CN210879657U

CN210879657U - 7-degree-of-freedom mechanical arm system

Info

Publication number: CN210879657U
Application number: CN201920950259.0U
Authority: CN
Inventors: 詹日福
Original assignee: Guangdong Power Grid Co Ltd; Zhanjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Zhanjiang Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2020-06-30
Anticipated expiration: 2029-06-21

Abstract

The utility model discloses a 7-freedom-degree mechanical arm system, which comprises a 7-freedom-degree mechanical arm and a control module, wherein the rotating axes of any two adjacent motors of the 7-freedom-degree mechanical arm are mutually vertical; the control module is connected with the 7-freedom-degree mechanical arm and used for controlling the motion of a steering engine in the 7-freedom-degree mechanical arm. The 7-degree-of-freedom mechanical arm comprises an upper end part of the mechanical arm and a lower end part of the mechanical arm; the control module comprises an upper mechanical arm control part and a lower mechanical arm control part, the upper mechanical arm control part controls the motion of the upper end part of the mechanical arm, the lower mechanical arm control part controls the motion of the lower end part of the mechanical arm, and the lower mechanical arm control part controls the upper mechanical arm control part. The utility model discloses a control module has realized the automation mechanized operation of 7 degrees of freedom arms for 7 degrees of freedom arms satisfy the requirement that the stationarity is high, flexibility is good when the operation.

Description

7-degree-of-freedom mechanical arm system

Technical Field

The utility model relates to an automatic change mechanical device field, more specifically relates to a 7 degree of freedom arm systems.

Background

In order to improve the safety, reliability and economy of the operation of the electric network, the live-line first-aid repair and maintenance operation of the electric network must be vigorously carried out. The existing high-voltage live working mechanical arm is usually a product specially used for high-voltage live cleaning equipment and has the defects of low degree of freedom, poor insulating property, poor expandability, poor operability, poor transportability and the like.

In the product of the existing high-voltage live cleaning equipment, a high-freedom light remote control high-voltage live working mechanical arm suitable for high-voltage stations and lines does not exist, and the high-freedom light remote control high-voltage live working mechanical arm only has 2 degrees of freedom, is extremely inconvenient to operate, cannot adapt to complex working environments with many electrical equipment and high installation density, and needs to be powered off.

Secondly, the electrified cleaning of the indoor electrical equipment of the domestic high-voltage transformer substation still stays in a manual handheld cleaning state. The large manned mechanical arm driven by the motor is used in manual live working, the defects of long operation preparation time, high operation cost and the like are overcome, the labor intensity is high, the operation is hard, and personal safety risks exist.

SUMMERY OF THE UTILITY MODEL

The utility model overcomes above-mentioned prior art is not enough, provides a 7 degrees of freedom arm systems.

In order to solve the technical problem, the technical scheme of the utility model as follows:

A7-DOF robot arm system, comprising a 7-DOF robot arm and a control module, wherein,

the rotating axes of any two adjacent motors of the 7-degree-of-freedom mechanical arm are mutually vertical;

the control module is connected with the 7-degree-of-freedom mechanical arm and used for controlling the movement of a steering engine in the 7-degree-of-freedom mechanical arm.

In a preferred scheme, the 7-degree-of-freedom mechanical arm comprises an upper end part and a lower end part, the upper end part comprises a wrist pitching steering engine, a mechanical claw, a wrist rotating steering engine, a wrist swinging steering engine and a mechanical claw motor, and the lower end part comprises a large arm pitching steering engine, a waist rotating steering engine, an alloy large arm, an insulating arm pitching steering engine, an insulating arm rotating steering engine and an insulating arm; the control module comprises an upper mechanical arm control part and a lower mechanical arm control part, the upper mechanical arm control part controls the motion of the upper end part of the mechanical arm, the lower mechanical arm control part controls the motion of the lower end part of the mechanical arm, and the lower mechanical arm control part controls the upper mechanical arm control part.

In a preferred embodiment, the upper end control part of the mechanical arm and the lower end control part of the mechanical arm are connected in a wireless communication manner.

In a preferred scheme, the remote control module comprises a C8051F340 chip (U3), an operation key, a touch screen, a third wireless communication circuit, a third 24V storage battery and a third power supply circuit, wherein,

the C8051F340 chip (U3) is electrically connected with the operation keys;

the C8051F340 chip (U3) is electrically connected with the touch screen;

the C8051F340 chip (U3) is electrically connected with a third wireless communication circuit;

the third 24V storage battery is electrically connected with a third power supply circuit;

and the third power supply circuit supplies power to the remote control module.

In a preferable scheme, the lower end control part of the mechanical arm comprises a C8051F340 chip (U2), a second power supply circuit, a second wireless communication circuit, a second steering engine driving circuit, a second travel limit switch circuit and a second 24V storage battery, wherein,

the C8051F340 chip (U2) is electrically connected with the second wireless communication circuit;

the C8051F340 chip (U2) is electrically connected with a second steering engine driving circuit;

the C8051F340 chip (U2) is electrically connected with the second travel limit switch circuit;

the second wireless communication circuit is in signal connection with the third wireless communication circuit in a wireless communication mode;

the second 24V storage battery is electrically connected with a second power supply circuit;

and the second power supply circuit supplies power to the lower end control part of the mechanical arm.

In a preferable scheme, the upper end control part of the mechanical arm comprises a C8051F340 chip (U1), a first power supply circuit, a first wireless communication circuit, a first steering engine driving circuit, a first travel limit switch circuit, a power driving circuit and a 24V storage battery, wherein,

the C8051F340 chip (U1) is electrically connected with the first wireless communication circuit;

the C8051F340 chip (U1) is electrically connected with a first steering engine driving circuit, and the first steering engine driving circuit is used for driving a steering engine at the upper end part of the mechanical arm;

the C8051F340 chip (U1) is electrically connected with the first travel limit switch circuit;

the C8051F340 chip (U1) is electrically connected with the power driving circuit;

the first wireless communication circuit is in signal connection with the second wireless communication circuit in a wireless communication mode;

the first 24V storage battery is electrically connected with the first power supply circuit;

the first power circuit supplies power to the control part at the upper end of the mechanical arm.

In a preferred embodiment, the second power circuit includes a capacitor C17, a capacitor C19, a NS6316 chip (x 2), a 1117-3.3 chip (P2), an inductor L2, a resistor R6, a resistor R7, a resistor R11, a capacitor C14, an electrolytic capacitor C12, a capacitor C13, an electrolytic capacitor C8, a capacitor C9, a resistor R4, and a light emitting diode D2, wherein,

one end of the capacitor C17 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C17 is grounded;

one end of the capacitor C19 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C19 is grounded;

the power supply output end of the 24V storage battery is electrically connected with a No. 4 pin of an NS6316 chip (× 2);

pin 7 of the NS6316 chip (× 2) is grounded;

pin 8 of the NS6316 chip (× 2) is grounded;

the No. 5 pin of the NS6316 chip (× 2) is electrically connected with one end of an inductor L2;

the No. 6 pin of the NS6316 chip (× 2) is electrically connected with one end of an inductor L2;

the No. 3 pin of the NS6316 chip (× 2) is electrically connected with the other end of the inductor L2;

the No. 3 pin of the NS6316 chip (× 2) is electrically connected with one end of a resistor R6;

the pin 2 of the NS6316 chip (× 2) is electrically connected with the other end of the resistor R6;

pin 2 of the NS6316 chip (× 2) is electrically connected to one end of a resistor R7;

the pin 1 of the NS6316 chip (× 2) is electrically connected with the other end of the resistor R7;

the other end of the resistor R7 is electrically connected with one end of the resistor R11;

the other end of the resistor R11 is grounded;

pin 2 of the NS6316 chip (× 2) serves as a 5V output power supply terminal, and pin 2 of the NS6316 chip (× 2) is electrically connected to one end of the capacitor C14;

the other end of the capacitor C14 is grounded;

one end of the capacitor C14 is electrically connected with the anode of the electrolytic capacitor C12;

the other end of the capacitor C14 is electrically connected with the cathode of the electrolytic capacitor C12;

one end of the capacitor C14 is electrically connected with one end of the capacitor C13;

the other end of the capacitor C14 is electrically connected with the other end of the capacitor C13;

one end of the capacitor C14 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P2);

the No. 2 pin of the 1117-3.3 chip (P2) is grounded;

the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with the anode of an electrolytic capacitor C8;

the cathode of the electrolytic capacitor C8 is grounded;

the No. 3 pin of the 1117-3.3 chip (P2) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with the No. 10 pin of the C8051F340 chip (U2);

the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of a capacitor C9;

the other end of the capacitor C9 is grounded;

the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of a resistor R4;

the other end of the resistor R4 is electrically connected with the anode of the light-emitting diode D2;

the cathode of the light emitting diode D2 is grounded.

In a preferred embodiment, the second wireless communication circuit comprises nRF905 chips (× 5),

pin 1 of the nRF905 chip (× 5) is electrically connected with pin 3 of the 1117-3.3 chip (P2);

the No. 2 pin of the nRF905 chip (x 5) is electrically connected with the No. 22 pin of the C8051F340 chip (U2);

the pin No. 3 of the nRF905 chip (x 5) is electrically connected with the pin No. 15 of the C8051F340 chip (U2);

the pin 4 of the nRF905 chip (× 5) is electrically connected with the pin 21 of the C8051F340 chip (U2);

the No. 8 pin of the nRF905 chip (x 5) is electrically connected with the No. 20 pin of the C8051F340 chip (U2);

the pin 9 of the nRF905 chip (× 5) is electrically connected with the pin 16 of the C8051F340 chip (U2);

the No. 10 pin of the nRF905 chip (x 5) is electrically connected with the No. 19 pin of the C8051F340 chip (U2);

the No. 11 pin of the nRF905 chip (x 5) is electrically connected with the No. 17 pin of the C8051F340 chip (U2);

the No. 12 pin of the nRF905 chip (x 5) is electrically connected with the No. 18 pin of the C8051F340 chip (U2);

pin 13 of the nRF905 chip (× 5) is grounded;

pin 14 of the nRF905 chip (× 5) is grounded.

In a preferred embodiment, the second steering engine driving circuit drives and controls the large arm pitch steering engine 3, the waist rotation steering engine 4, the insulated arm pitch steering engine 6, and the insulated arm rotation steering engine 7, as shown in fig. 4 and 9, the second steering engine driving circuit includes an L298N chip (U5), an L298N chip (U7), a diode D10, a diode D11, a diode D12, a diode D13, a diode D18, a diode D19, a diode D20, a diode D21, a diode D26, a diode D27, a diode D28, a diode D29, a diode D36, a diode D37, a diode D38, a diode D39, a resistor R21, a resistor R22, a resistor R27, and a resistor R28, wherein,

the No. 5 pin of the L298N chip (U5) is electrically connected with the No. 3 pin of the C8051F340 chip (U2); the No. 7 pin of the L298N chip (U5) is electrically connected with the No. 4 pin of the C8051F340 chip (U2); the No. 10 pin of the L298N chip (U5) is electrically connected with the No. 5 pin of the C8051F340 chip (U2); the No. 12 pin of the L298N chip (U5) is electrically connected with the No. 6 pin of the C8051F340 chip (U2); the No. 6 pin of the L298N chip (U5) is electrically connected with the No. 2 pin of the C8051F340 chip (U2); the No. 11 pin of the L298N chip (U5) is electrically connected with the No. 1 pin of the C8051F340 chip (U2); the No. 8 pin of the L298N chip (U5) is grounded;

pin 9 of the L298N chip (U5) is electrically connected with pin 2 of the NS6316 chip (. times.2); the No. 4 pin of the L298N chip (U5) is electrically connected with the power output end of the 24V storage battery;

a No. 2 pin of the L298N chip (U5) is electrically connected with one end of the waist rotary steering engine 4;

the No. 2 pin of the L298N chip (U5) is electrically connected with the anode of the diode D10;

the cathode of the diode D11 is connected with a positive power supply;

the pin No. 2 of the L298N chip (U5) is electrically connected with the cathode of the diode D18;

the anode of the diode D18 is grounded;

the No. 3 pin of the L298N chip (U5) is electrically connected with the other end of the waist rotary steering engine 4;

the No. 3 pin of the L298N chip (U5) is electrically connected with the anode of the diode D11;

the cathode of the diode D11 is connected with a positive power supply;

the pin No. 3 of the L298N chip (U5) is electrically connected with the cathode of the diode D19;

the anode of the diode D19 is grounded;

a No. 13 pin of the L298N chip (U5) is electrically connected with one end of the large arm pitching steering engine 3;

the No. 13 pin of the L298N chip (U5) is electrically connected with the anode of the diode D12;

the cathode of the diode D12 is connected with a positive power supply;

the pin No. 13 of the L298N chip (U5) is electrically connected with the cathode of the diode D20;

the anode of the diode D20 is grounded;

a No. 14 pin of the L298N chip (U5) is electrically connected with the other end of the large arm pitch steering engine 3;

the No. 14 pin of the L298N chip (U5) is electrically connected with the anode of the diode D13;

the cathode of the diode D13 is connected with a positive power supply;

the No. 14 pin of the L298N chip (U5) is electrically connected with the cathode of the diode D21;

the anode of the diode D21 is grounded;

the No. 1 pin of the L298N chip (U5) is electrically connected with one end of a resistor R21;

the No. 15 pin of the L298N chip (U5) is electrically connected with one end of a resistor R22;

the other end of the resistor R21 is electrically connected with the other end of the resistor R22;

the other end of the resistor R22 is grounded;

the No. 5 pin of the L298N chip (U7) is electrically connected with the No. 46 pin of the C8051F340 chip (U2);

the No. 7 pin of the L298N chip (U7) is electrically connected with the No. 45 pin of the C8051F340 chip (U2);

the No. 10 pin of the L298N chip (U7) is electrically connected with the No. 44 pin of the C8051F340 chip (U2);

the No. 12 pin of the L298N chip (U7) is electrically connected with the No. 43 pin of the C8051F340 chip (U2);

the No. 6 pin of the L298N chip (U7) is electrically connected with the No. 42 pin of the C8051F340 chip (U2);

the No. 11 pin of the L298N chip (U7) is electrically connected with the No. 41 pin of the C8051F340 chip (U2);

the No. 8 pin of the L298N chip (U7) is grounded;

pin 9 of the L298N chip (U7) is electrically connected with pin 2 of the NS6316 chip (. times.2);

the No. 4 pin of the L298N chip (U7) is electrically connected with the power output end of the 24V storage battery;

the No. 2 pin of the L298N chip (U7) is electrically connected with one end of an insulating arm pitching steering engine 6;

the No. 2 pin of the L298N chip (U7) is electrically connected with the anode of the diode D26;

the cathode of the diode D26 is connected with a positive power supply;

the pin No. 2 of the L298N chip (U7) is electrically connected with the cathode of the diode D36;

the anode of the diode D36 is grounded;

the No. 3 pin of the L298N chip (U7) is electrically connected with the other end of the insulating arm pitching steering engine 6;

the No. 3 pin of the L298N chip (U7) is electrically connected with the anode of the diode D27;

the cathode of the diode D27 is connected with a positive power supply;

the pin No. 3 of the L298N chip (U7) is electrically connected with the cathode of the diode D37;

the anode of the diode D37 is grounded;

the No. 13 pin of the L298N chip (U7) is electrically connected with one end of the insulating arm rotary steering engine 7;

the No. 13 pin of the L298N chip (U7) is electrically connected with the anode of the diode D28;

the cathode of the diode D28 is connected with a positive power supply;

the pin No. 13 of the L298N chip (U7) is electrically connected with the cathode of the diode D38;

the anode of the diode D38 is grounded;

a No. 14 pin of the L298N chip (U7) is electrically connected with the other end of the insulating arm rotary steering engine 7;

the No. 14 pin of the L298N chip (U7) is electrically connected with the anode of the diode D29;

the cathode of the diode D29 is connected with a positive power supply;

the No. 14 pin of the L298N chip (U7) is electrically connected with the cathode of the diode D39;

the anode of the diode D39 is grounded;

the No. 1 pin of the L298N chip (U5) is electrically connected with one end of a resistor R27;

the No. 15 pin of the L298N chip (U5) is electrically connected with one end of a resistor R28;

the other end of the resistor R27 is electrically connected with the other end of the resistor R28;

the other end of the resistor R27 is grounded.

In a preferable scheme, the second travel limit switch circuit controls the motion states of the large arm pitch steering engine 3, the waist rotation steering engine 4, the insulating arm pitch steering engine 6 and the insulating arm rotation steering engine 7, as shown in fig. 4 and fig. 10, the travel limit switch circuit comprises 4 SW-SPST switches, a resistor R31, a resistor R32, a resistor R37, a resistor R38, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a photocoupler IC2, a photocoupler IC4, a photocoupler IC6 and a photocoupler IC7, wherein,

one end of the resistor R31 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);

one end of the resistor R31 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R31 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 2;

the other end of the emitting stage of the photoelectric coupler IC2 is grounded;

one end of a receiving stage of the photoelectric coupler IC2 is electrically connected with one end of a resistor R32;

the other end of the resistor R32 is electrically connected with a No. 3 pin of a 1117-3.3 chip (P2);

one end of a receiving stage of the photoelectric coupler IC2 is electrically connected with a No. 48 pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC2 is grounded;

one end of the resistor R32 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);

one end of the resistor R41 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R41 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 6;

the other end of the emitting stage of the photoelectric coupler IC6 is grounded;

one end of a receiving stage of the photoelectric coupler IC6 is electrically connected with one end of a resistor R42;

the other end of the resistor R42 is electrically connected with a No. 3 pin of a 1117-3.3 chip (P2);

one end of a receiving stage of the photoelectric coupler IC6 is electrically connected with a No. 32 pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC6 is grounded;

one end of the resistor R37 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);

one end of the resistor R37 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R37 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 4;

the other end of the emitting stage of the photoelectric coupler IC4 is grounded;

one end of a receiving stage of the photoelectric coupler IC4 is electrically connected with one end of a resistor R38;

the other end of the resistor R38 is electrically connected with a No. 3 pin of a 1117-3.3 chip (P2);

one end of a receiving stage of the photoelectric coupler IC4 is electrically connected with a No. 40 pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photoelectric coupler IC4 is grounded;

one end of the resistor R43 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);

one end of the resistor R43 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R43 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 47;

the other end of the emitting stage of the photoelectric coupler IC7 is grounded;

one end of a receiving stage of the photoelectric coupler IC7 is electrically connected with one end of a resistor R44;

the other end of the resistor R44 is electrically connected with a No. 3 pin of a 1117-3.3 chip (P2);

one end of a receiving stage of the photoelectric coupler IC7 is electrically connected with a No. 24 pin of a C8051F340 chip (U2);

the other end of the receiving stage of the photocoupler IC7 is grounded.

In a preferred embodiment, the first power circuit supplies power to the upper part of the robot arm, and the first power circuit comprises a capacitor C6, a capacitor C7, a NS6316 chip (x 1), a 1117-3.3 chip (P1), an inductor L1, a resistor R2, a resistor R3, a resistor R10, a capacitor C5, an electrolytic capacitor C3, a capacitor C4, an electrolytic capacitor C1, a capacitor C2, a resistor R1 and a light emitting diode D1, wherein,

one end of the capacitor C6 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C6 is grounded;

one end of the capacitor C7 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C7 is grounded;

the power supply output end of the 24V storage battery is electrically connected with a No. 4 pin of the NS6316 chip;

pin 7 of the NS6316 chip (. multidot.1) is grounded;

pin 8 of the NS6316 chip (. multidot.1) is grounded;

the No. 5 pin of the NS6316 chip (× 1) is electrically connected with one end of an inductor L1;

the No. 6 pin of the NS6316 chip (x 1) is electrically connected with one end of an inductor L1;

the No. 3 pin of the NS6316 chip (× 1) is electrically connected with the other end of the inductor L1;

the No. 3 pin of the NS6316 chip (× 1) is electrically connected with one end of a resistor R2;

the No. 2 pin of the NS6316 chip (× 1) is electrically connected with the other end of the resistor R2;

the No. 2 pin of the NS6316 chip (× 1) is electrically connected with one end of a resistor R3;

the pin 1 of the NS6316 chip (× 1) is electrically connected with the other end of the resistor R3;

the other end of the resistor R3 is electrically connected with one end of the resistor R10;

the other end of the resistor R10 is grounded;

pin 2 of the NS6316 chip (× 1) serves as a 5V output power supply terminal, and pin 2 of the NS6316 chip (× 1) is electrically connected to one end of the capacitor C5;

the other end of the capacitor C5 is grounded;

one end of the capacitor C5 is electrically connected with the anode of the electrolytic capacitor C3;

the other end of the capacitor C5 is electrically connected with the cathode of the electrolytic capacitor C3;

one end of the capacitor C5 is electrically connected with one end of the capacitor C4;

the other end of the capacitor C5 is electrically connected with the other end of the capacitor C4;

one end of the capacitor C5 is electrically connected with the No. 1 pin of the 1117-3.3 chip;

the No. 2 pin of the 1117-3.3 chip (P1) is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with the anode of an electrolytic capacitor C1;

the cathode of the electrolytic capacitor C1 is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with the No. 10 pin of the C8051F340 chip (U1);

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of a capacitor C2;

the other end of the capacitor C2 is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of a resistor R1;

the other end of the resistor R1 is electrically connected with the anode of the light-emitting diode D1;

the cathode of the light emitting diode D1 is grounded.

In a preferred embodiment, the first wireless communication circuit comprises nRF905 chips (× 4), wherein,

pin 1 of the nRF905 chip (x 4) is electrically connected with pin 3 of the 1117-3.3 chip;

the pin No. 2 of the nRF905 chip (x 4) is electrically connected with the pin No. 22 of the C8051F340 chip (U1);

the pin No. 3 of the nRF905 chip (x 4) is electrically connected with the pin No. 15 of the C8051F340 chip (U1);

the pin 4 of the nRF905 chip (x 4) is electrically connected with the pin 21 of the C8051F340 chip (U1);

the No. 8 pin of the nRF905 chip (x 4) is electrically connected with the No. 20 pin of the C8051F340 chip (U1);

the pin 9 of the nRF905 chip (x 4) is electrically connected with the pin 16 of the C8051F340 chip (U1);

the No. 10 pin of the nRF905 chip (x 4) is electrically connected with the No. 19 pin of the C8051F340 chip (U1);

the No. 11 pin of the nRF905 chip (x 4) is electrically connected with the No. 17 pin of the C8051F340 chip (U1);

the No. 12 pin of the nRF905 chip (x 4) is electrically connected with the No. 18 pin of the C8051F340 chip (U1);

pin 13 of the nRF905 chip (× 4) is grounded;

pin 14 of the nRF905 chip (× 4) is grounded.

In a preferred embodiment, the first steering engine driving circuit drives and controls the wrist pitch steering engine 1, the gripper motor, the wrist rotation steering engine 10, and the wrist sway steering engine 12, and as shown in fig. 3 and 11, the first steering engine driving circuit includes an L298N chip (U4), an L298N chip (U6), a diode D6, a diode D7, a diode D8, a diode D9, a diode D14, a diode D15, a diode D16, a diode D17, a diode D22, a diode D23, a diode D24, a diode D25, a diode D32, a diode D33, a diode D34, a diode D35, a resistor R19, a resistor R20, a resistor R25, and a resistor R26, wherein,

the No. 5 pin of the L298N chip (U4) is electrically connected with the No. 38 pin of the C8051F340 chip (U1);

the No. 7 pin of the L298N chip (U4) is electrically connected with the No. 37 pin of the C8051F340 chip (U1);

the No. 10 pin of the L298N chip (U4) is electrically connected with the No. 36 pin of the C8051F340 chip (U1);

the No. 12 pin of the L298N chip (U4) is electrically connected with the No. 35 pin of the C8051F340 chip (U1);

the No. 6 pin of the L298N chip (U4) is electrically connected with the No. 34 pin of the C8051F340 chip (U1);

the No. 11 pin of the L298N chip (U4) is electrically connected with the No. 33 pin of the C8051F340 chip (U1);

the No. 8 pin of the L298N chip (U4) is grounded;

pin 9 of the L298N chip (U4) is electrically connected with pin 2 of the NS6316 chip (x 1);

the No. 4 pin of the L298N chip (U4) is electrically connected with the power output end of the 24V storage battery;

the No. 2 pin of the L298N chip (U4) is electrically connected with one end of the wrist pitching steering engine 1;

the No. 2 pin of the L298N chip (U4) is electrically connected with the anode of the diode D6;

the cathode of the diode D6 is connected with a positive power supply;

the pin No. 2 of the L298N chip (U4) is electrically connected with the cathode of the diode D14;

the anode of the diode D14 is grounded;

the No. 3 pin of the L298N chip (U4) is electrically connected with the other end of the wrist pitching steering engine 1;

the No. 3 pin of the L298N chip (U4) is electrically connected with the anode of the diode D7;

the cathode of the diode D7 is connected with a positive power supply;

the pin No. 3 of the L298N chip (U4) is electrically connected with the cathode of the diode D15;

the anode of the diode D15 is grounded;

a No. 13 pin of the L298N chip (U4) is electrically connected with one end of the wrist swinging steering engine 12;

the No. 13 pin of the L298N chip (U4) is electrically connected with the anode of the diode D8;

the cathode of the diode D8 is connected with a positive power supply;

the pin No. 13 of the L298N chip (U4) is electrically connected with the cathode of the diode D16;

the anode of the diode D16 is grounded;

a No. 14 pin of the L298N chip (U4) is electrically connected with the other end of the wrist swinging steering engine 12;

the No. 14 pin of the L298N chip (U4) is electrically connected with the anode of the diode D9;

the cathode of the diode D9 is connected with a positive power supply;

the No. 14 pin of the L298N chip (U4) is electrically connected with the cathode of the diode D17;

the anode of the diode D17 is grounded;

the No. 1 pin of the L298N chip (U4) is electrically connected with one end of a resistor R20;

the No. 15 pin of the L298N chip (U4) is electrically connected with one end of a resistor R19;

the other end of the resistor R20 is electrically connected with the other end of the resistor R19;

the other end of the resistor R20 is grounded;

the No. 5 pin of the L298N chip (U6) is electrically connected with the No. 30 pin of the C8051F340 chip (U1);

the No. 7 pin of the L298N chip (U6) is electrically connected with the No. 29 pin of the C8051F340 chip (U1);

the No. 10 pin of the L298N chip (U6) is electrically connected with the No. 28 pin of the C8051F340 chip (U1);

the No. 12 pin of the L298N chip (U6) is electrically connected with the No. 27 pin of the C8051F340 chip (U1);

the No. 6 pin of the L298N chip (U6) is electrically connected with the No. 26 pin of the C8051F340 chip (U1);

the No. 11 pin of the L298N chip (U6) is electrically connected with the No. 25 pin of the C8051F340 chip (U1);

the No. 8 pin of the L298N chip (U6) is grounded;

pin 9 of the L298N chip (U6) is electrically connected with pin 2 of the NS6316 chip (x 1);

the No. 4 pin of the L298N chip (U6) is electrically connected with the power output end of the 24V storage battery;

a No. 2 pin of the L298N chip (U6) is electrically connected with one end of the wrist rotary steering engine 10;

the No. 2 pin of the L298N chip (U6) is electrically connected with the anode of the diode D22;

the cathode of the diode D22 is connected with a positive power supply;

the pin No. 2 of the L298N chip (U6) is electrically connected with the cathode of the diode D32;

the anode of the diode D32 is grounded;

