CN216083486U - Circuit of gesture control triaxial arm - Google Patents
Circuit of gesture control triaxial arm Download PDFInfo
- Publication number
- CN216083486U CN216083486U CN202121208511.4U CN202121208511U CN216083486U CN 216083486 U CN216083486 U CN 216083486U CN 202121208511 U CN202121208511 U CN 202121208511U CN 216083486 U CN216083486 U CN 216083486U
- Authority
- CN
- China
- Prior art keywords
- circuit
- control circuit
- main control
- power supply
- gesture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a circuit for controlling a three-axis mechanical arm by gestures, which comprises: the device comprises a gesture acquisition circuit and a three-axis mechanical arm motion control circuit; the gesture collection circuit collects human body gesture in real time, the collected human body gesture command is automatically sent to the three-axis mechanical arm motion control circuit in a wireless transmission mode, and after the received human body gesture command is analyzed by the three-axis mechanical arm motion control circuit, the motion of the mechanical arm is controlled according to the human body gesture command. The control system and the control method can realize real-time and accurate control of the mechanical arm by an operator easily, and realize remote control of the mechanical arm in severe and dangerous working environments.
Description
Technical Field
The utility model relates to the technical field of automatic control, in particular to a circuit for controlling a three-axis mechanical arm through gestures.
Background
At present, the traditional mechanical arm control method mostly adopts the following steps: the operator controls the movement of the robot by sending commands to the computer or by using a rocker or a key. The traditional control mode has the problems of complicated control operation, unobtrusiveness, poor flexibility and the like during remote real-time operation and emergency handling; in harsh, dangerous working environments, the robotic arm cannot be operated more efficiently. In harsh, dangerous working environments, the robotic arm cannot be operated more efficiently. When learning the conventional method of controlling the robot arm, the operator needs to spend more time and effort.
Accordingly, there is a need in the art for improvements.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the embodiment of the utility model is as follows: the utility model provides a circuit of gesture control triaxial arm to solve the problem that exists among the prior art.
According to an aspect of the embodiments of the present invention, a circuit for controlling a three-axis robot arm by gestures is disclosed, which includes:
the device comprises a gesture acquisition circuit and a three-axis mechanical arm motion control circuit;
the gesture collection circuit collects human body gesture in real time, the collected human body gesture command is automatically sent to the three-axis mechanical arm motion control circuit in a wireless transmission mode, and after the received human body gesture command is analyzed by the three-axis mechanical arm motion control circuit, the motion of the mechanical arm is controlled according to the human body gesture command.
In one embodiment, the gesture acquisition circuit comprises a six-axis sensor circuit, a power conversion circuit, a communication circuit and a power circuit;
the six-axis sensor circuit acquires gesture information of human body gestures and sends the gesture information of the human body gestures to the three-axis mechanical arm motion control circuit through the communication circuit;
the power supply conversion circuit is connected with the power supply circuit, the six-axis sensor circuit and the communication circuit and is used for receiving the power supply of the power supply circuit and converting the output voltage of the power supply circuit into the voltage required by the six-axis sensor circuit and the communication circuit;
the power circuit is connected with an external power supply and is used for converting the external power supply into set voltage and current parameters to charge the lithium battery.
In one embodiment, the six-axis sensor circuit includes three groups of sensor chips, and a calibration filter capacitor, a VDD bypass capacitor, a charge pump capacitor, a VLOGIC bypass capacitor connected to respective pins of each group of sensor chips;
the three groups of sensor chips integrate a three-axis gyroscope and a three-axis accelerometer.
In one embodiment, the power conversion circuit comprises an XC6206P332MR low dropout linear regulator chip, and the XC6206P332MR low dropout linear regulator chip is used for converting the voltage output by the power circuit into an output voltage of 3.3V.
In one embodiment, the three-axis robot arm motion control circuit comprises: the device comprises a main control circuit, a motor control and drive circuit, a power supply circuit, a relay control circuit, a limit switch circuit, a wireless communication circuit and an indicator light circuit;
the main control circuit is communicated with the gesture acquisition circuit through the wireless communication circuit to acquire human body gesture information acquired by the gesture acquisition circuit and control the motor control and driving circuit to work through the human body gesture information;
the motor control and drive circuit is connected with the main control circuit and controls the four-phase stepping motor to work by receiving the PWM signal of the main control circuit;
the power supply circuit is connected with the main control circuit, the motor control and drive circuit, the relay control circuit, the limit switch circuit, the wireless communication circuit and the indicator light circuit, converts an input power supply into an output power supply with various parameters and supplies power to the main control circuit, the motor control and drive circuit, the relay control circuit, the limit switch circuit, the wireless communication circuit and the indicator light circuit;
the relay control circuit is connected with the main control circuit and controls the on-off of the relay through a triode so as to control the working state of the main control circuit;
the limit switch circuit is connected with the main control circuit and controls working parameters of the main control circuit through a limit switch, so that the working state of the motor control and drive circuit is controlled, and the initial position and the tail end position of the three-axis mechanical arm are controlled;
the wireless communication circuit is connected with the main control circuit and is used for receiving the human body gesture information acquired by the gesture acquisition circuit in real time and sending the human body gesture information to the main control circuit;
the indicating lamp circuit is connected with the main control circuit and used for receiving the output signal of the main control circuit and displaying the working state of the main control circuit.
