CN202480102U - Three-dimensional sensing and controlling mechanical arm - Google Patents
Three-dimensional sensing and controlling mechanical arm Download PDFInfo
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- CN202480102U CN202480102U CN2012201181250U CN201220118125U CN202480102U CN 202480102 U CN202480102 U CN 202480102U CN 2012201181250 U CN2012201181250 U CN 2012201181250U CN 201220118125 U CN201220118125 U CN 201220118125U CN 202480102 U CN202480102 U CN 202480102U
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Abstract
The utility model relates to a three-dimensional sensing and controlling mechanical arm. The three-dimensional sensing and controlling mechanical arm comprises a mechanical arm device and a control device, wherein the control device comprises a control box and a control rod; the control rod comprises a flexible connecting rod and a gripping controller; the gripping controller is internally provided with a three-axis gyroscope and a three-axis accelerometer which are connected with a first single chip microcomputer; the gripping controller is provided with a rolling wheel and a button; the rolling wheel is connected with a potentiometer which is connected with the first single chip microcomputer; the three-axis gyroscope, the potentiometer and the button are controlled by the first single chip microcomputer; the mechanical arm device comprises a base, a second single chip microcomputer, a wireless receiving module and a servo motor; the second single chip microcomputer and the wireless receiving module are arranged in the base; the servo motor is arranged on the base; and the wireless receiving module is in signal connection with a wireless transmitting module, and is connected with the second single chip microcomputer. The three-dimensional sensing and controlling mechanical arm has the advantages that the operation is simple and convenient; and by adoption of the design with the servo motor, the mechanical arm is flexible, and the operation precision is accurate.
Description
Technical field
The utility model relates to the mechatronic field, especially a kind of third dimension observing and controlling system mechanical arm.
Background technology
Along with development of science and technology; The progress in epoch; The increasing robot that uses of machinery industry replaces manually-operated, and in some passages such as narrow-pitch, pipeline, valve cavity, steam generator water pipe or the tracheae, some can't operate; The mechanical arm that has all used robot is operated completion, and so far the mechanical arm in Robotics and automated production workshop has been widely applied to every field.
Only present science and technology; Machine industry uses the mechanical arm of these robots more general, but great majority still need manual work to operate; Can accomplish the action that some accuracy are had relatively high expectations; When operating machine arm, being mostly perhaps needs a plurality of control levers to control the swing of a mechanical arm by key control, and its project organization is comparatively loaded down with trivial details, and there are very big error in operation inconvenience and the accuracy that operates.
The utility model content
The technical problem that the utility model will solve is: in order to overcome the above-mentioned middle problem that exists, a kind of third dimension observing and controlling system mechanical arm is provided, its control is easy, project organization is reasonable and precision is high.
The utility model solves the technical scheme that its technical problem adopted: a kind of third dimension observing and controlling system mechanical arm; Comprise robot arm device and the control device that is used to control robot arm device; Described control device comprises control box and control lever, and described control lever comprises the flexible link that is installed on the control box and is connected the controller of holding of the flexible link other end, first single-chip microcomputer and the wireless transmitter module that is connected with first single-chip microcomputer are installed in the described control box; The model that first single-chip microcomputer adopts is MC9S12XS128; Described holding is equipped with three-axis gyroscope and the three axis accelerometer that links to each other with first single-chip microcomputer in the controller, three-axis gyroscope and three axis accelerometer merge and can accurate Calculation hold the controller move angle through algorithm, and both combinations can make it operate to have accurate navigation feature; The model that three-axis gyroscope adopts is L3G4200D; The model that three axis accelerometer adopts is MMA7260, holds roller and button are installed on the controller, is connected with potentiometer on the roller; Potentiometer is used for measured voltage values; Potentiometer is connected with first single-chip microcomputer, and three-axis gyroscope, potentiometer and button detect through first single-chip microcomputer, and the attitude that the first single-chip microcomputer computing draws hand lever changes; With its X that draws, Y, three coordinate figures of Z, the magnitude of voltage of potentiometer and the state of button; Be sent to through wireless transmitter module on the wireless receiving module of robot arm device, described robot arm device comprises base and is installed in second singlechip and the wireless receiving module in the base and is installed in the servomotor on the base that the model of second singlechip is Mc9s12xs128; Wireless receiving module is connected through signal with wireless transmitter module, and wireless receiving module is connected with second singlechip.
Described servomotor comprises first servomotor, second servomotor, the 3rd servomotor, the 4th servomotor and the 5th servomotor that is installed on the base; Be connected with first connecting rod between first servomotor and second servomotor, be connected with second connecting rod between second servomotor and the 3rd servomotor, be connected with third connecting rod between the 3rd servomotor and the 4th servomotor; Described first servomotor, second servomotor and the 4th servomotor are connected through signal with control lever respectively; The Z axle of the corresponding control lever of first servomotor, control lever is around the rotation of Z axle, and first servomotor is followed equidirectional rotation; The Y axle of the corresponding control lever of second servomotor; The X axle of the corresponding control lever of the 4th servomotor, described the 3rd servomotor is connected through signal with roller, and rotating with roller increases by the 3rd servomotor; It is the manipulator that is used to unclamp with closed in order to make mechanical arm have more flexibility, to have on the 5th servomotor.
