the art
Novel spirit and scope.If in this way, these modifications and variations of the present invention belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to include these modifications and variations.
Claims (7)
1. a kind of intelligent machine arm system, which is characterized in that including Bionic gloves and mechanical arm, the Bionic gloves include successively
Finger part (11), palm portion (12), small arm section (13) and the big arm section (14) of connection, the finger part
(11) it is provided between palm portion (12) first angle detection device (21), the palm portion (12) and small arm section
(13) it is provided between second angle detection device (22), is provided between the small arm section (13) and big arm section (14)
Three angle detection devices (23), the large arm and loins are provided with fourth angle detection device (24)；
The mechanical arm includes pedestal (35), is located at idler wheel (36) and position that the pedestal (35) and pedestal (35) roll connection
The first support arm (34) being fixedly connected on the pedestal (35) with the pedestal (35), first support arm (34) are logical
It crosses first motor (44) to be hinged with first rotating arm (33), the first rotating arm (33) is hinged with the by the second motor (43)
Two rotating arms (32), second rotating arm (32) are connect by third motor (42) with manipulator (31), the machinery handbag
It includes the 4th motor (41) and is controlled by the 4th motor (41) and carries out two clamping plates of opening and closing；
Further include processing unit, processing unit respectively with the first angle detection device (21), second angle detection device
(22), third angle detection device (23) and fourth angle detection device (24) connection, and receive first angle detection device
(21), second angle detection device (22), third angle detection device (23) and fourth angle detection device (24) export
First angle information, second angle information, third angle information and fourth angle information, and according to first angle information,
Two angle informations, third angle information and fourth angle information control first motor (44), the second motor (43), third motor
(42) and the 4th motor (41) is rotated.
2. intelligent machine arm system according to claim 1, which is characterized in that
The processing unit includes first processor and second processor；
The first processor and the first angle detection device (21), second angle detection device (22), third angle are examined
Device (23) and fourth angle detection device (24) electrical connection are surveyed, for receiving the first angle detection device (21), the
Two angle detection devices (22), third angle detection device (23) and fourth angle detection device (24) export respectively first
Angle information, second angle information, third angle information and fourth angle information；
The second processor is electric with the first motor (44), the second motor (43), third motor (42) and the 4th respectively
Machine (41) electrical connection, the first processor are connect with the second processor by communication unit.
3. intelligent machine arm system according to claim 2, which is characterized in that
The communication unit includes in NRF radio-cell, bluetooth unit, infrared unit, WIFI unit and high speed data lines
Any one or more.
4. intelligent machine arm system according to claim 1, which is characterized in that
The first angle detection device (21), second angle detection device (22), third angle detection device (23) and
Four angle detection devices (24) are any one in angular encoder or angular transducer.
5. intelligent machine arm system according to claim 1, which is characterized in that
The intelligent machine arm system includes the memory connecting with the processing unit, the first triggering key and the second triggering
Key, when first triggering key is triggered, the processing unit will receive first motor (44), the second motor (43), third
The rotation data of motor (42) and the 4th motor (41) and in being stored in memory, when second triggering key is triggered
When, the processing unit transfers the rotation data of memory storage and controls first motor (44), the second motor (43), the
Three motors (42) and the 4th motor (41) are rotated.
6. intelligent machine arm system according to claim 1, which is characterized in that
The pedestal (35) is fixedly connected with an image collecting device (51), described image acquisition device (51) by a bracket
For obtaining the image information in intelligent machine arm system institute's face direction.
7. intelligent machine arm system according to claim 6, which is characterized in that
Described image acquisition device (51) is camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821575283.2U CN209240004U (en) | 2018-09-26 | 2018-09-26 | Intelligent machine arm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821575283.2U CN209240004U (en) | 2018-09-26 | 2018-09-26 | Intelligent machine arm system |
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| Publication Number | Publication Date |
|---|---|
| CN209240004U true CN209240004U (en) | 2019-08-13 |
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ID=67518515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821575283.2U Active CN209240004U (en) | 2018-09-26 | 2018-09-26 | Intelligent machine arm system |
Country Status (1)
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| CN (1) | CN209240004U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110744571A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Robot hand-held control device |
| CN110912024A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Transformer substation insulator live working platform control system and method |
| CN111904544A (en) * | 2020-09-09 | 2020-11-10 | 广州联优科技有限公司 | Cardiovascular surgery is with bronchus pincers |
-
2018
- 2018-09-26 CN CN201821575283.2U patent/CN209240004U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110744571A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Robot hand-held control device |
| CN110912024A (en) * | 2019-12-09 | 2020-03-24 | 国网智能科技股份有限公司 | Transformer substation insulator live working platform control system and method |
| CN111904544A (en) * | 2020-09-09 | 2020-11-10 | 广州联优科技有限公司 | Cardiovascular surgery is with bronchus pincers |
| CN111904544B (en) * | 2020-09-09 | 2021-10-15 | 深圳市前海极智创新科技有限公司 | Cardiovascular surgery is with bronchus pincers |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200409 Address after: 350000 Unit 304, Block A, Antai Center, 817 North Road, Gulou District, Fuzhou City, Fujian Province Patentee after: FUZHOU BOJINGCHANG METAL PRODUCT Co.,Ltd. Address before: 350000 Unit 703, 62 Blocks, Tea Club District, 191 Fuxin East Road, Gushan Town, Jin'an District, Fuzhou City, Fujian Province Patentee before: Lin Zhiqian |
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| TR01 | Transfer of patent right |