In one embodiment, the motor control and drive circuit comprises an L298N drive chip and a four-phase stepping motor, a filter capacitor and a freewheeling protection diode are arranged at the periphery of the L298N drive chip, and the L298N drive chip receives a PWM signal of the main control circuit and controls the four-phase stepping motor to work.
In one embodiment, the power supply circuit comprises a CJ7805 chip and an AMS1117-3.3 chip, wherein the CJ7805 chip is used for converting a 12V voltage provided by an external power supply into a 5V output voltage;
the AMS1117-3.3 chip is used for converting the 5V voltage output by the CJ7805 chip into an output voltage of 3.3V.
Compared with the prior art, the utility model has the following advantages:
the circuit for controlling the three-axis mechanical arm through the gestures collects human body gesture postures in real time through the gesture collection circuit, automatically sends the collected human body gesture posture instructions to the three-axis mechanical arm motion control circuit in a wireless transmission mode, and controls the actions of the mechanical arm according to the human body gesture posture instructions after the three-axis mechanical arm motion control circuit analyzes the received human body gesture posture instructions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings used in the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a circuit for gesture control of a three-axis robot arm according to the present invention.
In the figure: the device comprises a gesture acquisition circuit 1, a six-axis sensor circuit 11, a power conversion circuit 12, a communication circuit 13, a power circuit 14, a three-axis mechanical arm motion control circuit 2, a main control circuit 21, a motor control and drive circuit 22, a power supply circuit 23, a relay control circuit 24, a limit switch circuit 25, a wireless communication circuit 26 and an indicator light circuit 27.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The circuit for controlling the three-axis mechanical arm through gestures provided by the utility model is described in more detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1, the circuit for controlling the three-axis robot arm by gestures of this embodiment includes:
the device comprises a gesture acquisition circuit 1 and a three-axis mechanical arm motion control circuit 2;
the gesture collection circuit 1 collects human body gesture in real time, the collected human body gesture command is automatically sent to the three-axis mechanical arm motion control circuit 2 in a wireless transmission mode, and after the received human body gesture command is analyzed by the three-axis mechanical arm motion control circuit 2, the action of the mechanical arm is controlled according to the human body gesture command.
The gesture acquisition circuit 1 comprises a six-axis sensor circuit 11, a power conversion circuit 12, a communication circuit 13 and a power circuit 14;
the six-axis sensor circuit 11 acquires gesture information of human body gestures and sends the gesture information of the human body gestures to the three-axis mechanical arm motion control circuit 2 through the communication circuit 13; the communication circuit 13 adopts an NRF24L01 module.
The power conversion circuit 12 is connected to the power circuit 14, the six-axis sensor circuit 11, and the communication circuit 13, and is configured to receive a power supply of the power circuit 14, and convert an output voltage of the power circuit 14 into a voltage required by the six-axis sensor circuit 11 and the communication circuit 13;
the power circuit 14 is connected to an external power source, and is configured to convert the external power source into a set voltage and current parameter for charging the lithium battery.
Specifically, the power circuit 14 uses a TP4056X linear lithium ion battery charger chip to change the input voltage of the external power supply to 4.2V.
The six-axis sensor circuit 11 comprises three groups of sensor chips, and a calibration filter capacitor, a VDD bypass capacitor, a charge pump capacitor and a VLOGIC bypass capacitor which are connected with corresponding pins of each group of sensor chips;
the three groups of sensor chips integrate a three-axis gyroscope and a three-axis accelerometer.
Specifically, the sensor chip adopts an MPU-6050 chip, and three groups of sensor chips integrate a three-axis MEMS gyroscope and a three-axis MEMS accelerometer.
The power conversion circuit 12 includes an XC6206P332MR low dropout linear regulator chip, and the XC6206P332MR low dropout linear regulator chip is configured to convert the voltage output by the power circuit 14 into an output voltage of 3.3V.
