CN109717989A - 3D printing bionic hand based on intelligent sound control - Google Patents
3D printing bionic hand based on intelligent sound control Download PDFInfo
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- CN109717989A CN109717989A CN201811463890.4A CN201811463890A CN109717989A CN 109717989 A CN109717989 A CN 109717989A CN 201811463890 A CN201811463890 A CN 201811463890A CN 109717989 A CN109717989 A CN 109717989A
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Abstract
The invention proposes a kind of 3D printing bionic hands based on intelligent sound control, including steering engine, voice acquisition module, speech recognition identification module, main control singlechip, 3D printing bionic hand mold, cost performance is high, for traditional metal machinery hand or plastic mould hand, 3D printing lower cost for material, and appearance customization of individual character can be carried out.Intelligent Single-Chip Based voice control is more accurate than myoelectric control, will not cause to botch routines because control is improper；Implantation various control order can be programmed.The joint connection of finger uses novel TPU elastic material, thus can have better stability to avoid each joint double swerve of finger.
Description
Technical field
The present invention relates to disability appurtenance technical field, in particular to a kind of 3D printing based on intelligent sound control is imitative
Green hand.
Background technique
By network surveying and some hospitals are visited, hand artifucial limb are investigated as follows: the existing similar products of foreign countries, such as beauty
State, which is incuded using muscle, carries out control biomimetics manipulator, and external bionic hand successfully joined intelligent module
, and by completely new driving device, the five fingers manipulator can the different movement of progress simultaneously, and successfully into
Clinical test is gone, test data shows that supposition may be implemented completely, but its price is high, dollar one about tens of thousands of.
Compared to foreign countries, the research and development of domestic bionic hand still have one section of very big distance, existing artificial hand artifucial limb master
If the appearance artifucial limb that can not be acted, in recent years there are also the hand artifucial limb product that can control of foreign imitation, but its price
Still more high, it can not popularize；Traditional artifucial limb cannot move typically just in order to goodlooking；And it can control fortune
Dynamic high-end artifucial limb then needs tens of thousands of or even hundreds of thousands price, and common people, which hold, to dare not accept.
Summary of the invention
The purpose of the present invention aims to solve at least one of the technological deficiency.
To achieve the goals above, the embodiment of one aspect of the present invention provides a kind of 3D printing based on intelligent sound control
Bionic hand, including steering engine, voice acquisition module, speech recognition identification module, main control singlechip, 3D printing bionic hand mold, institute
The phonetic control command of voice acquisition module user for identification is stated, and the phonetic control command that user issues is sent to voice
Identification module；The speech recognition module is used to the phonetic control command received being converted to electric signal, and by the telecommunications
Number it is sent to main control singlechip；Default control instructs in the main control singlechip, and the main control singlechip is for receiving the electricity
Signal, and based on the received electrical signal, according to preset control instruction, generation is executed instruction, and control steering engine is acted；Institute
It states steering engine to be arranged in 3D printing bionic hand mold, the output end of the input terminal connection main control singlechip of the steering engine, the rudder
Machine is used to receive that main control singlechip to issue executes instruction, and is acted according to executing instruction, and the bionical fingerprint of 3D printing is driven
Tool makes corresponding gesture motion.
Preferably, the steering engine is equipped with 5 altogether, each steering engine piece finger of corresponding control.
In any of the above-described embodiment preferably, it is fixed between each steering engine and corresponding finger by fishing lines
Connection.
In any of the above-described embodiment preferably, the model WEGASUN-M6 that the speech recognition module uses.
In any of the above-described embodiment preferably, the voice acquisition module uses microphone.
In any of the above-described embodiment preferably, the 3D printing bionic hand mold is formed by ABS plastic 3D printing.
In any of the above-described embodiment preferably, the 3D printing bionic hand mold exterior coats bionics skin.
In any of the above-described embodiment preferably, according to each gesture motion, setting is corresponded to for the default control instruction
Each steering engine pulse sequence.
In any of the above-described embodiment preferably, the joint of finger connects use in the 3D printing bionic hand mold
TPU elastic material.
A kind of 3D printing bionic hand based on intelligent sound control provided according to embodiments of the present invention, compared to existing
Artifucial limb has at least the following advantages:
1, cost performance is high, for traditional metal machinery hand or plastic mould hand, 3D printing lower cost for material, and
It can carry out appearance customization of individual character.
2, Intelligent Single-Chip Based voice control is more accurate than myoelectric control, will not cause to botch routines because control is improper；
Implantation various control order can be programmed.
3. the joint connection of finger uses novel TPU elastic material, can thus be shaken to avoid each joint of finger or so
It is dynamic, there is better stability.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of structural representation of 3D printing bionic hand based on intelligent sound control provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of circuit connection knot of 3D printing bionic hand based on intelligent sound control provided in an embodiment of the present invention
Composition；
1, steering engine；2, voice acquisition module；3, speech recognition identification module；4, main control singlechip；5,3D printing bionic hand
Mold；
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
As shown in Figure 1, a kind of 3D printing bionic hand based on intelligent sound control of the embodiment of the present invention, including steering engine 1,
Voice acquisition module 2, speech recognition identification module 3, main control singlechip 4,3D printing bionic hand mold 5, the voice collecting mould
The phonetic control command of the user for identification of block 2, and the phonetic control command that user issues is sent to speech recognition module；Institute
Speech recognition module is stated for the phonetic control command received to be converted to electric signal, and the electric signal is sent to master control
Single-chip microcontroller 4；Default control instructs in the main control singlechip 4, and the main control singlechip 4 is for receiving the electric signal, and root
According to the electric signal received, according to preset control instruction, generation is executed instruction, and control steering engine 1 is acted；The steering engine 1
It is arranged in 3D printing bionic hand mold 5, the output end of the input terminal connection main control singlechip 4 of the steering engine 1, the steering engine 1
It executes instruction for receive that main control singlechip 4 issues, and is acted according to executing instruction, drive 3D printing bionic hand mold
5 make corresponding gesture motion.
