CN212218533U

CN212218533U - Mechanical arm

Info

Publication number: CN212218533U
Application number: CN201921680143.6U
Authority: CN
Inventors: 梁晔; 马楠; 李文法; 李大伟; 孙晨昊
Original assignee: Beijing Union University
Current assignee: Beijing Union University
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2020-12-25
Anticipated expiration: 2029-10-09

Abstract

The utility model provides a mechanical arm, it includes steering wheel and the control unit, still includes the expansion board, the steering wheel with the control unit passes through the expansion board is connected, the expansion board includes the locator, the locator with the control unit is connected, just the locator with the steering wheel angle is correlated with. The utility model discloses the arm adopts the thinking that hardware replaces software, associates locator and steering wheel angle, can effectively reduce the required programming volume of mechanical arm control, increases the flexibility of arm simultaneously, reduces the mechanical arm control software degree of difficulty that programs, reduces programming work load, and is very novel practical, realizes and the operation mode is more nimble.

Description

Mechanical arm

Technical Field

The utility model relates to a robot field, concretely relates to arm.

Background

A robot arm is a mechanical device that can automatically perform a transferring or operating operation of an object (e.g., a material, a workpiece, a part, or a tool) according to a predetermined procedure or requirement, and can partially replace a manual operation of a human. The mechanical arm in a higher form can also simulate the actions of the arm of a person to complete more complicated operation. The mechanical arm is widely applied to the fields of semiconductor manufacturing, industry, medical treatment, military, space exploration and the like. People are exploring to apply the mechanical arm to the life of people at present, such as helping people with inconvenient actions to take things.

At present, mechanical arms are generally based on a hardware environment built by a control unit, and an action algorithm of the mechanical arms is realized through programming. The realization of the training and the action of the mechanical arm by a pure programming mode brings three problems: large programming quantity, long training process and inflexible change operation.

As the application number is 201621079508.6's chinese utility model patent discloses an Arduino drive expansion board and intelligent arm, Arduino drive expansion board is controlled by Arduino control panel, Arduino drive expansion board include the FPGA module and with click drive module and the IO module that the FPGA module links to each other, Arduino drive expansion board still includes and carries out wireless communication with intelligent terminal, and will the control signal of intelligent terminal output converts serial data into and sends to the wireless communication module of Arduino control panel, intelligent arm includes Arduino control panel and clicks, still includes Arduino drive expansion board, the motor with motor drive module connects, and this utility model possesses the wireless communication function, and convenient to use and save space have reduced the volume of steering wheel greatly, but it still adopts pure software's mode control angle, and it is big not solved the programming volume, trains the long-term steering wheel of process, and, And the changing operation is not flexible.

SUMMERY OF THE UTILITY MODEL

In view of the above-discussed shortcomings and drawbacks of the prior art, it is an object of the present invention to at least address one or more of the above-discussed problems in the prior art.

A mechanical arm comprises a steering engine, a control unit and an expansion plate, wherein the steering engine is connected with the control unit through the expansion plate.

Preferably, the expansion board comprises a positioner, the positioner is connected with the control unit, and the positioner is associated with the steering engine angle.

Preferably, in any of the above aspects, the positioner includes a resistor with a variable resistance.

In any of the above embodiments, preferably, the expansion board further includes a button switch for performing training and motion control on the robot arm.

In any of the above aspects, preferably, the push switch includes at least one of a training switch and an action switch.

In any of the above embodiments, preferably, the control unit is connected to the expansion board by at least one of a flat cable, a pin, a socket, and a solder.

In any of the above embodiments, the robot arm preferably has 3 degrees of freedom and can move left and right, up and down, and back and forth.

Preferably, in any of the above schemes, the control unit is of Arduino platform UNO 3 type.

In any of the above embodiments, preferably, the push switch is connected to at least one of a digital port and an analog port of the control unit.

In any of the above embodiments, preferably, the positioner is connected to a digital port of the control unit.

In any of the above embodiments, preferably, the expansion board further includes a sensor, and the sensor is connected to a digital port of the control unit.