The three-axis robot arm motion control circuit 2 includes: the device comprises a main control circuit 21, a motor control and drive circuit 22, a power supply circuit 23, a relay control circuit 24, a limit switch circuit 25, a wireless communication circuit 26 and an indicator light circuit 27;
the main control circuit 21 communicates with the gesture acquisition circuit 1 through the wireless communication circuit 26 to acquire human body gesture posture information acquired by the gesture acquisition circuit 1, and controls the motor control and drive circuit 22 to work through the human body gesture posture information;
the motor control and drive circuit 22 is connected with the main control circuit 21, and the motor control and drive circuit 22 controls the four-phase stepping motor to work by receiving the PWM signal of the main control circuit 21;
the power supply circuit 23 is connected with the main control circuit 21, the motor control and drive circuit 22, the relay control circuit 24, the limit switch circuit 25, the wireless communication circuit 26 and the indicator light circuit 27, and the power supply circuit 23 converts an input power supply into an output power supply with various parameters to supply power to the main control circuit 21, the motor control and drive circuit 22, the relay control circuit 24, the limit switch circuit 25, the wireless communication circuit 26 and the indicator light circuit 27;
the relay control circuit 24 is connected with the main control circuit 21, and the relay control circuit 24 controls the on-off of the relay through a triode, so as to control the working state of the main control circuit 21;
the limit switch circuit 25 is connected with the main control circuit 21, and the limit switch circuit 25 controls the working parameters of the main control circuit 21 through a limit switch, so as to control the working state of the motor control and drive circuit 22 and realize the control of the initial position and the tail end position of the three-axis mechanical arm;
the wireless communication circuit 26 is connected with the main control circuit 21, and is configured to receive human body gesture posture information acquired by the gesture acquisition circuit 1 in real time and send the human body gesture posture information to the main control circuit 21; the wireless communication circuit 26 adopts an NRF24L01 chip, which is adapted to the communication circuit 13 of the gesture collection circuit 1, so as to realize communication between the gesture collection circuit 1 and the three-axis mechanical arm motion control circuit 2.
The indicator light circuit 27 is connected to the main control circuit 21, and is configured to receive an output signal of the main control circuit 21 and display a working state of the main control circuit 21.
The motor control and drive circuit 22 comprises an L298N drive chip and a four-phase stepping motor, a filter capacitor and a follow current protection diode are arranged at the periphery of the L298N drive chip, and the L298N drive chip receives a PWM signal of the main control circuit 21 and controls the four-phase stepping motor to work.
In one embodiment, the power supply circuit 23 includes a CJ7805 chip and an AMS1117-3.3 chip, the CJ7805 chip is used for converting a 12V voltage provided by an external power supply into an output voltage of 5V;
the AMS1117-3.3 chip is used for converting the 5V voltage output by the CJ7805 chip into an output voltage of 3.3V.
In one embodiment, the limit switch circuit 25 includes six limit switches, and the six limit switches are connected to the main control chip 21, so as to control the initial position and the end position of each rotating shaft in the three-shaft mechanical arm.
The circuit for controlling the three-axis mechanical arm by the gesture provided by the utility model is described in detail, a specific example is applied in the circuit to explain the principle and the implementation mode of the utility model, and the description of the embodiment is only used for helping to understand the method and the core idea of the utility model; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the utility model.
Claims (6)
1. A circuit for gesture control of a three-axis robotic arm, comprising:
the device comprises a gesture acquisition circuit and a three-axis mechanical arm motion control circuit;
the gesture acquisition circuit acquires human body gesture in real time, automatically sends an acquired human body gesture command to the three-axis mechanical arm motion control circuit in a wireless transmission mode, and controls the action of the mechanical arm according to the human body gesture command after the received human body gesture command is analyzed by the three-axis mechanical arm motion control circuit;
the gesture acquisition circuit comprises a six-axis sensor circuit, a power supply conversion circuit, a communication circuit and a power supply circuit;
the six-axis sensor circuit acquires gesture information of human body gestures and sends the gesture information of the human body gestures to the three-axis mechanical arm motion control circuit through the communication circuit;
the power supply conversion circuit is connected with the power supply circuit, the six-axis sensor circuit and the communication circuit and is used for receiving the power supply of the power supply circuit and converting the output voltage of the power supply circuit into the voltage required by the six-axis sensor circuit and the communication circuit;
the power circuit is connected with an external power supply and is used for converting the external power supply into set voltage and current parameters to charge the lithium battery.
2. The circuit for controlling the three-axis mechanical arm through gestures according to claim 1, wherein the six-axis sensor circuit comprises three groups of sensor chips, and a calibration filter capacitor, a VDD bypass capacitor, a charge pump capacitor, and a VLOGIC bypass capacitor connected with corresponding pins of each group of sensor chips;
the three groups of sensor chips integrate a three-axis gyroscope and a three-axis accelerometer.
3. The circuit for gesture control of three-axis robotic arm according to claim 1, wherein the power conversion circuit comprises an XC6206P332MR low dropout linear regulator chip, and the XC6206P332MR low dropout linear regulator chip is configured to convert the voltage output by the power circuit into an output voltage of 3.3V.