In order to control by remote reviewing, can on computer display screen, show the duty of mechanical arm simultaneously, the camera that is used for remote reviewing control also is installed on the described base.
The beneficial effect of the utility model is: described third dimension observing and controlling system mechanical arm, utilize the design of control lever, can be convenient accurately to the controling of mechanical arm, it is easier to operate; Adopt the design of this kind servomotor, can make mechanical arm have flexibility more, performance accuracy is more accurate.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Fig. 1 is the overall structure sketch map of the described third dimension of the utility model observing and controlling system mechanical arm.
1. control boxes among the figure, 2. flexible link is 3. held controller, 4. first single-chip microcomputer, 5. wireless transmitter module, 6. three-axis gyroscope; 7. three axis accelerometer, 8. roller, 9. button, 10. potentiometer, 11. bases, 12. second singlechips; 13. wireless receiving module, 14. first servomotors, 15. second servomotors, 16. the 3rd servomotors, 17. the 4th servomotors, 18. the 5th servomotors; 19. first connecting rod, 20. second connecting rods, 21. third connecting rods, 22. manipulators, 23. cameras.
The specific embodiment
Combine accompanying drawing that the utility model is done further detailed explanation now.These accompanying drawings are the sketch map of simplification, the basic structure of the utility model only is described in a schematic way, so it only show the formation relevant with the utility model.
Third dimension observing and controlling system mechanical arm as shown in Figure 1; Comprise robot arm device and the control device that is used to control robot arm device; Robot arm device by base 11 be installed in second singlechip 12 in the base 11 with wireless receiving module 13 and be installed in servomotor and the camera 23 on the base 11; Camera 23 can be realized Long-distance Control; Servomotor comprises that first servomotor 14 that is installed on the base 11, second servomotor 15, the 3rd servomotor 16, the 4th servomotor 17 and the 5th servomotor 18, the first servomotors 14 are connected through first connecting rod 19 with second servomotor 15, and second servomotor 15 is connected through second connecting rod 20 with the 3rd servomotor 16; The 3rd servomotor 16 is connected through third connecting rod 21 with the 4th servomotor 17; Control device is made up of control box 1 and control lever, and first single-chip microcomputer 4 and the wireless transmitter module 5 that is connected with first single-chip microcomputer 4 are installed in the control box 1, and control lever is made up of with the controller 3 of holding that is connected flexible link 2 other ends the flexible link 2 that is installed on the control box; Hold the three-axis gyroscope 6 and three axis accelerometer 7 that links to each other with first single-chip microcomputer 4 is installed in the controller 3; Hold roller 8 and button 9 are installed on the controller 3, be connected with potentiometer 10 on the roller 8, potentiometer 10 is connected with first single-chip microcomputer 4; Three-axis gyroscope 6, potentiometer 10 and button 9 detect through first single-chip microcomputer 4; First servomotor 14, second servomotor 15 are connected through signal with control lever respectively with the 4th servomotor 17, and the 3rd servomotor 16 and roller 8 are connected through signal, have the manipulator 22 that is used to unclamp with closed on the 5th servomotor 18; Wireless receiving module 13 and wireless transmitter module 5 are connected through signal, and wireless receiving module 13 is connected with second singlechip 12.
The third dimension observing and controlling system mechanical arm of the utility model; The variation of the direction through detecting control lever X, Y, three axles of Z; The attitude that draws control lever through 4 computings of first single-chip microcomputer changes, and the magnitude of voltage of the X that draws after the processing, Y, three coordinates of Z, potentiometer 10 and the state of button 9 are sent on the wireless receiving module 13 on the robot arm device through wireless transmitter module 5, after wireless receiving module 13 receives corresponding data; Handle through second singlechip 12; Send corresponding instruction then, when control lever when the Z axle rotates, first servomotor 14 drives first connecting rods 19 and follows equidirectional rotation; When control lever when the Y axle is swung, second servomotor 15 drives second connecting rods 20 and follows swing; When scroll wheel 8, the 3rd servomotor 16 is followed the rotation of roller 8 and is rotated, and has improved the flexibility of mechanical arm; When control lever when the X axle is swung, the 4th servomotor 17 drives third connecting rod 21 simultaneously and swings accordingly, the 5th servomotor 18 control manipulators 22 unclamping and closed.
With above-mentioned desirable embodiment according to the utility model is enlightenment, and through above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this utility model technological thought.The technical scope of this utility model is not limited to the content on the specification, must confirm its technical scope according to the claim scope.