Preferably, the steering engine 1 is equipped with 5 altogether, each steering engine 1 piece finger of corresponding control.Each steering engine 1 with it is right
It is fixedly connected between the finger answered by fishing lines.The default control instruction is arranged corresponding every according to each gesture motion
The pulse sequence of a steering engine 1.
The model WEGASUN-M6 that the speech recognition module uses.The voice acquisition module 2 uses microphone.Institute
3D printing bionic hand mold 5 is stated to be formed by ABS plastic 3D printing.Bionical skin is coated outside the 3D printing bionic hand mold 5
Skin.The joint connection of finger uses TPU elastic material in the 3D printing bionic hand mold 5.It thus can be every to avoid finger
One joint double swerve, there is better stability.
The control signal of steering engine modulates chip by the channel entering signal of receiver, obtains DC offset voltage.Inside it
There is a reference circuit, the generation period is 20ms, and width is the reference signal of 1.5ms, by the DC offset voltage of acquisition and electricity
The voltage of position device compares, and obtains voltage difference output.Finally, the positive and negative motor drive ic that is output to of voltage difference is determining motor just
Reversion.When one timing of motor speed, potentiometer rotation is driven by cascade reduction gearing, so that voltage difference is 0.The control of steering engine
The when main pulse of 20ms or so is generally required, the high level part of the pulse is generally the angle within the scope of 0.5ms-2.5ms
Degree control segment pulse, total linear spacing 2ms.
By taking 180 degree angle servo as an example, corresponding control planning is as follows:
0.5ms--------------0 degree；
1.0ms------------45 degree；
1.5ms------------90 degree；
2.0ms-----------135 degree；
2.5ms-----------180 degree；
Retention time is Tw
As Tw >=△ T, steering engine can reach target, and have remaining time；
As Tw≤△ T, steering engine cannot reach target；
Theoretically: as Tw=△ T, system is most coherent, and steering engine movement is most fast.
W is not quite similar in real process, and limit △ T when coherent motion is relatively difficult to calculate.
When pwm signal is that (1DIV=8us) successively changes with minimum change, the resolution ratio highest of steering engine, but it is fast
Degree can slow down.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (9)
1. a kind of 3D printing bionic hand based on intelligent sound control, including steering engine, voice acquisition module, speech recognition identification mould
Block, main control singlechip, 3D printing bionic hand mold, which is characterized in that
The phonetic control command of voice acquisition module user for identification, and the phonetic control command that user is issued is sent
To speech recognition module；
The speech recognition module is used to the phonetic control command received being converted to electric signal, and the electric signal is sent
To main control singlechip；
Default control instructs in the main control singlechip, and the main control singlechip is used to receive the electric signal, and according to reception
The electric signal arrived, according to preset control instruction, generation is executed instruction, and control steering engine is acted；
The steering engine is arranged in 3D printing bionic hand mold, the output end of the input terminal connection main control singlechip of the steering engine,
The steering engine is used to receive that main control singlechip to issue executes instruction, and is acted according to executing instruction, and drives 3D printing imitative
Green hand's mold makes corresponding gesture motion.
2. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that the steering engine is total
Equipped with 5, each steering engine piece finger of corresponding control.
3. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that each rudder
It is fixedly connected between machine and corresponding finger by fishing lines.
4. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that the voice is known
The model WEGASUN-M6 that other module uses.
5. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that the voice is adopted
Collect module and uses microphone.
6. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that the 3D printing
Bionic hand mold is formed by ABS plastic 3D printing.
7. the 3D printing bionic hand according to claim 6 based on intelligent sound control, which is characterized in that the 3D printing
Bionic hand mold exterior coats bionics skin.
8. the 3D printing bionic hand according to claim 1 based on intelligent sound control, which is characterized in that the default control
The pulse sequence of corresponding each steering engine is arranged according to each gesture motion in system instruction.
9. the 3D printing bionic hand according to claim 1 based on intelligent sound control, the 3D printing bionic hand mold
The joint connection of middle finger uses TPU elastic material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811463890.4A CN109717989A (en) | 2018-12-03 | 2018-12-03 | 3D printing bionic hand based on intelligent sound control |
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| CN201811463890.4A CN109717989A (en) | 2018-12-03 | 2018-12-03 | 3D printing bionic hand based on intelligent sound control |
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| CN111496824A (en) * | 2020-04-26 | 2020-08-07 | 南方科技大学 | Bionic manipulator and bionic manipulator control method |
| CN112405581A (en) * | 2020-12-18 | 2021-02-26 | 华南理工大学广州学院 | Control system of sign language bionic manipulator |
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