4. The circuit for gesture control of a tri-axial robotic arm of claim 1, wherein the tri-axial robotic arm motion control circuit comprises: the device comprises a main control circuit, a motor control and drive circuit, a power supply circuit, a relay control circuit, a limit switch circuit, a wireless communication circuit and an indicator light circuit;
the main control circuit is communicated with the gesture acquisition circuit through the wireless communication circuit to acquire human body gesture information acquired by the gesture acquisition circuit and control the motor control and driving circuit to work through the human body gesture information;
the motor control and drive circuit is connected with the main control circuit and controls the four-phase stepping motor to work by receiving the PWM signal of the main control circuit;
the power supply circuit is connected with the main control circuit, the motor control and drive circuit, the relay control circuit, the limit switch circuit, the wireless communication circuit and the indicator light circuit, converts an input power supply into an output power supply with various parameters and supplies power to the main control circuit, the motor control and drive circuit, the relay control circuit, the limit switch circuit, the wireless communication circuit and the indicator light circuit;
the relay control circuit is connected with the main control circuit and controls the on-off of the relay through a triode so as to control the working state of the main control circuit;
the limit switch circuit is connected with the main control circuit and controls working parameters of the main control circuit through a limit switch, so that the working state of the motor control and drive circuit is controlled, and the initial position and the tail end position of the three-axis mechanical arm are controlled;
the wireless communication circuit is connected with the main control circuit and is used for receiving the human body gesture information acquired by the gesture acquisition circuit in real time and sending the human body gesture information to the main control circuit;
the indicating lamp circuit is connected with the main control circuit and used for receiving the output signal of the main control circuit and displaying the working state of the main control circuit.
5. The circuit of the gesture-controlled three-axis mechanical arm according to claim 4, wherein the motor control and driving circuit comprises an L298N driving chip and a four-phase stepping motor, a filter capacitor and a free-wheeling protection diode are arranged on the periphery of the L298N driving chip, and the L298N driving chip receives the PWM signal of the main control circuit and controls the four-phase stepping motor to work.
6. The circuit for controlling the triaxial mechanical arm through gestures as claimed in claim 4, wherein the power supply circuit comprises a CJ7805 chip and an AMS1117-3.3 chip, the CJ7805 chip is used for converting 12V voltage provided by an external power supply into 5V output voltage;
the AMS1117-3.3 chip is used for converting the 5V voltage output by the CJ7805 chip into an output voltage of 3.3V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121208511.4U CN216083486U (en) | 2021-06-01 | 2021-06-01 | Circuit of gesture control triaxial arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121208511.4U CN216083486U (en) | 2021-06-01 | 2021-06-01 | Circuit of gesture control triaxial arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216083486U true CN216083486U (en) | 2022-03-18 |
Family
ID=80662893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121208511.4U Active CN216083486U (en) | 2021-06-01 | 2021-06-01 | Circuit of gesture control triaxial arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216083486U (en) |
-
2021
- 2021-06-01 CN CN202121208511.4U patent/CN216083486U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206732997U (en) | Organ removing manipulator, arm | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN103192390B (en) | Control system of humanoid robot | |
| CN103558786B (en) | Based on the hand function healing robot human-computer interactive control system embedding Android mobile terminal and FPGA | |
| EP3251805A1 (en) | Multiaxial motion control device and method, in particular control device and method for a robot arm | |
| CN109249395A (en) | A kind of multi-functional multi-foot robot control system | |
| CN106945023A (en) | Organ removing manipulator, arm and method | |
| CN103786157A (en) | Embedded type control system based on upper limb exoskeleton assisting robots | |
| CN101847010B (en) | Small scout robot intelligent controller | |
| CN216083486U (en) | Circuit of gesture control triaxial arm | |
| CN113552830B (en) | System and method for controlling foot type robot by using traction rope | |
| CN108994847A (en) | A kind of robot | |
| CN105373109B (en) | A kind of Delta robots control system | |
| CN112084132A (en) | Small-size multi-functional general information processing unit | |
| CN110842950A (en) | Driving and controlling integrated control system compatible with multi-field bus protocol | |
| CN207623742U (en) | Chassis control circuit for bank service robot | |
| CN110757466A (en) | STM 32-based mine survey robot control system | |
| CN102722174B (en) | AGV (Automatic Guided Vehicle) control system based on bus control mode | |
| CN213471194U (en) | Novel multifunctional humanoid robot platform and control system thereof | |
| CN202522924U (en) | Spherical robot automation control system | |
| CN110757461A (en) | Control system and control method of industrial mobile robot | |
| CN210210408U (en) | Robot body control system and robot | |
| CN216067464U (en) | Electrical control system of multi-axis motion industrial robot | |
| CN113681569A (en) | Control system for upper limb part of intelligent robot | |
| CN220188887U (en) | Laser navigation AGV controlling means |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |