CN209304578U - Manipulator control device - Google Patents
Manipulator control device Download PDFInfo
- Publication number
- CN209304578U CN209304578U CN201920079276.1U CN201920079276U CN209304578U CN 209304578 U CN209304578 U CN 209304578U CN 201920079276 U CN201920079276 U CN 201920079276U CN 209304578 U CN209304578 U CN 209304578U
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- China
- Prior art keywords
- connector
- potentiometer
- fixed
- rotation axis
- elastic bands
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Abstract
The utility model relates to a kind of manipulator control devices, including main control chip, elastic bands, gloves, communication module, battery and sensor, sensor includes potentiometer one, potentiometer two, potentiometer three and sensor one, connector one is fixed on the outside of large arm elastic bands, sensor one is fixed in large arm elastic bands, connector one is hinged with connector two, two other end of connector is rotatably equipped with the rotation axis one vertical with pin shaft one, connector four is fixed with outside the elastic bands of forearm front end, connector four is hinged with connector five, five other end of connector is rotatably equipped with rotation axis two, potentiometer three connects rotation axis three, the finger back of gloves is hindered equipped with Qu Bian electricity, comparison resistance is fixed at the back of the hand of gloves.The utility model acquires action message by the entity sensor of acquisition somatosensory device to complete to control.Controllable mechanical arm follows the arm of operator to act, and can accomplish that the angle in each joint corresponds to the correspondence of whole posture.
Description
Technical field
The utility model belongs to mechanical arm control technology field, and in particular to a kind of manipulator control device.
Background technique
The current holder mechanical arm being made of more steering engines controls mechanical arm operating by traditional control system, still
It cannot accomplish that the angle in each joint is corresponding with whole posture well.
Utility model content
The purpose of the utility model is to provide a kind of manipulator control devices, and solving current device cannot accomplish well
The corresponding problem of the angle in each joint and whole posture.
The utility model manipulator control device, including main control chip, elastic bands, gloves, communication module, battery and
Sensor, main control chip connect battery and communication module, and sensor includes potentiometer one, potentiometer two, potentiometer three and passes
Sensor one, elastic bands include that large arm elastic bands, forearm rear end elastic bands, forearm front end elastic bands and palm elasticity are tied up
Band, large arm elastic bands outside are fixed with connector one, and sensor one is fixed in large arm elastic bands, and connector one passes through pin
Axis one is hinged with connector two, and two other end of connector is rotatably equipped with the rotation axis one vertical with pin shaft one, rotation axis one
One end is connect with potentiometer one, and the other end is fixed with connector three, and connector three is fixed with forearm rear end elastic bands, before forearm
Connector four is fixed with outside the elastic bands of end, connector four is hinged with connector five, five other end of connector by pin shaft two
It is rotatably equipped with the rotation axis two vertical with pin shaft two, one end of rotation axis two is connect with potentiometer two, and the other end is fixed with company
Fitting six, six other end of connector and potentiometer three are fixed, and potentiometer three connects rotation axis three, and three other end of rotation axis is fixed with
Fixed outside connector seven, connector seven and palm elastic bands, the finger back of gloves is provided with Qu Bian electricity resistance, the hand of gloves
The comparison resistance with Qu Bian electricity resistance connection is fixed at back, main control chip connects sensor one, potentiometer one, current potential by conducting wire
Device two, potentiometer three and comparison resistance.By sensor and bent change electrical resistance collection action message, it is transmitted to main control chip, master control core
Then piece passes through communication module and is sent to a series of controls of mechanical arm completion.Working method is real time scan formula, and control delay exists
When communication distance wireless communication is less than in 50M, it is lower than 25ms.It is shorter in wired communication mode.
The sensor one is MPU6050, the Posture acquisition for large arm.
The outside of the potentiometer one is fixed with potentiometer shell one, and rotation axis one is mounted on potentiometer shell by bearing
On one, potentiometer shell one is fixed by stud and connector two, and rotation axis one and the rotary shaft of potentiometer one are fixed, rotation axis
One other end is fixed with connector nine, and nine other end of connector is fixed by stud and connector three.
The outside of the potentiometer two is fixed with potentiometer shell two, and rotation axis two is mounted on potentiometer shell by bearing
On two, potentiometer shell two is fixed by stud and connector five, and rotation axis two and the rotary shaft of potentiometer two are fixed.
The outside of the potentiometer three is fixed with potentiometer shell three, and rotation axis three is mounted on potentiometer shell by bearing
On three, potentiometer shell three and connector six are fixed, and rotation axis three and the rotary shaft of potentiometer three are fixed.
Two other end of rotation axis is fixed with connector eight, and eight other end of connector is fixed by stud and connector six.
The elastic bands further include that battery elastic bands, the outside of battery elastic bands and battery and main control chip are solid
It is fixed.
The acquisition that acts that potentiometer by binding joint completes bending joint is the big technology that this device action acquires
Main points, there is collection effect angle directly to correspond to, signal timeliness rapidity is high, precision is high, anti-interference and complicated electromagnetism ring
Under border the characteristics of high reliablity.The potentiometer of use is replaceable.
It is second technical essential of this equipment by the part attitude signal that MPU6050 collection machinery structure can not dispose.
Since the axial rotation of arm can not be by installation potentiometer acquisition, therefore the quaternary number numerical procedure for passing through MPU6050 is more
Reliable acquisition mode.Collected data show that the specific axial-rotation angle of arm is believed with angle (attitude angle) etc. over the ground
Breath.
The information of joint and arm is independent process, i.e. MPU6050 is closed in the case where that can not provide correct posture information
The posture of section, which follows, can still be normally carried out, and be a big feature of this equipment, be meant to ensure that the reliability of equipment.
The Posture acquisition equipment of palm is the entity device of a glove type.Sensor is the Qu Bian electricity resistance one occurred in recent years
Koji becomes semiconductor material.Pass through the bent detection for becoming resistor disc completion to the bending degree of finger being fixed on gloves.
Main control chip sends execution information to mechanical arm by communication module after the acquisition for completing each posture information.Wirelessly
Pass through the integrality of common checksum algorithm check information in communication.
The design of structure is the 4th technical essential of this equipment the.The each connector needs being fixed on arm are not being made
Guarantee comfort, convenience and the movable flexibility of wearing under the premise of at measurement error as far as possible.Therefore in fixed mode
On, each fixed point uses flexible bandage to adapt to different wearers.
The bearing of arm has adjustable elastic using the bandage of elasticity and good toughness, can be adjusted by nylon buckles
It is elastic, sufficient friction is kept with arm in the state of not tight, to guarantee that fixed point can not generate displacement on arm again
With rotation.
It is rigidly fixed between fixation bandage on arm and connector, offset will not be generated.It is needed between bandage and connector
Certain distance is kept, using rigid connection.
The material of connector is the high-pressure injection moulding material of integral type, have while guaranteeing high-intensitive lower density with
Weight of equipment is reduced, the movement and carrying when wearing are facilitated.
Elastic bands are connect with connector junction using supporting element, and supporting element utilizes 3D printing, epoxy plate or standard
Part,
The installation of pin shaft one and pin shaft two has certain damping, in arm activity, is adapted to bone site variation band
The additional displacement come.Pin shaft one and pin shaft two are interference fit, make axis be not easy to rotate freely to generate certain friction.
Potentiometer is located at joint position after wearing, and potentiometer has protection shell, protects the entity structure of potentiometer
With wiring position, material uses injected plastics material.Potentiometer shell has a fixing axle, with the axis of protection potential device.This axis
Equipped with bearing, facilitate potentiometer flexible rotating.The rotation axis three of potentiometer three at forearm rotation uses D-shaped axis, cooperation
Place also uses same shape.
Qu Bian electricity hinders its root and is completely fixed, and will not generate displacement, and leading portion can then follow digital flexion and be bent.Before
Section is not provided with any fixation, be in order to guarantee the bending of material it will not be caused to be stretched during curved to
Cause accidentally to survey.Qu Bian electricity root resistance portion, which is adopted, to sew on tightly, and is protected under gloves cloth.Since Qu Bian electricity resistance is resistance-type
Senser element, it is therefore desirable to be compared using electric bridge.It is wheatstone bridge structure that comparison resistance, which uses,.Qu Bian electricity resistance is a kind of function
It can be similar to the resistance sensor of foil gauge, be a kind of semiconductor original part, realize resistance with material by semiconductor self-characteristic
Expect the function of curvature variation.The material property of Qu Bian electricity resistance: material is quite soft, has toughness well, can be with wide-angle
Bending.Therefore it is different from traditional metal strain plate and is used for small shape changing detection, and can be used for the deformation of wide-angle
Detection.
The model aruino flex sensor 2.2 of Qu Bian electricity resistance.
Subsequent conditioning circuit original after information collection be designed as having follower, sign-changing amplifier, zeroing circuit high-precision put
Big circuit is inputted after amplifying circuit in the A/D converting unit of main control chip.Main control chip is single-chip microcontroller, model
The Mega328 of Atmel should use nylon woven nylon material to be protected in the former conducting wire for designing upper each sensor, and wire internal
With the anti-interference layer of one layer of metal and one layer of tough belt, to protect wire rod.
Conducting wire should be fixed on connector to guarantee that conducting wire will not be suspended to when using.
Compared with the prior art, the advantages of the utility model are:
To control based on multi-joint mechanical arm, based on motion sensing control, set by being different from traditional Image Acquisition body-sensing
Standby entity sensor acquisition action message is to complete to control.In the normal situation of wearable device, controllable mechanical arm is followed
The arm of operator acts, and can accomplish that the angle in each joint corresponds to the correspondence of whole posture, to accomplish to be different from biography
The control effect of system operation equipment.Act the axial direction that the range followed includes shoulder, ancon, the bending in palm joint, arm
Rotation.Palm portion can also accomplish that the self contained function of the five fingers follows.
Detailed description of the invention
Fig. 1 is the schematic view of the front view of the utility model；
Fig. 2 is the overlooking structure diagram of this practical new removal conducting wire and glove part；
Fig. 3 is the structural schematic diagram of gloves；
In figure: 1, large arm elastic bands, 2, sensor one, 3, connector one, 4, connector two, 5, potentiometer shell one,
6, connector three, 7, forearm rear end elastic bands, 8, main control chip, 9, battery elastic bands, 10, battery, 11, forearm front end
Elastic bands, 12, connector five, 13, potentiometer shell two, 14, potentiometer shell three, 15, palm elastic bands, 16, compare
Resistance, 17, gloves, 18, rotation axis three, 19, connector eight, 20, connector four, 21, supporting element, 22, connector nine, 23, turn
Moving axis one, 24, rotation axis two, 25, connector seven, 26, connector six, 27, Qu Bian electricity resistance.
Specific embodiment
Below against attached drawing, specific embodiment of the present utility model is described in further detail.
Manipulator control device as shown in Figure 1 to Figure 3, including main control chip 8, elastic bands, gloves 17, communication mould
Block, battery 10 and sensor, main control chip 8 connects battery 10 and communication module, sensor include potentiometer one, potentiometer
Two, potentiometer three and sensor 1, elastic bands include large arm elastic bands 1, forearm rear end elastic bands 7, forearm front end bullet
Property bandage 11 and palm elastic bands 15 are fixed with connector 1 on the outside of large arm elastic bands 1, and sensor 1 is fixed on large arm
In elastic bands 1, connector 1 is hinged with connector 24 by pin shaft one, and 24 other end of connector is rotatably equipped with and pin
The vertical rotation axis 1 of axis one, one end of rotation axis 1 are connect with potentiometer one, and the other end is fixed with connector 36, even
Fitting 36 and forearm rear end elastic bands 7 are fixed, are fixed with connector 4 20, connector outside forearm front end elastic bands 11
4 20 are hinged with connector 5 12 by pin shaft two, and 5 12 other end of connector is rotatably equipped with the rotation axis vertical with pin shaft two
2 24, one end of rotation axis 2 24 is connect with potentiometer two, and the other end is fixed with connector 6 26,6 26 other end of connector with
Potentiometer three is fixed, and potentiometer three connects rotation axis 3 18, and 3 18 other end of rotation axis is fixed with connector 7 25, connector seven
25 fix with outside palm elastic bands 15, and the finger back of gloves 17 is provided with Qu Bian electricity resistance 27, consolidate at the back of the hand of gloves 17
Surely there is the comparison resistance 16 connecting with Qu Bian electricity resistance 27, main control chip 8 connects sensor 1, potentiometer one, current potential by conducting wire
Device two, potentiometer three and comparison resistance 16.
Sensor 1 is MPU6050, the Posture acquisition for large arm.
The outside of potentiometer one is fixed with potentiometer shell 1, and rotation axis 1 is mounted on potentiometer shell by bearing
On one 5, potentiometer shell 1 is fixed by stud and connector 24, and rotation axis 1 and the rotary shaft of potentiometer one are fixed,
One 23 other end of rotation axis is fixed with connector 9 22, and 9 22 other end of connector is fixed by stud and connector 36.
The outside of potentiometer two is fixed with potentiometer shell 2 13, and rotation axis 2 24 is mounted on potentiometer shell by bearing
On 2 13, potentiometer shell 2 13 is fixed by stud and connector 5 12, and the rotary shaft of rotation axis 2 24 and potentiometer two is solid
It is fixed.
The outside of potentiometer three is fixed with potentiometer shell 3 14, and rotation axis 3 18 is mounted on potentiometer shell by bearing
On 3 14, potentiometer shell 3 14 and connector 6 26 are fixed, and rotation axis 3 18 and the rotary shaft of potentiometer three are fixed.
2 24 other end of rotation axis is fixed with connector 8 19, and 8 19 other end of connector passes through stud and connector 6 26
It is fixed.
Elastic bands further include battery elastic bands 9, the outside of battery elastic bands 9 and battery 10 and main control chip 8
It is fixed.Elastic bands are connect with connector junction using supporting element 21.
When wearing, large arm elastic bands 1 are tied up in large arm lower end, forearm rear end elastic bands 7 and forearm front end elastic bands
11 tie up respectively in the front and back end of forearm, and 17 operator of gloves on hand, then tie up at palm by palm elastic bands 15, passes through electricity
Pond elastic bands 9 tie up battery 10 and main control chip 8 in the middle in forearm, with the activity of operator, each sensing
Device can acquire information, be then passed to main control chip 8, send operation signal to mechanical arm by communication module by main control chip 8,
Control mechanical arm follows operator's arm action.
In conclusion the utility model to control based on multi-joint mechanical arm, based on motion sensing control, is passed by being different from
The entity sensor acquisition action message of the Image Acquisition somatosensory device of system is to complete to control.In the situation that wearable device is normal
Under, controllable mechanical arm follows the arm of operator to act, and can accomplish that the angle in each joint corresponds to pair of whole posture
It answers, to accomplish the control effect for being different from traditional operation equipment.Acting the range followed includes shoulder, ancon, palm pass
The bending of section, arm axial-rotation.Palm portion can also accomplish that the self contained function of the five fingers follows.
Term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" in the description of the present invention,
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, and being merely for convenience of description, this is practical new
Type rather than require the utility model that must be constructed and operated in a specific orientation, therefore should not be understood as to the utility model
Limitation.
Claims (7)
1. a kind of manipulator control device, it is characterised in that: including main control chip (8), elastic bands, gloves (17), communication mould
Block, battery (10) and sensor, main control chip (8) connect battery (10) and communication module, sensor include potentiometer one,
Potentiometer two, potentiometer three and sensor one (2), elastic bands include large arm elastic bands (1), forearm rear end elastic bands
(7), forearm front end elastic bands (11) and palm elastic bands (15), large arm elastic bands (1) outside are fixed with connector one
(3), sensor one (2) is fixed on large arm elastic bands (1), and connector one (3) is hinged with connector two by pin shaft one
(4), connector two (4) other end is rotatably equipped with the rotation axis one (23) vertical with pin shaft one, one end of rotation axis one (23)
It being connect with potentiometer one, the other end is fixed with connector three (6), and connector three (6) and forearm rear end elastic bands (7) are fixed,
Connector four (20) is fixed with outside forearm front end elastic bands (11), connector four (20) is hinged with connector by pin shaft two
Five (12), connector five (12) other end are rotatably equipped with the rotation axis two (24) vertical with pin shaft two, rotation axis two (24)
One end is connect with potentiometer two, and the other end is fixed with connector six (26), and connector six (26) other end and potentiometer three are fixed,
Potentiometer three connects rotation axis three (18), and rotation axis three (18) other end is fixed with connector seven (25), connector seven (25) with
Fixed outside palm elastic bands (15), the finger back of gloves (17) is provided with Qu Bian electricity resistance (27), the back of the hand of gloves (17)
Place be fixed with Qu Bian electricity resistance (27) comparison resistance (16) that connect, main control chip (8) by conducting wire connect sensor one (2),
Potentiometer one, potentiometer two, potentiometer three and comparison resistance (16).
2. manipulator control device according to claim 1, it is characterised in that: the sensor one (2) is MPU6050,
Posture acquisition for large arm.
3. manipulator control device according to claim 1, it is characterised in that: the outside of the potentiometer one is fixed with electricity
Position device shell one (5), rotation axis one (23) are mounted on potentiometer shell one (5) by bearing, and potentiometer shell one (5) passes through
Stud and connector two (4) are fixed, and rotation axis one (23) and the rotary shaft of potentiometer one are fixed, and rotation axis one (23) other end is solid
Surely there is connector nine (22), connector nine (22) other end is fixed by stud and connector three (6).
4. manipulator control device according to claim 1, it is characterised in that: the outside of the potentiometer two is fixed with electricity
Position device shell two (13), rotation axis two (24) are mounted on potentiometer shell two (13) by bearing, potentiometer shell two (13)
Fixed by stud and connector five (12), rotation axis two (24) and the rotary shaft of potentiometer two are fixed.
5. manipulator control device according to claim 1, it is characterised in that: the outside of the potentiometer three is fixed with electricity
Position device shell three (14), rotation axis three (18) are mounted on potentiometer shell three (14) by bearing, potentiometer shell three (14)
Fixed with connector six (26), rotation axis three (18) and the rotary shaft of potentiometer three are fixed.
6. manipulator control device according to claim 5, it is characterised in that: rotation axis two (24) other end is fixed with company
Fitting eight (19), connector eight (19) other end are fixed by stud and connector six (26).
7. manipulator control device according to claim 5, it is characterised in that: the elastic bands further include battery elasticity
Bandage (9), the outside and battery (10) of battery elastic bands (9) and main control chip (8) are fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920079276.1U CN209304578U (en) | 2019-01-17 | 2019-01-17 | Manipulator control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920079276.1U CN209304578U (en) | 2019-01-17 | 2019-01-17 | Manipulator control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304578U true CN209304578U (en) | 2019-08-27 |
Family
ID=67681107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920079276.1U Expired - Fee Related CN209304578U (en) | 2019-01-17 | 2019-01-17 | Manipulator control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304578U (en) |
-
2019
- 2019-01-17 CN CN201920079276.1U patent/CN209304578U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 Termination date: 20210117 |