CN213054828U

CN213054828U - Human-computer interaction system for mechanical arm

Info

Publication number: CN213054828U
Application number: CN202021602026.0U
Authority: CN
Inventors: 丁岩磊; 张和光
Original assignee: Shanghai Lebai Robot Co ltd
Current assignee: Shanghai Lebai Robot Co ltd
Priority date: 2020-08-05
Filing date: 2020-08-05
Publication date: 2021-04-27
Anticipated expiration: 2030-08-05

Abstract

The utility model discloses a human-computer interaction system for mechanical arm, the human-computer interaction system is laid on the mechanical arm body, the human-computer interaction system comprises a singlechip, a CAN communication module electrically connected with the singlechip, a button module and a LED module, and the singlechip, the CAN communication module, the button module and the LED module are all integrated on a PCB (printed Circuit Board); the single chip microcomputer is used for controlling the mechanical arm through the CAN communication module; the key module is used for inputting a control instruction of the mechanical arm to the single chip microcomputer; and the LED module is used for displaying different lamp effects under different states of the mechanical arm. The utility model discloses can show different lamp effects under the different states of arm through the LED module, in time make the user acquire the current running state of arm, reduce the debugging difficulty.

Description

Human-computer interaction system for mechanical arm

Technical Field

The utility model belongs to the technical field of the arm, especially, relate to a human-computer interaction system for arm.

Background

The scientific technology is highly developed at present, the shadow of the mechanical arm can be seen in the aspects of production and life, and the existing mechanical arm generally consists of a mechanical shell structure and an internal driving unit.

Use the arm to need install, debugging and operation such as teaching, but current arm self lacks simple audio-visual man-machine interaction mode, generally is external display or through the networking at the webpage display control information, in the time just so be unfavorable for user's operation arm in time effectual learn the current state of operation of arm to and know the arm whether have a fault or take place unusually, cause the arm to debug the difficulty.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that not enough among the above-mentioned prior art is directed at, provide a human-computer interaction system for arm, can show different lamp effects under the different state of arm through the LED module, in time make the user acquire the current running state of arm, reduce the debugging difficulty.

In order to solve the technical problem, the utility model discloses a technical scheme is: a man-machine interaction system for a mechanical arm is arranged on a mechanical arm body and comprises a single chip microcomputer, a CAN communication module, a key module and an LED module, wherein the CAN communication module, the key module and the LED module are electrically connected with the single chip microcomputer;

the single chip microcomputer is used for controlling the mechanical arm through the CAN communication module;

the key module is used for inputting a control instruction of the mechanical arm to the single chip microcomputer;

and the LED module is used for displaying different lamp effects under different states of the mechanical arm.

In the human-computer interaction system for the mechanical arm, the crystal oscillator circuit, the filter circuit and the reset circuit are distributed on the periphery of the single chip microcomputer;

the crystal oscillator circuit is used for providing a fixed frequency for the singlechip and is used as a clock;

the reset circuit is used for keeping the singlechip in a reset state when the singlechip is powered on;

the filter circuit is used for stabilizing voltage.

The LED module comprises a plurality of RGB three-color patch LEDs, and the RGB three-color patch LEDs are arranged near a PCB along a virtual circle to form an annular lamp belt.

Above-mentioned a human-computer interaction system for arm, the PCB board is fixed on the arm body, the outside cover in annular lamp area is equipped with a lens hood.

The human-computer interaction system for the mechanical arm further comprises an audio module arranged on the PCB, wherein the audio module comprises a voice decoding chip, a flash memory chip and a loudspeaker; the voice decoding chip is connected with the single chip microcomputer through a serial port, the flash storage chip is used for storing audio data, the voice decoding chip is electrically connected with the flash storage chip, and the voice decoding chip is used for decoding the audio data stored in the flash storage chip and outputting the audio data as an audio analog signal and then driving a loudspeaker to produce sound.

In the man-machine interaction system for the mechanical arm, the key module comprises a microswitch electrically connected with the GPIO of the single chip microcomputer.