In any of the above embodiments, preferably, a power input terminal of the expansion board is connected to a power output port of the control unit.

Preferably, in any of the above schemes, the operation process of the mechanical arm includes the steps of:

initializing the mechanical arm;

training the mechanical arm;

and performing the action according to the action command.

Preferably, in any of the above schemes, the training of the robot arm includes:

reading the state of the trained switch;

associating a steering engine angle with a positioner;

and reading the state of the training switch, and storing the angle and the action of the steering engine.

The utility model discloses a manipulator adopts the thinking that hardware replaces software, associates locator and steering wheel angle, can effectively reduce mechanical arm control programming volume, increases the flexibility of arm simultaneously, reduces the mechanical arm control software degree of difficulty that programs, reduces programming work load, and is very novel practical, realizes and the operation mode is more nimble.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of a robot arm according to the present invention.

Figure 2 is a schematic view of a design implementation of the embodiment of a robotic arm according to the present invention as shown in figure 1.

Figure 3 is a schematic workflow diagram of another embodiment of a robotic arm according to the present invention.

Fig. 4 is a schematic diagram of a training process of the robot arm according to the embodiment of the present invention as shown in fig. 3.

Fig. 5 is a schematic diagram of the operation execution flow of the robot arm according to the embodiment of the present invention shown in fig. 3.

Detailed Description

For a better understanding of the present invention, reference will now be made in detail to the present invention with reference to the following examples. The term "coupled" in the following description includes direct coupling and indirect coupling via other components, including electrical coupling via wires, and also includes coupling or communication via connectors, as well as other coupling schemes that allow two components to be brought into a relationship.

Example 1

In this embodiment, it is preferable that the extension board includes a positioner, the positioner is connected to the control unit, and the positioner is associated with the steering engine angle.

In this embodiment, it is preferable that the positioner includes a resistance variable resistor.

In this embodiment, it is preferable that the extension board further includes a push switch for performing training and motion control of the robot arm.

In the present embodiment, it is preferable that the button switch includes at least one of a training switch and an action switch.

In this embodiment, it is preferable that the control unit is connected to the expansion board by at least one of a flat cable, a pin, a socket, and soldering.

In the present embodiment, the robot arm preferably has 3 degrees of freedom and can move left and right, up and down, and back and forth.

In this embodiment, it is preferable that the push switch is connected to at least one of a digital port and an analog port of the control unit.

In this embodiment, it is preferred that the positioner is connected to a digital port of the control unit.

In this embodiment, it is preferable that the expansion board further includes a sensor, and the sensor is connected to a digital port of the control unit.

In this embodiment, it is preferable that a power input terminal of the expansion board is connected to a power output port of the control unit.

In this embodiment, it is preferable that the robot arm operation process includes the steps of:

initializing the mechanical arm;

training the mechanical arm;

and performing the action according to the action command.

In this embodiment, it is preferable that the training of the robot arm includes:

reading the state of the trained switch;

associating a steering engine angle with a positioner;

and reading the state of the action switch, and storing the angle and the action of the steering engine.

Example 2

As shown in fig. 1 and 2, the mechanical arm design implementation process includes steps of mechanical design and implementation, hardware design and implementation, and software design and implementation.

The mechanical design and implementation includes the steps of: designing the function and the style of the mechanical arm, determining the degree of freedom and the driving, determining the material, and manufacturing and installing.

The mechanical arm is designed to automatically grab the chessmen with different colors. The mechanical arm is designed to have 3 degrees of freedom, namely the mechanical arm can move left and right, up and down and back and forth, and can control the claw to be closed to grab the chessmen. In order to control the motion of the mechanical arm, the left-right, up-down, front-back motion of the mechanical arm and the closing of the claw are respectively controlled by 4 steering engines, and the range of the rotation angle of each steering engine is 0-180 degrees. The steering wheel can turn into inside voltage difference output with the signal of external conduction, and then driving motor rotates, sends back the signal by position detector simultaneously, judges whether reach the assigned position, and motor stall when the voltage difference is 0, the steering wheel rotated to the angle of settlement this moment. The main material of arm adopts the ya keli board.