a No. 3 pin of the L298N chip (U6) is electrically connected with the other end of the wrist rotary steering engine 10;

the No. 3 pin of the L298N chip (U6) is electrically connected with the anode of the diode D23;

the cathode of the diode D23 is connected with a positive power supply;

the pin No. 3 of the L298N chip (U6) is electrically connected with the cathode of the diode D33;

the anode of the diode D33 is grounded;

the No. 13 pin of the L298N chip (U6) is electrically connected with one end of the mechanical claw motor;

the No. 13 pin of the L298N chip (U6) is electrically connected with the anode of the diode D24;

the cathode of the diode D24 is connected with a positive power supply;

the pin No. 13 of the L298N chip (U6) is electrically connected with the cathode of the diode D34;

the anode of the diode D34 is grounded;

the No. 14 pin of the L298N chip (U6) is electrically connected with the other end of the mechanical claw motor;

the No. 14 pin of the L298N chip (U6) is electrically connected with the anode of the diode D25;

the cathode of the diode D25 is connected with a positive power supply;

the No. 14 pin of the L298N chip (U6) is electrically connected with the cathode of the diode D35;

the anode of the diode D35 is grounded;

the No. 1 pin of the L298N chip (U4) is electrically connected with one end of a resistor R26;

the No. 15 pin of the L298N chip (U4) is electrically connected with one end of a resistor R25;

the other end of the resistor R25 is electrically connected with the other end of the resistor R26;

the other end of the resistor R26 is grounded.

Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:

the utility model discloses a control module has realized the automation mechanized operation of 7 degrees of freedom arms for 7 degrees of freedom arms satisfy the requirement that the stationarity is high, flexibility is good when the operation.

Drawings

Fig. 1 is a mechanical structure diagram of embodiment 1.

Fig. 2 is an exploded view of the mechanical mechanism of embodiment 1.

FIG. 3 is a circuit diagram of a C8051F340 chip (U1) of the upper end control unit of the arm according to embodiment 1.

FIG. 4 is a circuit diagram of a C8051F340 chip of the lower end control unit of the arm in embodiment 1.

FIG. 5 is a second power supply circuit diagram of the robot lower end control unit according to embodiment 1.

Fig. 6 is a first power supply circuit diagram of the robot upper end control unit according to embodiment 1.

Fig. 7 is a second wireless communication circuit diagram of the robot lower end control unit according to embodiment 1.

Fig. 8 is a first wireless communication circuit diagram of the robot upper end control unit according to embodiment 1.

Fig. 9 is a second steering engine drive circuit diagram of the arm lower end control unit according to embodiment 1.

Fig. 10 is a circuit diagram of a second limit switch of the lower end control unit of the arm according to embodiment 1.

Fig. 11 is a first steering engine drive circuit diagram of the arm upper end control unit according to embodiment 1.

Fig. 12 is a circuit diagram of a first travel limit switch of the upper end control unit of the arm according to embodiment 1.

Fig. 13 is a power driving circuit diagram of the arm upper end control unit according to embodiment 1.

Fig. 14 is a circuit diagram of a C8051F340 chip of the remote control module of embodiment 2.

Fig. 15 is a third wireless communication circuit diagram of the remote control module of embodiment 2.

Fig. 16 is a third power supply circuit diagram of the remote control module of embodiment 2.

Fig. 17 is a block diagram of a control module of embodiment 1.

Fig. 18 is a block diagram of a control module of embodiment 2.

1, wrist pitching steering engine; 2. a base; 3. a large arm pitching steering engine; 4. a waist rotation steering engine; 5. an alloy big arm; 6. an insulating arm pitching steering engine; 7. an insulating arm rotating steering engine; 8. a camera; 9. a gripper; 10. a wrist rotary steering engine; 11. an insulating arm; 12. a wrist swinging steering engine; 13. an illuminating lamp; 14. a control line hole; 15. a screw hole; 16. a host communication module; 17. and a slave communication module.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent;

for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;

it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.

Example 1

A7-degree-of-freedom mechanical arm system comprises a 7-degree-of-freedom mechanical arm and a control module;

as shown in fig. 1 and 2, the 7-degree-of-freedom mechanical arm comprises an upper end part of the mechanical arm and a lower end part of the mechanical arm, wherein the lower end part of the mechanical arm comprises a base 2, a large arm pitching steering engine 3, a waist turning steering engine 4, an alloy large arm 5, an insulating arm pitching steering engine 6, an insulating arm rotating steering engine 7 and an insulating arm 11,

the insulating arm 11 is hollow and provided with a cavity; the base 2 is arranged on the ground, the top surface of the base is connected with the bottom surface of the waist rotary steering engine 4 through a screw hole 15, the central axis of the base 2 is collinear with the axis of the waist rotary steering engine 4, and the waist rotary steering engine 4 realizes 360-degree rotation;

the large arm pitching steering engine 3 is connected with the side face of the waist turning steering engine 4 through a screw hole 15, the large arm pitching steering engine 3 is perpendicular to the waist turning steering engine 4, and the large arm pitching steering engine 3 realizes 180-degree rotation;

one end of the large alloy arm 5 is connected with the side surface of the large arm pitching steering engine 3 through a screw hole 15, and the large alloy arm 5 is perpendicular to the large arm pitching steering engine 3;

the other end of the alloy large arm 5 is connected with the side face of the insulating arm pitching steering engine 6 through a screw hole 15, the alloy large arm 5 is perpendicular to the insulating arm pitching steering engine 6, and the insulating arm pitching steering engine 6 rotates 360 degrees;

one end of the insulating arm pitching steering engine 6 is connected with one end of the insulating arm rotating steering engine 7 through a screw hole 15, and the insulating arm rotating steering engine 7 realizes 180-degree rotation;

the side face of the insulating arm rotary steering engine 7 is connected with one end of the insulating arm 11 through a screw hole 15, and the insulating arm rotary steering engine 7 is perpendicular to the insulating arm 11.

The upper end part of the mechanical arm comprises a wrist pitching steering engine 1, a camera 8, a mechanical claw 9, a wrist rotating steering engine 10, a wrist swinging steering engine 12, an illuminating lamp 13 and a mechanical claw motor, wherein,

the mechanical claw motor controls the mechanical claw 9 to work;

the other end of the insulating arm 11 is connected with the side face of the wrist pitching steering engine 1 through a screw hole 15, the insulating arm 11 is perpendicular to the wrist pitching steering engine 1, and the wrist pitching steering engine 1 rotates 360 degrees;

one end of the wrist pitching steering engine 1 is connected with the side face of the wrist swinging steering engine 12 through a screw hole 15, the wrist pitching steering engine 1 is perpendicular to the wrist swinging steering engine 12, and the wrist swinging steering engine 12 realizes 360-degree rotation;

one end of the wrist swinging steering engine 12 is connected with the side surface of the wrist rotating steering engine 10 through a screw hole 15, and the wrist swinging steering engine 12 is perpendicular to the wrist rotating steering engine 10;

one end of the wrist rotary steering engine 10 is connected with the bottom end of the mechanical claw 9 through a screw hole 15, and the axes of the wrist rotary steering engine 10 and the mechanical claw 9 are collinear;

lighting lamps 13 are arranged around the outer side of the wrist swinging steering engine 12;

the top end of the outer side of the wrist swinging steering engine 12 is provided with a camera 8;

the outer sides of the alloy large arm 5, the mechanical claw 9, the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6, the insulating arm rotating steering engine 7, the wrist rotating steering engine 10, the wrist swinging steering engine 12 and the wrist pitching steering engine 1 are all covered with insulating shielding covers meeting the GB/T12168 standard.

The control module includes an upper arm control portion and a lower arm control portion, the lower arm control portion controlling the upper arm control portion in a master-slave relationship with each other, as shown in fig. 17.

The upper end control part of the mechanical arm controls the upper end part of the mechanical arm, the upper end control part of the mechanical arm comprises a C8051F340 chip (U1), a first power supply circuit, a first wireless communication circuit, a first steering engine driving circuit, a first stroke limit switch circuit, a power driving circuit and a 24V storage battery, wherein,

the C8051F340 chip (U1) is electrically connected with a first steering engine driving circuit;

as shown in fig. 3 and 6, the first power circuit supplies power to the components at the upper end of the robot arm, and includes a capacitor C6, a capacitor C7, a NS6316 chip (x 1), a 1117-3.3 chip (P1), an inductor L1, a resistor R2, a resistor R3, a resistor R10, a capacitor C5, an electrolytic capacitor C3, a capacitor C4, an electrolytic capacitor C1, a capacitor C2, a resistor R1, and a light emitting diode D1, wherein,

the other end of the capacitor C6 is grounded;

the other end of the capacitor C7 is grounded;

the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip;

pin No. 7 of the NS6316 chip (× 1) is grounded;

pin 8 of the NS6316 chip (× 1) is grounded;

pin 5 of the NS6316 chip (× 1) is electrically connected to one end of inductor L1;

pin 6 of the NS6316 chip (× 1) is electrically connected to one end of inductor L1;

pin 3 of the NS6316 chip (× 1) is electrically connected to the other end of the inductor L1;

pin 3 of the NS6316 chip (× 1) is electrically connected to one end of a resistor R2;

pin 2 of the NS6316 chip (× 1) is electrically connected to the other end of the resistor R2;

pin 2 of the NS6316 chip (× 1) is electrically connected to one end of the resistor R3;

pin 1 of the NS6316 chip (× 1) is electrically connected to the other end of the resistor R3;

the other end of the resistor R10 is grounded;

the other end of the capacitor C5 is grounded;

one end of the capacitor C5 is electrically connected to one end of the capacitor C4;

pin 2 of the 1117-3.3 chip (P1) is grounded;

pin No. 3 of the 1117-3.3 chip (P1) is electrically connected with the anode of the electrolytic capacitor C1;

the cathode of the electrolytic capacitor C1 is grounded;

the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of the capacitor C2;

the other end of the capacitor C2 is grounded;

the cathode of the led D1 is grounded.