The man-machine interaction system for the mechanical arm further comprises a fan module for radiating the mechanical arm body, wherein the fan module comprises a fan and a fan circuit integrated on the PCB, the fan circuit comprises an amplifying triode, the base of the amplifying triode is connected with the IO of the single chip microcomputer, the collector of the amplifying triode is connected with the fan, and the emitter of the amplifying triode is connected with the GND of the power supply.

Compared with the prior art, the utility model has the following advantage: the utility model discloses an increase human-computer interaction system on the arm body, inside embedding the arm, not only do not influence the mechanical motion of arm itself, can realize several obvious improvement effects as follows moreover:

1. by arranging the LED modules, various colorful lamp effects can be displayed, and the running state, the fault state and the like of the mechanical arm can be visually and conveniently represented.

2. By arranging the fan modules, an active heat dissipation function can be provided when the temperature of the driving unit in the mechanical arm is high, and the stability and reliability of the operation of the mechanical arm are guaranteed.

3. By arranging the audio module, the current state of the mechanical arm can be reported directly through audio output, and the broadcasted audio content can be changed through remote OTA (over the air) upgrading.

4. Through the arrangement of the key circuit, a user can perform simple control on the mechanical arm through single-click, double-click, long-press and other operations on the light touch key.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic diagram of the frame of the human-computer interaction system of the present invention.

Fig. 2 is a schematic diagram of the audio module of the present invention.

Fig. 3 is the schematic diagram of the CAN communication module of the present invention.

Fig. 4 is a schematic diagram of a fan circuit according to the present invention.

Fig. 5 is a schematic diagram of the key circuit of the present invention.

Fig. 6 is a schematic view of the LED module of the present invention.

Fig. 7 is the schematic diagram of the main control chip of the single chip microcomputer.

Fig. 8 is a schematic diagram of the power supply circuit of the present invention.

Fig. 9 is a schematic view of the robot arm of the present invention.

Fig. 10 is a schematic diagram of the internal structure of the man-machine interaction system of the present invention on the robot arm.

Description of reference numerals:

1-a human-computer interaction system; 2-a microswitch; 3-a PCB board;

4-a loudspeaker; 5-a fan.

Detailed Description

The present invention is explained with reference to fig. 1 to 10.

As shown in fig. 9 and 10, a human-machine interaction system 1 for a robot arm is provided, where the human-machine interaction system 1 is disposed on a robot arm body, and in this embodiment, the human-machine interaction system 1 is disposed on a second joint of the robot arm body and is disposed in an embedded manner, so that mechanical movement of the robot arm body itself may not be affected.

As shown in fig. 1, the human-computer interaction system 1 comprises a single chip microcomputer, a CAN communication module electrically connected with the single chip microcomputer, a key module and an LED module, wherein the single chip microcomputer, the CAN communication module, the key module and the LED module are all integrated on a PCB 3;

It should be noted that the single chip microcomputer is an STM32 single chip microcomputer.

As shown in fig. 7, in this embodiment, a crystal oscillator circuit, a filter circuit, and a reset circuit are disposed at the periphery of the single chip;

the filter circuit is used for stabilizing voltage.

As shown in fig. 3, the CAN communication module circuit includes a CAN transceiver chip for implementing information transmission between the human-computer interaction system 1 and the mechanical arm control system, and the specific implementation manner is as follows: TXD and RXD two signal lines are drawn out from the port of the single chip microcomputer, the UART port data receiving and transmitting function is completed, then the single chip microcomputer is electrically connected to a CAN chip, and a pair of differential signal lines of CANH and CANL are output and merged into a mechanical arm communication CAN bus through conversion of the CAN chip.

As shown in fig. 6, in this embodiment, the LED module includes a plurality of RGB three-color patch LEDs, and the plurality of RGB three-color patch LEDs are arranged near the PCB 3 along a virtual circle to form an annular light strip. Through software control, the annular lamp strip can display lamp effects such as flashing, breathing, running water lamp and normal lighting at will, and different display effects can be achieved by adjusting the color and the brightness of each LED.

In this embodiment, the PCB board 3 is fixed on the arm body, the outside cover in annular lamp area is equipped with a lens hood.