If the steering engine is controlled by adopting a pure software mode, about 10 lines of codes are needed for realizing the action control of 1 steering engine, 8 action combinations exist for 4 mechanical arms with 4 steering engines, at least 300 lines of codes are needed for realizing the 8 action control of 4 steering engines, in addition, other operations are added, the whole programming workload is very large, the training process of the mechanical arms is very complicated, the operation is inflexible to change, once an application scene is changed, the mechanical arms need to be retrained, and the control program needs to be changed.

The hardware design and implementation comprises the following steps: selecting a control unit and a sensor, designing and realizing the function of an expansion board, determining pins and building an environment.

The mechanical arm is provided with an expansion board, and software is replaced by hardware, so that programming complexity is reduced, and flexibility is improved. The expansion board comprises a base plate, action switches and positioners are arranged on the base plate, the positioners are connected with steering engines on the mechanical arm, the number of the positioners is equal to that of the steering engines, the number of the positioners is 4, and the positioners are associated with the angles of the steering engines. The locator is resistance variable resistor, and its adjustable range is 0~10K omega, and the locator both ends connect the power, through middle pin adjustment resistance value, can drive the change of voltage along with the change of resistance value. Button switch is used for assigning corresponding action order to the arm, is provided with 4 button switch altogether, including 1 training switch and 3 action switches, training switch is used for distinguishing whether for the training process action, action switch is used for carrying out respectively and snatchs the piece and judges colour action (action 1), places white piece action (action 2) and places black piece action (action 3). And the expansion board is also provided with a photosensitive sensor for judging the color of the chess pieces.

The expansion board is connected with the control unit through the winding displacement, the control unit adopts Arduino UNO 3 type. The 5V power supply pin of Arduino UNO 3 is connected to the expansion board to realize the power supply. The button switch is connected with the digital pin 7, the analog pin A5, the digital pin 9 and the digital pin 10 of the Arduino UNO 3 through pins respectively, the positioner is connected with the digital pin 3, the digital pin 4, the digital pin 5 and the digital pin 6 of the Arduino UNO 3 through pins respectively, and the photosensitive sensor is connected with the digital pin 8 of the Arduino UNO 3 through pins.

The voltage value of the positioner in the change is read by the Arduino UNO 3 and is converted into the angle value of the corresponding steering engine, so that the resistance value of the positioner is related to the angle of the steering engine, and when the resistance value of the positioner changes, the angle of the corresponding steering engine is changed.

In the use, train the arm through the action switch to in will training remembering Arduino UNO 3's memory, effectively reduced the programming complexity that trains the arm through software, increased the nimble degree of arm simultaneously, can train multiple scene repeatedly as required, satisfy different scene user demands.

In order to enable the steering engine to receive commands and program control, an Arduino IDE development environment is installed, and an Arduino 1.8.7 for windows version is selected.

The software design and implementation comprises the following steps: training and recording the result, and calling and executing the action.

Example 3

As shown in fig. 3, when the mechanical arm starts to work, an initialization program is executed first to assign values to the extension board pins and assign values to the steering engine. Then entering a circulating process, firstly judging whether the training switch is pressed down, if the training switch is pressed down, indicating that the mechanical arm needs to be trained currently, and automatically executing a training related program; if the training switch is not pressed, the corresponding action which is actually executed by the mechanical arm is required at present, and then a part of related programs are automatically executed.

As shown in fig. 4, when the mechanical arm is trained, firstly, whether the training switch is pressed down is judged, if not, it is indicated that a training program is not required to be executed currently, if so, firstly, the angle of the steering engine is associated with the number of controller pins connected with the positioner, then, whether an action switch is pressed down is judged, if an action switch for controlling action 1 (capturing chess pieces and judging color actions) is pressed down, the current steering engine angle is stored, the current steering engine angle is written into a position register, the number of steps of action 1 is +1, the number of steps of action 1 is stored, and the current steering engine angle is written into a step register; if the action switch for controlling the action 2 (the action of placing the white chessman) is pressed, the current steering engine angle is stored and written into the position register, the step times of the action 2 are +1, the step times of the action 2 are stored and written into the step register; if an action switch for controlling the action 3 (the action of placing the black chessman) is pressed down, storing the current steering engine angle, writing the current steering engine angle into a position register, storing the step times of the action 3 as +1, storing the step times of the action 3, and writing the step times into a step register; if no action switch is pressed, the method waits until the training switch is in a non-pressed state or a certain action switch is pressed.

As shown in fig. 5, when the mechanical arm is in a non-training state, that is, when the mechanical arm actually performs an action, firstly, the state of the training switch is determined, if the training switch is in a pressed state, it is indicated that a training related program needs to be performed, if the training switch is in a non-pressed state, the mechanical arm is in an actual action performing state, firstly, the value stored in the step register is read, then, action 1 (actions of grabbing a chess piece and determining a color) is performed, the value of the action 1 position memory is read, the mechanical arm is guided to grab the chess piece, the color of the chess piece is detected through the photosensitive sensor, if the color of the chess piece is detected to be white, action 2 (action of placing a white chess piece) is performed, the value of the action 2 position memory is read, the; if the color of the chess piece is black, action 3 (action of placing black chess piece) is executed, the position memory value of action 3 is read, the chess piece is placed in the black box, and action 1 is executed again.

Example 4

The expansion board and the control unit can be connected in one mode or a plurality of combined connection modes of a contact pin, a socket and welding.

The robotic arm can be expanded to accomplish more applications such as: the length of the mechanical arm is increased to enlarge the action range of the mechanical arm; training the mechanical arm to recognize different colors, such as red, and grabbing red objects; green articles can be grabbed by recognizing green; the sensor type of extension arm trains the different shapes of arm discernment to realize that the arm snatchs the article of different shapes etc. makes the arm can help the inconvenient old man of action, child or disabled person article of taking.

The mechanical arm adopts the idea of replacing software with hardware, is very novel and practical, greatly reduces the programming workload, is easier to realize than the traditional mechanical arm, has lower cost and better popularization value.

It should be noted that, in the technical solution of the present application, for each part whose model is not specified, it may be selected from common parts in the prior art optionally, and is not limited by the model; the components of the embodiments are indicated by the models, which are only used for describing the technical scheme of the application in detail, and it should be understood that the technical scheme to be protected by the invention is not limited by the models, and the prior art has many alternatives for replacing the components.

The above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the foregoing embodiments illustrate the present invention in detail, those skilled in the art will appreciate that: it is possible to modify the solutions described in the foregoing embodiments or to substitute some or all of the technical features thereof, without departing from the scope of the present invention.

Claims

1. The utility model provides a mechanical arm, includes steering wheel and the control unit, its characterized in that: the steering engine and the control unit are connected through the expansion plate, the expansion plate comprises a positioner, the positioner is connected with the control unit, and the positioner is associated with the steering engine in angle.

2. A robotic arm as claimed in claim 1, in which: the positioner comprises a resistor with variable resistance.

3. A robotic arm as claimed in claim 1, in which: the expansion board further includes a push button switch.

4. A robotic arm as claimed in claim 3, in which: the button switch includes at least one of a training switch and an action switch.

5. A robotic arm as claimed in claim 4, in which: the control unit is connected with the expansion board through at least one of a flat cable, a pin, a socket and welding.

6. A robotic arm as claimed in claim 5, in which: the control unit is an Arduino platform UNO 3 type.

7. A robotic arm as claimed in claim 6, in which: the button switch is connected with at least one of a digital port and an analog port of the control unit.

8. A robotic arm as claimed in claim 6, in which: the positioner is connected with a digital port of the control unit.

9. A robotic arm as claimed in claim 6, in which: the expansion board further comprises a sensor connected with the digital port of the control unit.

10. A robotic arm as claimed in claim 6, in which: and the power supply input end of the expansion board is connected with the power supply output port of the control unit.