Claims (3)
1. third dimension observing and controlling system mechanical arm; It is characterized in that: comprise robot arm device and the control device that is used to control robot arm device; Described control device comprises control box (1) and control lever; What described control lever comprised the flexible link (2) that is installed on the control box and was connected flexible link (2) other end holds controller (3); First single-chip microcomputer (4) and the wireless transmitter module (5) that is connected with first single-chip microcomputer (4) are installed in the described control box (1); Described holding is equipped with three-axis gyroscope (6) and the three axis accelerometer (7) that links to each other with first single-chip microcomputer (4) in the controller (3); Hold roller (8) and button (9) are installed on the controller (3), be connected with potentiometer (10) on the roller (8), potentiometer (10) is connected with first single-chip microcomputer (4); Three-axis gyroscope (6), potentiometer (10) and button (9) detect through first single-chip microcomputer (4); Described robot arm device comprises base (11) and is installed in second singlechip (12) and the wireless receiving module (13) in the base (11) and is installed in the servomotor on the base (11) that wireless receiving module (13) is connected through signal with wireless transmitter module (5), and wireless receiving module (13) is connected with second singlechip (12).
2. third dimension observing and controlling system mechanical arm according to claim 1; It is characterized in that: described servomotor comprises first servomotor (14), second servomotor (15), the 3rd servomotor (16), the 4th servomotor (17) and the 5th servomotor (18) that is installed on the base (11); Be connected with first connecting rod (19) between first servomotor (14) and second servomotor (15); Be connected with second connecting rod (20) between second servomotor (15) and the 3rd servomotor (16); Be connected with third connecting rod (21) between the 3rd servomotor (16) and the 4th servomotor (17); Described first servomotor (14), second servomotor (15) and the 4th servomotor (17) are connected through signal with control lever respectively; Described the 3rd servomotor (16) is connected through signal with roller (8), has the manipulator (22) that is used to unclamp with closed on the 5th servomotor (18).
3. third dimension observing and controlling system mechanical arm according to claim 1 is characterized in that: the camera (23) that is used for remote reviewing control also is installed on the described base (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201181250U CN202480102U (en) | 2012-03-27 | 2012-03-27 | Three-dimensional sensing and controlling mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201181250U CN202480102U (en) | 2012-03-27 | 2012-03-27 | Three-dimensional sensing and controlling mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN202480102U true CN202480102U (en) | 2012-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201181250U Expired - Fee Related CN202480102U (en) | 2012-03-27 | 2012-03-27 | Three-dimensional sensing and controlling mechanical arm |
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| CN (1) | CN202480102U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827487A (en) * | 2015-05-14 | 2015-08-12 | 湖北航天技术研究院总体设计所 | Deformable space motion arm |
| CN105943163A (en) * | 2016-06-27 | 2016-09-21 | 重庆金山科技（集团）有限公司 | Minimally invasive surgery robot and control device thereof |
| CN106003061A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Control system for light-load three-core constant-velocity joint robot |
| CN106003060A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Wireless-transmitting dual-core constant-velocity control system for joint robot for teaching |
| CN106003030A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core constant-velocity control system for joint robot for teaching |
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
| CN107765602A (en) * | 2017-11-23 | 2018-03-06 | 纳博特南京科技有限公司 | A kind of man-machine collaboration automatically analyzes detection means and its method |
| CN109230487A (en) * | 2018-09-10 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of shipping robot |
-
2012
- 2012-03-27 CN CN2012201181250U patent/CN202480102U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827487A (en) * | 2015-05-14 | 2015-08-12 | 湖北航天技术研究院总体设计所 | Deformable space motion arm |
| CN104827487B (en) * | 2015-05-14 | 2016-06-22 | 湖北航天技术研究院总体设计所 | A kind of deformable spatial operation arm |
| CN106003061A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Control system for light-load three-core constant-velocity joint robot |
| CN106003060A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Wireless-transmitting dual-core constant-velocity control system for joint robot for teaching |
| CN106003030A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core constant-velocity control system for joint robot for teaching |
| CN106003061B (en) * | 2016-06-13 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of three core constant speed articulated robot control systems of underloading |
| CN106003060B (en) * | 2016-06-13 | 2018-11-16 | 江苏若博机器人科技有限公司 | A kind of teaching wireless transmission double-core constant speed articulated robot control system |
| CN105943163A (en) * | 2016-06-27 | 2016-09-21 | 重庆金山科技（集团）有限公司 | Minimally invasive surgery robot and control device thereof |
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
| CN107765602A (en) * | 2017-11-23 | 2018-03-06 | 纳博特南京科技有限公司 | A kind of man-machine collaboration automatically analyzes detection means and its method |
| CN109230487A (en) * | 2018-09-10 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of shipping robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20140327 |