As shown in fig. 2, in this embodiment, the audio module further includes an audio module disposed on the PCB 3, where the audio module includes a voice decoding chip, a flash memory chip, and a speaker 4; the voice decoding chip is connected with the single chip microcomputer through a serial port, the flash storage chip is used for storing audio data, the voice decoding chip is electrically connected with the flash storage chip, and the voice decoding chip is used for decoding the audio data stored in the flash storage chip and outputting the audio data as an audio analog signal, and then the audio analog signal is used for driving the loudspeaker 4 to produce sound. Because the audio decoding chip is connected with the single chip microcomputer through the serial port, the single chip microcomputer can control the audio chip to sound and can carry out data communication with the audio chip according to an agreed protocol format, so that the audio data content of the flash memory chip is updated, and therefore, the audio content played by the mechanical arm can be freely and remotely updated according to the requirements of users in an OTA mode.

As shown in fig. 5, in this embodiment, the key module includes a micro switch 2 electrically connected to a GPIO of the single chip microcomputer. In actual use, input signals such as single click, double click, long press and the like can be collected, and then the mechanical arm is controlled simply, for example, the motion of the mechanical arm is controlled to start or stop.

As shown in fig. 4, in this embodiment, the robot arm further includes a fan module for dissipating heat from the robot arm body, the fan module includes a fan 5 and a fan circuit integrated on the PCB 3, the fan circuit includes an amplifying triode, a base of the amplifying triode is connected to IO of the single chip, a collector of the amplifying triode is connected to the fan 5, and an emitter of the amplifying triode is connected to GND of the 12V power circuit.

The single chip microcomputer can control the fan 5 to be turned on or turned off by controlling the high and low levels output by the IO port, and as shown in fig. 10, when the temperature in the joints of the two mechanical arms is too high, the fan is started to effectively cool the motor;

as shown in fig. 8, the power circuit includes two types of voltage dropping chips, a DC-DC switching power supply voltage dropping chip and a linear voltage-stabilizing power supply chip, and is used for dropping a voltage of 48V input by a power supply to 12V, 5V and 3.3V for each module in the system to use.

The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.

Claims

1. A human-computer interaction system for a mechanical arm is characterized in that: the man-machine interaction system is arranged on the mechanical arm body and comprises a single chip microcomputer, a CAN communication module, a key module and an LED module, wherein the CAN communication module, the key module and the LED module are electrically connected with the single chip microcomputer;

2. A human-computer interaction system for a robotic arm as claimed in claim 1, wherein: a crystal oscillator circuit, a filter circuit and a reset circuit are distributed on the periphery of the single chip microcomputer;

the filter circuit is used for stabilizing voltage.

3. A human-computer interaction system for a robotic arm as claimed in claim 1 or claim 2, wherein: the LED module comprises a plurality of RGB three-color patch LEDs, and the RGB three-color patch LEDs are arranged near the PCB along a virtual circle to form an annular lamp strip.

4. A human-computer interaction system for a robotic arm as claimed in claim 3, wherein: the PCB board is fixed on the arm body, the outside cover in annular lamp area is equipped with a lens hood.

5. A human-computer interaction system for a robotic arm as claimed in claim 1, wherein: the audio module is arranged on the PCB and comprises a voice decoding chip, a flash memory chip and a loudspeaker; the voice decoding chip is connected with the single chip microcomputer through a serial port, the flash storage chip is used for storing audio data, the voice decoding chip is electrically connected with the flash storage chip, and the voice decoding chip is used for decoding the audio data stored in the flash storage chip and outputting the audio data as an audio analog signal and then driving a loudspeaker to produce sound.

6. A human-computer interaction system for a robotic arm as claimed in claim 1, wherein: the key module comprises a microswitch electrically connected with the GPIO of the singlechip.

7. A human-computer interaction system for a robotic arm as claimed in claim 1, wherein: the fan module comprises a fan and a fan circuit integrated on a PCB, the fan circuit comprises an amplifying triode, the base of the amplifying triode is connected with the IO of the single chip microcomputer, the collector of the amplifying triode is connected with the fan, and the emitter of the amplifying triode is connected with the GND of the power supply.