As shown in fig. 3 and 8, the first wireless communication circuit includes nRF905 chips (× 4), wherein,

pin number 1 of nRF905 chip (× 4) is electrically connected to pin number 3 of 1117-3.3 chip;

pin 2 of nRF905 chip (× 4) is electrically connected to pin 22 of C8051F340 chip (U1);

pin 3 of nRF905 chip (× 4) is electrically connected to pin 15 of C8051F340 chip (U1);

pin 4 of nRF905 chip (× 4) is electrically connected to pin 21 of C8051F340 chip (U1);

pin 8 of nRF905 chip (× 4) is electrically connected to pin 20 of C8051F340 chip (U1);

pin 9 of nRF905 chip (× 4) is electrically connected to pin 16 of C8051F340 chip (U1);

pin number 10 of nRF905 chip (× 4) is electrically connected to pin number 19 of C8051F340 chip (U1);

pin number 11 of nRF905 chip (× 4) is electrically connected to pin number 17 of C8051F340 chip (U1);

pin number 12 of nRF905 chip (× 4) is electrically connected to pin number 18 of C8051F340 chip (U1);

pin 13 of nRF905 chip (× 4) is grounded;

pin 14 of nRF905 chip (× 4) is grounded.

The first steering engine driving circuit drives and controls the wrist pitching steering engine 1, the mechanical claw motor, the wrist rotation steering engine 10 and the wrist swinging steering engine 12, as shown in fig. 3 and 11, the first steering engine driving circuit comprises an L298N chip (U4), an L298N chip (U6), a diode D6, a diode D7, a diode D8, a diode D9, a diode D14, a diode D15, a diode D16, a diode D17, a diode D22, a diode D23, a diode D24, a diode D25, a diode D32, a diode D33, a diode D34, a diode D35, a resistor R19, a resistor R20, a resistor R25 and a resistor R26, wherein,

pin No. 5 of the L298N chip (U4) is electrically connected with pin No. 38 of the C8051F340 chip (U1);

pin 7 of the L298N chip (U4) is electrically connected with pin 37 of the C8051F340 chip (U1);

pin number 12 of the L298N chip (U4) is electrically connected with pin number 35 of the C8051F340 chip (U1);

pin 6 of the L298N chip (U4) is electrically connected with pin 34 of the C8051F340 chip (U1);

pin 11 of the L298N chip (U4) is electrically connected with pin 33 of the C8051F340 chip (U1);

pin 8 of the L298N chip (U4) is grounded;

pin 9 of the L298N chip (U4) is electrically connected to pin 2 of the NS6316 chip (× 1);

the No. 4 pin of the L298N chip (U4) is electrically connected with the power supply output end of the 24V storage battery;

a No. 2 pin of an L298N chip (U4) is electrically connected with one end of the wrist pitching steering engine 1;

pin No. 2 of the L298N chip (U4) is electrically connected with the anode of diode D6;

the cathode of the diode D6 is connected with a positive power supply;

pin No. 2 of the L298N chip (U4) is electrically connected to the cathode of diode D14;

the anode of diode D14 is grounded;

a No. 3 pin of an L298N chip (U4) is electrically connected with the other end of the wrist pitching steering engine 1;

pin 3 of the L298N chip (U4) is electrically connected to the anode of diode D7;

the cathode of the diode D7 is connected with a positive power supply;

pin 3 of the L298N chip (U4) is electrically connected to the cathode of diode D15;

the anode of diode D15 is grounded;

a No. 13 pin of an L298N chip (U4) is electrically connected with one end of the wrist swinging steering engine 12;

pin 13 of the L298N chip (U4) is electrically connected to the anode of diode D8;

the cathode of the diode D8 is connected with a positive power supply;

pin 13 of the L298N chip (U4) is electrically connected to the cathode of diode D16;

the anode of diode D16 is grounded;

a No. 14 pin of an L298N chip (U4) is electrically connected with the other end of the wrist swinging steering engine 12;

pin 14 of the L298N chip (U4) is electrically connected to the anode of diode D9;

the cathode of the diode D9 is connected with a positive power supply;

pin 14 of the L298N chip (U4) is electrically connected to the cathode of diode D17;

the anode of diode D17 is grounded;

pin 1 of the L298N chip (U4) is electrically connected with one end of a resistor R20;

the other end of the resistor R20 is grounded;

pin No. 5 of the L298N chip (U6) is electrically connected with pin No. 30 of the C8051F340 chip (U1);

pin 7 of the L298N chip (U6) is electrically connected with pin 29 of the C8051F340 chip (U1);

pin number 10 of the L298N chip (U6) is electrically connected with pin number 28 of the C8051F340 chip (U1);

pin number 12 of the L298N chip (U6) is electrically connected with pin number 27 of the C8051F340 chip (U1);

pin 6 of the L298N chip (U6) is electrically connected with pin 26 of the C8051F340 chip (U1);

pin 11 of the L298N chip (U6) is electrically connected with pin 25 of the C8051F340 chip (U1);

pin 8 of the L298N chip (U6) is grounded;

pin 9 of the L298N chip (U6) is electrically connected to pin 2 of the NS6316 chip (× 1);

the No. 4 pin of the L298N chip (U6) is electrically connected with the power supply output end of the 24V storage battery;

a No. 2 pin of an L298N chip (U6) is electrically connected with one end of the wrist rotary steering engine 10;

pin No. 2 of the L298N chip (U6) is electrically connected with the anode of diode D22;

the cathode of the diode D22 is connected with a positive power supply;

pin No. 2 of the L298N chip (U6) is electrically connected to the cathode of diode D32;

the anode of diode D32 is grounded;

a No. 3 pin of an L298N chip (U6) is electrically connected with the other end of the wrist rotary steering engine 10;

pin 3 of the L298N chip (U6) is electrically connected to the anode of diode D23;

the cathode of the diode D23 is connected with a positive power supply;

pin 3 of the L298N chip (U6) is electrically connected to the cathode of diode D33;

the anode of diode D33 is grounded;

pin 13 of the L298N chip (U6) is electrically connected with one end of the mechanical claw motor;

pin 13 of the L298N chip (U6) is electrically connected to the anode of diode D24;

the cathode of the diode D24 is connected with a positive power supply;

pin 13 of the L298N chip (U6) is electrically connected to the cathode of diode D34;

the anode of diode D34 is grounded;

pin 14 of the L298N chip (U6) is electrically connected to the anode of diode D25;

the cathode of the diode D25 is connected with a positive power supply;

pin 14 of the L298N chip (U6) is electrically connected to the cathode of diode D35;

the anode of diode D35 is grounded;

pin 1 of the L298N chip (U4) is electrically connected with one end of a resistor R26;

the other end of the resistor R26 is connected to ground.

The first travel limit switch circuit controls the motion state of the wrist pitching steering engine 1, the wrist rotating steering engine 10 and the wrist swinging steering engine 12, as shown in fig. 3 and 12, the first travel limit switch circuit comprises 3 SW-SPST switches, a resistor R29, a resistor R30, a resistor R39, a resistor R40, a resistor R35, a resistor R36, a photoelectric coupler IC1, a photoelectric coupler IC3 and a photoelectric coupler IC5, wherein,

one end of the resistor R29 is electrically connected with the No. 2 pin of the NS6316 chip (. multidot.1);

one end of the resistor R29 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R29 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 1;

the other end of the emitter of the photocoupler IC1 is grounded;

one end of a receiving stage of the photocoupler IC1 is electrically connected with one end of the resistor R30;

the other end of the resistor R30 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P1);

one end of a receiving stage of the photoelectric coupler IC1 is electrically connected with a No. 47 pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photocoupler IC1 is grounded;

one end of the resistor R99 is electrically connected with the No. 2 pin of the NS6316 chip;

one end of the resistor R39 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R39 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 5;

the other end of the emitter of the photocoupler IC5 is grounded;

one end of a receiving stage of the photocoupler IC5 is electrically connected with one end of the resistor R40;

the other end of the resistor R40 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P1);

one end of a receiving stage of the photocoupler IC5 is electrically connected with a No. 31 pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photocoupler IC5 is grounded;

one end of the resistor R35 is electrically connected with the No. 2 pin of the NS6316 chip (. multidot.1);

one end of the resistor R35 is electrically connected with one end of the SW-SPST switch;

the other end of the SW-SPST switch is grounded;

one end of the resistor R35 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 3;

the other end of the emitter of the photocoupler IC3 is grounded;

one end of a receiving stage of the photocoupler IC3 is electrically connected with one end of the resistor R30;

the other end of the resistor R36 is electrically connected with the No. 3 pin of the 1117-3.3 chip;

one end of a receiving stage of the photoelectric coupler IC3 is electrically connected with a No. 39 pin of a C8051F340 chip (U1);

the other end of the receiving stage of the photocoupler IC3 is grounded.

The power driving circuit controls the power supplies of the camera 8, the illuminating lamp 13 and the mechanical claw motor through the relay; as shown in fig. 3 and 13, the power driving circuit includes a light emitting diode D4, a light emitting diode D30, a light emitting diode D40, a resistor R16, a resistor R17, a resistor R18, a resistor R23, a resistor R24, a resistor R33, a resistor R34, a diode D5, a diode D31, a diode D41, a PNP transistor Q1, a PNP transistor Q2, a PNP transistor Q3, and 3 relays, wherein,

the anode of the light-emitting diode D4 is connected with a positive power supply;

the cathode of the light-emitting diode D4 is electrically connected with one end of the resistor R16;

the other end of the resistor R16 is electrically connected with the anode of the diode D5;

the cathode of the diode D5 is connected with a positive power supply;

the cathode of the diode D5 is electrically connected with one end of the control stage of the relay;

the anode of the diode D5 is electrically connected with the other end of the control stage of the relay;

the anode of the diode D5 is electrically connected with the emitter of the PNP triode Q1;

the collector of the PNP triode Q1 is grounded;

the base electrode of the PNP triode Q1 is electrically connected with one end of the resistor R17;

the other end of the resistor R17 is electrically connected with the No. 23 pin of the C8051F340 chip (U1);

one end of the switch level of the relay is electrically connected with the power output end of the 24V storage battery;

the other end of the switch stage of the relay is electrically connected with one end of the illuminating lamp 13;

the other end of the illuminating lamp 13 is electrically connected with one end of a resistor R18;

the other end of the resistor R18 is grounded;

the anode of the light-emitting diode D30 is connected with a positive power supply;

the cathode of the light-emitting diode D30 is electrically connected with one end of the resistor R23;

the other end of the resistor R23 is electrically connected with the anode of the diode D31;

the cathode of the diode D31 is connected with a positive power supply;

the cathode of the diode D31 is electrically connected with one end of the control stage of the relay;

the anode of the diode D31 is electrically connected with the other end of the control stage of the relay;

the anode of the diode D31 is electrically connected with the emitter of the PNP triode Q2;

the collector of the PNP triode Q2 is grounded;

the base electrode of the PNP triode Q2 is electrically connected with one end of the resistor R24;

the other end of the resistor R24 is electrically connected with a No. 16 pin of a C8051F340 chip (U1);

the switch stage of the relay controls the power supply of the camera 8;

the anode of the light-emitting diode D40 is connected with a positive power supply;

the cathode of the light-emitting diode D40 is electrically connected with one end of the resistor R33;

the other end of the resistor R33 is electrically connected with the anode of the diode D41;

the cathode of the diode D41 is connected with a positive power supply;

the cathode of the diode D41 is electrically connected with one end of the control stage of the relay;

the anode of the diode D41 is electrically connected with the other end of the control stage of the relay;

the anode of the diode D41 is electrically connected with the emitter of the PNP triode Q3;

the collector of the PNP triode Q3 is grounded;

the base electrode of the PNP triode Q3 is electrically connected with one end of the resistor R34;

the other end of the resistor R34 is electrically connected with a No. 15 pin of a C8051F340 chip (U1);

the switching stage of the relay controls the power supply of the gripper motor.

The lower end control part of the mechanical arm controls the lower end part of the mechanical arm, the lower end control part of the mechanical arm comprises a C8051F340 chip (U2), a second power circuit, a second wireless communication circuit, a second steering engine driving circuit, a second travel limit switch circuit and a 24V storage battery, wherein,

the C8051F340 chip (U2) is electrically connected with the second travel limit switch circuit.

As shown in fig. 4 and 5, the second power circuit supplies power to the components at the lower end of the robot arm, and the power circuit includes a capacitor C17, a capacitor C19, a NS6316 chip (× 2), a 1117-3.3 chip (P2), an inductor L2, a resistor R6, a resistor R7, a resistor R11, a capacitor C14, an electrolytic capacitor C12, a capacitor C13, an electrolytic capacitor C8, a capacitor C9, a resistor R4, and a light emitting diode D2, wherein,

the other end of the capacitor C17 is grounded;

the other end of the capacitor C19 is grounded;

the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (× 2);

pin No. 7 of the NS6316 chip (× 2) is grounded;

pin 8 of the NS6316 chip (× 2) is grounded;

pin 5 of the NS6316 chip (× 2) is electrically connected to one end of inductor L2;

pin 6 of the NS6316 chip (× 2) is electrically connected to one end of inductor L2;

pin 3 of the NS6316 chip (× 2) is electrically connected to the other end of the inductor L2;

pin 3 of the NS6316 chip (× 2) is electrically connected to one end of a resistor R6;

pin 2 of the NS6316 chip (× 2) is electrically connected to the other end of the resistor R6;

pin 2 of the NS6316 chip (× 2) is electrically connected to one end of the resistor R7;

pin 1 of the NS6316 chip (× 2) is electrically connected to the other end of the resistor R7;

the other end of the resistor R11 is grounded;

the other end of the capacitor C14 is grounded;

one end of the capacitor C14 is electrically connected to one end of the capacitor C13;

pin 2 of the 1117-3.3 chip (P2) is grounded;

pin No. 3 of the 1117-3.3 chip (P2) is electrically connected with the anode of the electrolytic capacitor C8;

the cathode of the electrolytic capacitor C8 is grounded;

the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of the capacitor C9;

the other end of the capacitor C9 is grounded;

the cathode of the led D2 is grounded.

As shown in fig. 4 and 7, the second wireless communication circuit includes nRF905 chips (× 5),

pin number 1 of nRF905 chip (× 5) is electrically connected to pin number 3 of 1117-3.3 chip (P2);

pin 2 of nRF905 chip (× 5) is electrically connected to pin 22 of C8051F340 chip (U2);

pin 3 of nRF905 chip (× 5) is electrically connected to pin 15 of C8051F340 chip (U2);

pin 4 of nRF905 chip (× 5) is electrically connected to pin 21 of C8051F340 chip (U2);

pin 8 of nRF905 chip (× 5) is electrically connected to pin 20 of C8051F340 chip (U2);

pin 9 of nRF905 chip (× 5) is electrically connected to pin 16 of C8051F340 chip (U2);

pin number 10 of nRF905 chip (× 5) is electrically connected to pin number 19 of C8051F340 chip (U2);

pin number 11 of nRF905 chip (× 5) is electrically connected to pin number 17 of C8051F340 chip (U2);

pin number 12 of nRF905 chip (× 5) is electrically connected to pin number 18 of C8051F340 chip (U2);

pin 13 of nRF905 chip (× 5) is grounded;

pin 14 of nRF905 chip (× 5) is grounded.

The second steering engine driving circuit drives and controls the large arm pitch steering engine 3, the waist turning steering engine 4, the insulating arm pitch steering engine 6 and the insulating arm rotation steering engine 7, as shown in fig. 4 and 9, the second steering engine driving circuit comprises an L298N chip (U5), an L298N chip (U7), a diode D10, a diode D11, a diode D12, a diode D13, a diode D18, a diode D19, a diode D20, a diode D21, a diode D26, a diode D27, a diode D28, a diode D29, a diode D36, a diode D37, a diode D38, a diode D39, a resistor R21, a resistor R22, a resistor R27 and a resistor R28, wherein,

pin 5 of the L298N chip (U5) is electrically connected with pin 3 of the C8051F340 chip (U2);

pin 7 of the L298N chip (U5) is electrically connected with pin 4 of the C8051F340 chip (U2);

the No. 10 pin of the L298N chip (U5) is electrically connected with the No. 5 pin of the C8051F340 chip (U2);

pin 12 of the L298N chip (U5) is electrically connected with pin 6 of the C8051F340 chip (U2);

pin 6 of the L298N chip (U5) is electrically connected with pin 2 of the C8051F340 chip (U2);

pin 11 of the L298N chip (U5) is electrically connected with pin 1 of the C8051F340 chip (U2);

pin 8 of the L298N chip (U5) is grounded;

pin 9 of the L298N chip (U5) is electrically connected to pin 2 of the NS6316 chip (× 2);

the No. 4 pin of the L298N chip (U5) is electrically connected with the power supply output end of the 24V storage battery;

a No. 2 pin of an L298N chip (U5) is electrically connected with one end of the waist rotary steering engine 4;

pin No. 2 of the L298N chip (U5) is electrically connected with the anode of diode D10;

the cathode of the diode D11 is connected with a positive power supply;

pin No. 2 of the L298N chip (U5) is electrically connected to the cathode of diode D18;

the anode of diode D18 is grounded;

a No. 3 pin of an L298N chip (U5) is electrically connected with the other end of the waist rotary steering engine 4;

pin 3 of the L298N chip (U5) is electrically connected to the anode of diode D11;

the cathode of the diode D11 is connected with a positive power supply;

pin 3 of the L298N chip (U5) is electrically connected to the cathode of diode D19;

the anode of diode D19 is grounded;

a No. 13 pin of an L298N chip (U5) is electrically connected with one end of the large-arm pitch steering engine 3;

pin 13 of the L298N chip (U5) is electrically connected to the anode of diode D12;

the cathode of the diode D12 is connected with a positive power supply;

pin 13 of the L298N chip (U5) is electrically connected to the cathode of diode D20;

the anode of diode D20 is grounded;

a No. 14 pin of an L298N chip (U5) is electrically connected with the other end of the large-arm pitch steering engine 3;

pin 14 of the L298N chip (U5) is electrically connected to the anode of diode D13;

the cathode of the diode D13 is connected with a positive power supply;

pin 14 of the L298N chip (U5) is electrically connected to the cathode of diode D21;

the anode of diode D21 is grounded;

pin 1 of the L298N chip (U5) is electrically connected with one end of a resistor R21;

the other end of the resistor R22 is grounded;

pin No. 5 of the L298N chip (U7) is electrically connected with pin No. 46 of the C8051F340 chip (U2);

pin 7 of the L298N chip (U7) is electrically connected with pin 45 of the C8051F340 chip (U2);

pin number 10 of the L298N chip (U7) is electrically connected with pin number 44 of the C8051F340 chip (U2);

pin number 12 of the L298N chip (U7) is electrically connected with pin number 43 of the C8051F340 chip (U2);

pin 6 of the L298N chip (U7) is electrically connected with pin 42 of the C8051F340 chip (U2);

pin 11 of the L298N chip (U7) is electrically connected with pin 41 of the C8051F340 chip (U2);

pin 8 of the L298N chip (U7) is grounded;

pin 9 of the L298N chip (U7) is electrically connected to pin 2 of the NS6316 chip (× 2);

the No. 4 pin of the L298N chip (U7) is electrically connected with the power supply output end of the 24V storage battery;

a No. 2 pin of an L298N chip (U7) is electrically connected with one end of an insulating arm pitching steering engine 6;

pin No. 2 of the L298N chip (U7) is electrically connected with the anode of diode D26;

the cathode of the diode D26 is connected with a positive power supply;

pin No. 2 of the L298N chip (U7) is electrically connected to the cathode of diode D36;

the anode of diode D36 is grounded;

a No. 3 pin of an L298N chip (U7) is electrically connected with the other end of the insulating arm pitching steering engine 6;

pin 3 of the L298N chip (U7) is electrically connected to the anode of diode D27;

the cathode of the diode D27 is connected with a positive power supply;

pin 3 of the L298N chip (U7) is electrically connected to the cathode of diode D37;

the anode of diode D37 is grounded;

a No. 13 pin of an L298N chip (U7) is electrically connected with one end of an insulating arm rotary steering engine 7;

pin 13 of the L298N chip (U7) is electrically connected to the anode of diode D28;

the cathode of the diode D28 is connected with a positive power supply;

pin 13 of the L298N chip (U7) is electrically connected to the cathode of diode D38;

the anode of diode D38 is grounded;

a No. 14 pin of an L298N chip (U7) is electrically connected with the other end of the insulating arm rotary steering engine 7;

pin 14 of the L298N chip (U7) is electrically connected to the anode of diode D29;

the cathode of the diode D29 is connected with a positive power supply;

pin 14 of the L298N chip (U7) is electrically connected to the cathode of diode D39;

the anode of diode D39 is grounded;

pin 1 of the L298N chip (U5) is electrically connected with one end of a resistor R27;

the other end of the resistor R27 is connected to ground.

The second travel limit switch circuit controls the motion states of the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6 and the insulating arm rotating steering engine 7, as shown in fig. 4 and fig. 10, the travel limit switch circuit comprises 4 SW-SPST switches, a resistor R31, a resistor R32, a resistor R37, a resistor R38, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a photocoupler IC2, a photocoupler IC4, a photocoupler IC6 and a photocoupler IC7, wherein,

the other end of the SW-SPST switch is grounded;

the other end of the emitter of the photocoupler IC2 is grounded;

one end of a receiving stage of the photocoupler IC2 is electrically connected with one end of the resistor R32;

the other end of the resistor R32 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);

the other end of the receiving stage of the photocoupler IC2 is grounded;

the other end of the SW-SPST switch is grounded;

the other end of the emitter of the photocoupler IC6 is grounded;

one end of a receiving stage of the photocoupler IC6 is electrically connected with one end of the resistor R42;

the other end of the resistor R42 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);

the other end of the receiving stage of the photocoupler IC6 is grounded;

the other end of the SW-SPST switch is grounded;

the other end of the emitter of the photocoupler IC4 is grounded;

one end of a receiving stage of the photocoupler IC4 is electrically connected with one end of the resistor R38;

the other end of the resistor R38 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);

the other end of the receiving stage of the photocoupler IC4 is grounded;

the other end of the SW-SPST switch is grounded;

the other end of the emitter of the photocoupler IC7 is grounded;

one end of a receiving stage of the photocoupler IC7 is electrically connected with one end of the resistor R44;

the other end of the resistor R44 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);

the other end of the receiving stage of the photocoupler IC7 is grounded.

In this embodiment 1, the upper end of the mechanical arm is controlled by the upper end control part of the mechanical arm, and the lower end of the mechanical arm is controlled by the lower end control part of the mechanical arm, because the insulating arm is hollow, the upper end of the mechanical arm and the lower end of the mechanical arm communicate with each other through the first wireless communication circuit block and the second wireless communication circuit block, and the upper end of the mechanical arm is a slave, and the lower end of the mechanical arm controls the upper end of the mechanical arm. In addition, the movement of the entire 7-degree-of-freedom robot can be set by the C8051F340 chip of the robot lower end control unit. Meanwhile, the lower end part of the mechanical arm comprises a hollow insulating arm, high-voltage current cannot flow into the lower end part of the mechanical arm through the upper end part of the mechanical arm, and the insulating arm with different insulating properties can be replaced according to actual requirements.

Example 2

Embodiment 2 is extended from embodiment 1, a remote control module is added, and embodiment 1 is remotely controlled by the remote control module, as shown in fig. 18.

The remote control module comprises a C8051F340 chip (U3), an operation key, a touch screen, a third wireless communication circuit, a 24V storage battery and a third power supply circuit, wherein,

the C8051F340 chip (U3) is electrically connected with the operation keys;

the C8051F340 chip (U3) is electrically connected with the touch screen;

the C8051F340 chip (U3) is electrically connected to the third wireless communication circuit.

As shown in fig. 13 and fig. 15, the third power circuit supplies power to the remote control module, and the power circuit includes a capacitor C20, a capacitor C21, a NS6316 chip (x 3), a 1117-3.3 chip (P3), an inductor L3, a resistor R8, a resistor R9, a resistor R12, a capacitor C18, an electrolytic capacitor C15, a capacitor C16, an electrolytic capacitor C10, a capacitor C11, a resistor R5, and a light emitting diode D3, wherein,

one end of the capacitor C20 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C20 is grounded;

one end of the capacitor C21 is electrically connected with the power output end of the 24V storage battery;

the other end of the capacitor C21 is grounded;

the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (× 3);

pin No. 7 of the NS6316 chip (× 3) is grounded;

pin 8 of the NS6316 chip (× 3) is grounded;

pin 5 of the NS6316 chip (× 3) is electrically connected to one end of inductor L3;

pin 6 of the NS6316 chip (× 3) is electrically connected to one end of inductor L3;

pin 3 of the NS6316 chip (× 3) is electrically connected to the other end of the inductor L3;

pin 3 of the NS6316 chip (× 3) is electrically connected to one end of a resistor R8;

pin 2 of the NS6316 chip (× 3) is electrically connected to the other end of the resistor R8;

pin 2 of the NS6316 chip (× 3) is electrically connected to one end of the resistor R9;

pin 1 of the NS6316 chip (× 3) is electrically connected to the other end of the resistor R9;

the other end of the resistor R9 is electrically connected with one end of the resistor R12;

the other end of the resistor R12 is grounded;

pin 2 of the NS6316 chip (× 3) serves as a 5V output power supply terminal, and pin 2 of the NS6316 chip (× 3) is electrically connected to one end of the capacitor C18;

the other end of the capacitor C18 is grounded;

one end of the capacitor C18 is electrically connected with the anode of the electrolytic capacitor C15;

the other end of the capacitor C18 is electrically connected with the cathode of the electrolytic capacitor C15;

one end of the capacitor C18 is electrically connected to one end of the capacitor C16;

the other end of the capacitor C18 is electrically connected with the other end of the capacitor C16;

one end of the capacitor C18 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P3);

pin 2 of the 1117-3.3 chip (P3) is grounded;

pin No. 3 of the 1117-3.3 chip (P3) is electrically connected with the anode of the electrolytic capacitor C10;

the cathode of the electrolytic capacitor C10 is grounded;

the No. 3 pin of the 1117-3.3 chip (P3) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with the No. 10 pin of the C8051F340 chip (U3);

the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with one end of the capacitor C11;

the other end of the capacitor C11 is grounded;

the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with one end of a resistor R5;

the other end of the resistor R5 is electrically connected with the anode of the light-emitting diode D3;

the cathode of the led D3 is grounded.

As shown in fig. 14 and 15, the third wireless communication circuit includes nRF905 chips (× 6),

pin number 1 of nRF905 chip (× 6) is electrically connected to pin number 3 of 1117-3.3 chip (P3);

pin 2 of nRF905 chip (× 6) is electrically connected to pin 22 of C8051F340 chip (U3);

pin 3 of nRF905 chip (× 6) is electrically connected to pin 15 of C8051F340 chip (U3);

pin 4 of nRF905 chip (× 6) is electrically connected to pin 21 of C8051F340 chip (U3);

pin 8 of nRF905 chip (× 6) is electrically connected to pin 20 of C8051F340 chip (U3);

pin 9 of nRF905 chip (× 6) is electrically connected to pin 16 of C8051F340 chip (U3);

pin number 10 of nRF905 chip (× 6) is electrically connected to pin number 19 of C8051F340 chip (U3);

pin number 11 of nRF905 chip (× 6) is electrically connected to pin number 17 of C8051F340 chip (U3);

pin number 12 of nRF905 chip (× 6) is electrically connected to pin number 18 of C8051F340 chip (U3);

pin 13 of nRF905 chip (× 6) is grounded;

pin 14 of nRF905 chip (× 6) is grounded.

In this embodiment 2, the embodiment 2 is controlled by the remote control module, so that the embodiment 2 is remotely controlled. The working personnel remotely input control instructions to the lower end control part of the mechanical arm through the remote control module, the lower end control part of the mechanical arm operates the action of the lower end part of the mechanical arm according to the control instructions and sends control signals to the upper end control part of the mechanical arm, and the upper end control part of the mechanical arm operates the action of the upper end part of the mechanical arm according to the control instructions.

The same or similar reference numerals correspond to the same or similar parts;

the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent; the above expansion still belongs to the protection scope of this patent, and not only the embodiment is used as the limitation of this patent.

Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A7-DOF robot arm system, comprising a 7-DOF robot arm and a control module, wherein,

the control module is connected with the 7-degree-of-freedom mechanical arm and is used for controlling the movement of a steering engine in the 7-degree-of-freedom mechanical arm;

the 7-degree-of-freedom mechanical arm comprises an upper end part of the mechanical arm and a lower end part of the mechanical arm, the upper end part of the mechanical arm comprises a wrist pitching steering engine, a mechanical claw, a wrist rotating steering engine, a wrist swinging steering engine and a mechanical claw motor,

the mechanical claw motor controls the mechanical claw to work;

the other end of the insulating arm is connected with the side face of the wrist pitching steering engine through a screw hole, the insulating arm is perpendicular to the wrist pitching steering engine, and the wrist pitching steering engine realizes 360-degree rotation;

one end of the wrist pitching steering engine is connected with the side face of the wrist swinging steering engine through a screw hole, the wrist pitching steering engine is perpendicular to the wrist swinging steering engine, and the wrist swinging steering engine realizes 360-degree rotation;

one end of the wrist swinging steering engine is connected with the side surface of the wrist rotating steering engine through a screw hole, and the wrist swinging steering engine is vertical to the wrist rotating steering engine;

one end of the wrist rotary steering engine is connected with the bottom end of the mechanical claw through a screw hole, and the axes of the wrist rotary steering engine and the mechanical claw are collinear;

the lower end part of the mechanical arm comprises a large arm pitching steering engine, a waist turning steering engine, an alloy large arm, an insulating arm pitching steering engine, an insulating arm rotating steering engine and an insulating arm;

the large arm pitching steering engine is connected with the side face of the waist turning steering engine through a screw hole, the large arm pitching steering engine is perpendicular to the waist turning steering engine, and the large arm pitching steering engine realizes 180-degree rotation;

one end of the alloy large arm is connected with the side surface of the large arm pitching steering engine through a screw hole, and the alloy large arm is vertical to the large arm pitching steering engine;

the other end of the alloy large arm is connected with the side face of the insulating arm pitching steering engine through a screw hole, the alloy large arm is perpendicular to the insulating arm pitching steering engine, and the insulating arm pitching steering engine realizes 360-degree rotation;

one end of the insulating arm pitching steering engine is connected with one end of the insulating arm rotating steering engine through a screw hole, and the insulating arm rotating steering engine realizes 180-degree rotation;

the side surface of the insulating arm rotary steering engine is connected with one end of the insulating arm through a screw hole, and the insulating arm rotary steering engine is perpendicular to the insulating arm;

the control module comprises an upper mechanical arm control part and a lower mechanical arm control part, the upper mechanical arm control part controls the motion of the upper end part of the mechanical arm, the lower mechanical arm control part controls the motion of the lower end part of the mechanical arm, and the lower mechanical arm control part controls the upper mechanical arm control part.

2. The 7 degree-of-freedom robot arm system according to claim 1, wherein the robot arm upper end control unit and the robot arm lower end control unit are connected by wireless communication.

3. The 7-degree-of-freedom robot arm system according to claim 2, further comprising a remote control module, wherein the remote control module is connected to the robot lower end control unit by wireless communication.

4. The 7 degree-of-freedom robot arm system according to claim 3, wherein the remote control module comprises a C8051F340 chip (U3), operation buttons, a touch screen, a third wireless communication circuit, a third 24V battery, and a third power supply circuit, wherein,

the C8051F340 chip (U3) is electrically connected with the operation keys;

the C8051F340 chip (U3) is electrically connected with the touch screen;

and the third power supply circuit supplies power to the remote control module.

5. The 7-degree-of-freedom robot arm system according to any one of claims 2 to 4, wherein the robot arm lower end control part comprises a C8051F340 chip (U2), a second power supply circuit, a second wireless communication circuit, a second steering engine drive circuit, a second stroke limit switch circuit and a second 24V storage battery, wherein,

6. The 7-degree-of-freedom manipulator system according to claim 5, wherein the upper end control part of the manipulator comprises a C8051F340 chip (U1), a first power circuit, a first wireless communication circuit, a first steering engine drive circuit, a first travel limit switch circuit, a power drive circuit and a first 24V storage battery, wherein,

7. The 7 degree-of-freedom robot arm system according to claim 6, wherein the second power supply circuit includes a capacitor C17, a capacitor C19, a NS6316 chip (. about.2), a 1117-3.3 chip (P2), an inductor L2, a resistor R6, a resistor R7, a resistor R11, a capacitor C14, an electrolytic capacitor C12, a capacitor C13, an electrolytic capacitor C8, a capacitor C9, a resistor R4, and a light emitting diode D2, wherein,

the other end of the capacitor C17 is grounded;

the other end of the capacitor C19 is grounded;

pin 7 of the NS6316 chip (× 2) is grounded;

pin 8 of the NS6316 chip (× 2) is grounded;

the other end of the resistor R11 is grounded;

the other end of the capacitor C14 is grounded;

the No. 2 pin of the 1117-3.3 chip (P2) is grounded;

the cathode of the electrolytic capacitor C8 is grounded;

the other end of the capacitor C9 is grounded;

the cathode of the light emitting diode D2 is grounded.

8. The 7 degree-of-freedom robot arm system of claim 6, wherein the second wireless communication circuit comprises nRF905 chips (× 5),

pin 13 of the nRF905 chip (× 5) is grounded;

pin 14 of the nRF905 chip (× 5) is grounded.

9. A7-degree-of-freedom mechanical arm system according to any one of claims 6-8, wherein the second steering engine driving circuit is used for driving and controlling the large arm pitch steering engine 3, the waist slewing steering engine 4, the insulated arm pitch steering engine 6 and the insulated arm rotation steering engine 7, and comprises an L298N chip (U5), an L298N chip (U7), a diode D10, a diode D11, a diode D12, a diode D13, a diode D18, a diode D19, a diode D20, a diode D21, a diode D26, a diode D27, a diode D28, a diode D29, a diode D36, a diode D37, a diode D38, a diode D39, a resistor R21, a resistor R22, a resistor R27 and a resistor R28, wherein,

the No. 5 pin of the L298N chip (U5) is electrically connected with the No. 3 pin of the C8051F340 chip (U2);

the No. 7 pin of the L298N chip (U5) is electrically connected with the No. 4 pin of the C8051F340 chip (U2);

the No. 12 pin of the L298N chip (U5) is electrically connected with the No. 6 pin of the C8051F340 chip (U2);

the No. 6 pin of the L298N chip (U5) is electrically connected with the No. 2 pin of the C8051F340 chip (U2);

the No. 11 pin of the L298N chip (U5) is electrically connected with the No. 1 pin of the C8051F340 chip (U2);

the No. 8 pin of the L298N chip (U5) is grounded;

pin 9 of the L298N chip (U5) is electrically connected with pin 2 of the NS6316 chip (. times.2);

the No. 4 pin of the L298N chip (U5) is electrically connected with the power output end of the 24V storage battery;

the cathode of the diode D11 is connected with a positive power supply;

the anode of the diode D18 is grounded;

the cathode of the diode D11 is connected with a positive power supply;

the anode of the diode D19 is grounded;

the cathode of the diode D12 is connected with a positive power supply;

the anode of the diode D20 is grounded;

the cathode of the diode D13 is connected with a positive power supply;

the anode of the diode D21 is grounded;

the other end of the resistor R22 is grounded;

the No. 8 pin of the L298N chip (U7) is grounded;

the cathode of the diode D26 is connected with a positive power supply;

the anode of the diode D36 is grounded;

the cathode of the diode D27 is connected with a positive power supply;

the anode of the diode D37 is grounded;

the cathode of the diode D28 is connected with a positive power supply;

the anode of the diode D38 is grounded;

the cathode of the diode D29 is connected with a positive power supply;

the anode of the diode D39 is grounded;

the other end of the resistor R27 is grounded.