CN220074702U

CN220074702U - Somatosensory bionic mechanical electric circuit

Info

Publication number: CN220074702U
Application number: CN202222568303.6U
Authority: CN
Inventors: 李燕; 尹倩; 周鑫; 曾永辉; 石鹏程; 刘原廷
Original assignee: Hunan University of Science and Technology
Current assignee: Hunan University of Science and Technology
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-11-24
Anticipated expiration: 2032-09-27

Abstract

The utility model discloses a somatosensory bionic manipulator circuit which takes an STM32F103RCT6 singlechip as a main controller and comprises elements such as a flex4.5 bending sensor, an MPU6050 motion attitude sensor, a QFS2520 digital steering engine and the like. The design steps comprise: a main controller STM32F103RCT6 circuit; slave controller STM32F103RCT6 circuit; five-finger attitude sensor module circuit; a back of hand and arm gesture sensor module circuit; a digital steering engine module circuit; the man-machine interaction module is a circuit; a man-machine interaction module II circuit; a wireless communication module three circuit; a wireless communication module four circuit; a power supply module nine circuit; a power module tenth circuit; the structure sense bionic manipulator circuit can realize the functions of synchronous control, dangerous area detection, accurate operation and the like.

Description

Somatosensory bionic mechanical electric circuit

Technical Field

The utility model relates to the technical field of bionic machinery, in particular to a somatosensory bionic manipulator circuit.

Background

The manipulator is developed in the mechanized and automatic generation process, and is an automatic operation device for carrying objects or operating tools by simulating certain actions of a human hand; the manipulator improves the labor condition, avoids personal accidents and improves the production efficiency; however, the existing manipulator can only perform certain actions with low precision, which are preset, so when the situation that the response with higher precision is needed to be made according to the actual situation is encountered in severe working environments such as certain high temperature, high pressure, explosiveness, radioactivity and the like, the existing manipulator can not make corresponding, timely and accurate actions according to the actual situation, and the requirements of people on good life can not be met.

Disclosure of Invention

In order to solve the technical defects, the utility model provides a somatosensory bionic manipulator circuit.

The technical scheme adopted for solving the technical defects is as follows: the motion sensing bionic manipulator circuit for simulating the arm motion of an operator in real time is high in flexibility, high in accuracy and capable of repeatedly operating, takes an STM32F103RCT6 singlechip as a main controller, and comprises elements such as a flex4.5 bending sensor, an MPU6050 motion gesture sensor, a QFS2520 digital steering engine and the like; the circuit comprises a main controller STM32F103RCT6 circuit; slave controller STM32F103RCT6 circuit; five-finger attitude sensor module circuit; a back of hand and arm gesture sensor module circuit; a digital steering engine module circuit; the man-machine interaction module is a circuit; a man-machine interaction module II circuit; a wireless communication module three circuit; a wireless communication module four circuit; a power supply module nine circuit; and a power module.

The output ends of the five-finger gesture sensor module, the back of hand and the arm gesture module are connected to the input end of the master controller STM32F103RCT6 singlechip; the output end of the master controller STM32F103RCT6 singlechip is connected to the input end of the man-machine interaction module I; the output end of the slave controller STM32F103RCT6 singlechip is connected to the input ends of the digital steering engine module and the man-machine interaction module II; and the third wireless communication module and the fourth wireless communication module are respectively connected with the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip in a bidirectional manner.

The five-finger attitude sensor module circuit comprises flex4.5 bending sensors F1, F2, F3, F4 and F5; DO pins of the flex4.5 bending sensors F1, F2, F3, F4 and F5 are respectively connected with PA8, PA9, PA10, PA11 and PA12 pins of the master controller STM32F103RCT6 singlechip; the flex4.5 bending sensors F1, F2, F3, F4, F5 are used for collecting five-finger gesture data.

The back of hand and arm gesture sensor module circuit comprises MPU6050 motion gesture sensors M1, M2 and M3; the SCL pin of the MPU6050 motion gesture sensor M1 is connected with the PB6 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R12; the SDA pin of the MPU6050 motion attitude sensor M1 is connected with the PB7 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R11; the SCL pin of the MPU6050 motion gesture sensor M2 is connected with the PB10 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R10; the SDA pin of the MPU6050 motion attitude sensor M2 is connected with the PB11 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R9; the SCL pin of the MPU6050 motion gesture sensor M3 is connected with the PB10 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R8; the SDA pin of the MPU6050 motion attitude sensor M3 is connected with the PB11 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R7; the AD0 pins of the MPU6050 motion gesture sensors M1 and M2 are respectively connected with a power supply; the AD0 pin of the MPU6050 motion gesture sensor M3 is connected with the ground GND; the other ends of the resistors R7, R8, R9, R10, R11 and R12 are respectively connected with a power supply; the REGOUT pins of the MPU6050 motion gesture sensors M1, M2 and M3 are respectively connected with one ends of capacitors C21, C19 and C17; the CPOUT pins of the MPU6050 motion gesture sensors M1, M2 and M3 are respectively connected with one ends of capacitors C22, C20 and C18; the other ends of the capacitors C17, C18, C19, C20, C21 and C22 are respectively connected with the ground GND; the MPU6050 moves posture sensors M1, M2, M3 to collect hand back, large arm, small arm posture data, respectively.

The digital steering engine module circuit comprises QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12; PWM pins of QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12 are respectively connected with pins of PC6, PC7, PC8, PC9, PA8, PA9, PA10, PA11, PA12, PA15, PC10 and PC11 of the slave controller STM32F103RCT6 singlechip; the QFS2025 digital steering engine is used for rotating at a corresponding angle.

The human-computer interaction module one circuit comprises a SYN6288A voice broadcasting device; a HORN power amplifier interface; a status display eleven; the man-machine interaction module II circuit comprises a status display twelve; the RXD and TXD pins of the SYN6288A voice broadcasting device are respectively connected with the PC12 and PD2 pins of the master controller STM32F103RCT6 singlechip; the SPEAKER and SPEAKER-pins of the SYN6288A voice broadcasting device are respectively connected with the SPEAK and SPEAK-pins of the HORN power amplification interface; the SYN6288A voice broadcasting device is used for broadcasting the state of the somatosensory bionic circuit; the status displays eleven and twelve respectively comprise three-color integrated light emitting diodes D2 and D8; the R, G, B ends of the three-color integrated light emitting diodes D2 and D8 are respectively connected with one ends of resistors R17, R16 and R15 and resistors R28, R27 and R26, and the other ends are respectively connected with a power supply; and the state displays eleven and twelve are used for displaying the state information of the somatosensory bionic circuit.

The wireless communication module three circuits comprise a WiFi controller five circuit and a Bluetooth controller seven circuit; the wireless communication module four circuits comprise a WiFi controller six circuit and a Bluetooth controller eight circuit; the five and six circuits of the WiFi controller comprise GT-24 transceivers G1 and G2 respectively; the CE, CSN, SCQ, MOSI, MISO pins of the GT-24 transceivers G1 and G2 are respectively connected with the PA4, PC4, PA5, PA7 and PA6 pins of the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip; seven and eight circuits of the Bluetooth controller respectively comprise HC-05 serial port communicators H1 and H2; the RXD and TXD pins of the HC-05 serial port communicators H1 and H2 are respectively connected with the PA2 and PA3 pins of the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip; and the third and fourth wireless communication modules are used for data communication of the somatosensory bionic circuit.

Drawings

Fig. 1 is a functional block diagram.

Fig. 2 is a circuit diagram of the minimum system of the STM32F103RCT6 single-chip microcomputer.

Fig. 3 is a circuit diagram of a five-finger attitude sensor module.

Fig. 4 is a circuit diagram of a back of hand and arm posture sensor module.

Fig. 5 is a circuit diagram of a digital steering engine module.

Fig. 6 is a circuit diagram of a man-machine interaction module.

Fig. 7 is a circuit diagram of a man-machine interaction module.

Fig. 8 is a three-circuit diagram of a wireless communication module.

Fig. 9 is a circuit diagram of a wireless communication module.

Fig. 10 is a circuit diagram of a power module nine.

Fig. 11 is a circuit diagram of a power module.

Fig. 12 is a schematic diagram of the main controller side.

Fig. 13 is a schematic diagram of the slave controller side.

Detailed Description

The utility model is further described below with reference to the drawings and examples.

As shown in fig. 1, a functional block diagram; the functional block diagram comprises a main controller STM32F103RCT6 module; a slave controller STM32F103RCT6 module; a five-finger attitude sensor module; a back of hand and arm gesture sensor module; a digital steering engine module; a man-machine interaction module I; a man-machine interaction module II; a third wireless communication module; a wireless communication module IV; a power supply module nine; a power module ten; the five-finger gesture sensor module and the back of hand and arm gesture module respectively acquire five-finger gesture data, back of hand and arm gesture data, the acquired gesture data are processed by the main controller, and the processed data are transmitted to the slave control end through the communication module; the digital steering engine module receives the gesture data processed by the slave controller and then carries out corresponding angle rotation, so as to drive the manipulator to carry out motion completely consistent with the human hand; the man-machine interaction module I and the man-machine interaction module II can display or broadcast various information of the somatosensory bionic circuit in real time.

As shown in fig. 2, a minimum system circuit diagram of the controller STM32F103RCT6 singlechip is shown; the minimum system circuit of the controller STM32F103RCT6 singlechip is composed of an STM32F103RCT6 singlechip; a power supply; a reset circuit; a clock circuit; a system start configuration circuit; downloading a debugging circuit; the reset circuit comprises a reset key S2; power vcc_3.3; a capacitor C23; resistor R19 and ground GND; one end of the RESET key S2 is connected with one end of the capacitor C23 and the ground GND, and the other end of the RESET key S is connected with one end of the capacitor C23, one end of the resistor R19 and a RESET pin of the STM32F103RCT6 singlechip; one end of the capacitor C23 is connected with the ground GND and one end of the RESET key S2, and the other end of the capacitor C is connected with one end of the resistor R19, one end of the RESET key S2 and a RESET pin of the STM32F103RCT6 singlechip; one end of a resistor R19 is connected with one end of a capacitor C23, one end of a RESET key S2 and a RESET pin of the STM32F103RCT6 singlechip, and the other end of the resistor R is connected with a power supply VCC_3.3; the clock circuit comprises a crystal oscillator Y1; a crystal oscillator Y2; a capacitor C24; a capacitor C25; a capacitor C26; a capacitor C27; a resistor R22; ground GND; the port 1 of the crystal oscillator Y1 is connected with one end of a capacitor C24 and a PC15 pin of the STM32F103RCT6 singlechip, and the port 2 is connected with one end of the capacitor C25 and a PC14 pin of the STM32F103RCT6 singlechip; the port 2 is connected with one end of a capacitor C26, one end of a resistor R22 and a PD1 pin of the STM32F103RCT6 singlechip, and the port 2 is connected with one end of the capacitor C27, one end of the resistor R22 and a PD0 pin of the STM32F103RCT6 singlechip; one end of a capacitor C24 is connected with a crystal oscillator Y1 port 1 and a PC15 pin of an STM32F103RCT6 singlechip, and the other end of the capacitor C24 is connected with one end of a capacitor C25, one end of a capacitor C26 and one end of a capacitor C27 and a ground GND; one end of a capacitor C25 is connected with a crystal oscillator Y1 port 2 and a PC14 pin of an STM32F103RCT6 singlechip, and one end of the other end of the capacitor C24, C26 and C27 is connected with a ground GND; one end of a capacitor C26 is connected with one end of a resistor R22, a crystal oscillator Y2 port 1 and a PD1 pin of an STM32F103RCT6 singlechip, and the other end of the capacitor C26 is connected with one end of a capacitor C24, one end of a capacitor C25 and one end of a capacitor C27 and a ground GND; one end of a capacitor C27 is connected with one end of a resistor R22, a crystal oscillator Y2 port 2 and a PD0 pin of an STM32F103RCT6 singlechip, and the other end of the capacitor C is connected with one end of a capacitor C24, one end of a capacitor C25 and one end of a capacitor C26 and a ground GND; one end of the resistor R22 is connected with one end of the capacitor C26, the crystal oscillator Y2 port 1 and the PD1 pin of the STM32F103RCT6 singlechip, and the other end of the resistor R22 is connected with one end of the capacitor C27, the crystal oscillator Y2 port 2 and the PD0 pin of the STM32F103RCT6 singlechip; the system configuration circuit comprises a single-pole double-throw switch S4; a single pole double throw switch S7; a resistor R18; a resistor R20; power vcc_3.3; ground GND; the port 1 of the single-pole double-throw switch S4 is connected with a power supply VCC_3.3, the port 2 is connected with one end of a resistor R18, and the port 3 is connected with the ground GND; the port 1 of the single-pole double-throw switch S7 is connected with a power supply VCC_3.3, the port 2 is connected with one end of a resistor R20, and the port 3 is connected with the ground GND; one end of the resistor R18 is connected with a BOOT1 pin of the STM32F103RCT6 singlechip, and the other end of the resistor R18 is connected with the S4 port 2 of the single-pole double-throw switch; one end of the resistor R20 is connected with a BOOT0 pin of the STM32F103RCT6 singlechip, and the other end of the resistor R20 is connected with the S7 port 2 of the single-pole double-throw switch; the download debugging circuit comprises a Micro-USB interface USB1; power vcc_3.3; ground GND; the+, D-, D+ and-pins of the Micro-USB interface USB1 are respectively connected with the power supply VCC_3.3, the PA13 pin of the STM32F103RCT6 singlechip and the PA14 pin of the STM32F103RCT6 singlechip, and the ground GND; the somatosensory bionic mechanical hand circuit comprises a master controller STM32F103RCT6 and a slave controller STM32F103RCT6.

As shown in fig. 3, a five-finger attitude sensor module circuit diagram; the five-finger attitude sensor module comprises flex4.5 bending sensors F1, F2, F3, F4 and F5; power vcc_3.3; ground GND; the VCC and GND pins of flex4.5 bending sensors F1, F2, F3, F4 and F5 are respectively connected with a power supply VCC_3.3 and a ground GND; flex4.5 curvature sensors F1, F2, F3, F4, F5 are attached to thumb, index finger, middle finger, ring finger, little finger, respectively, to convert finger curvature into high and low level changes, thereby collecting finger gesture data.

As shown in fig. 4, a circuit diagram of the back of hand and arm posture sensor module; the back of hand and arm gesture sensor module comprises MPU6050 motion gesture sensors M1, M2 and M3; resistors R7, R8, R9, R10, R11, R12; capacitances C17, C18, C19, C20, C21; power vcc_3.3; ground GND; the VLOGIC, VDD, GND pins of the MPU6050 motion gesture sensors M1, M2 and M3 are respectively connected with a power supply VCC_3.3, a power supply VCC_3.3 and a ground GND, the AD0 pins of the MPU6050 motion gesture sensors M1 and M2 are respectively connected with the power supply VCC_3.3, and the AD0 pin of the MPU6050 motion gesture sensor M3 is connected with the ground GND; one end of a resistor R12 is connected with a PB6 pin of the master controller STM32F103RCT6 singlechip and an SCL pin of an MPU6050 motion gesture sensor M1, one end of a resistor R11 is connected with a PB7 pin of the master controller STM32F103RCT6 singlechip and an SDA pin of the MPU6050 motion gesture sensor M1, one end of a resistor R10 is connected with a PB10 pin of the master controller STM32F103RCT6 singlechip and an SCL pin of an MPU6050 motion gesture sensor M2, one end of a resistor R9 is connected with a PB11 pin of the master controller STM32F103RCT6 singlechip and an SDA pin of the MPU6050 motion gesture sensor M2, one end of a resistor R8 is connected with a PB10 pin of the master controller STM32F103RCT6 singlechip and an SCL pin of the MPU6050 motion gesture sensor M3, and the other ends of resistors R7, R8, R9, R10 and R11 are respectively connected with a VCC 3; one end of each capacitor C21, C19 and C17 is connected with a REGOUT pin of each MPU6050 motion gesture sensor M1, M2 and M3, one end of each capacitor C22, C20 and C18 is connected with a CPOUT pin of each MPU6050 motion gesture sensor M1, M2 and M3, and the other ends of each capacitor C17, C18, C19, C20 and C21 are connected with the ground GND; MPU6050 motion gesture sensors M1, M2 and M3 are respectively arranged at the centers of the back of hand, the big arm and the small arm and are used for collecting gesture data of the back of hand, the big arm and the small arm; since the MPU6050 motion posture sensor address can be determined by an external circuit, the MPU6050 motion posture sensors M2, M3 can be hung on the same IIC sub-bus, and only the device addresses are different.

As shown in fig. 5, a digital steering engine module circuit diagram; the digital steering engine module comprises QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12; power vcc_5.0; ground GND; QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12 are respectively connected with ground GND and a power supply VCC_5.0 through GND and VCC pins; the QFS2025 digital steering engines are provided with anti-blocking functions, and the 12 digital steering engines receive data information from the controller to rotate at corresponding angles, so that the mechanical arm is controlled to make actions consistent with hands.

As shown in fig. 6, a circuit diagram of the man-machine interaction module is shown; the human-computer interaction module I circuit comprises a three-color integrated light emitting diode D2; a light emitting diode D3; a light emitting diode D4; a resistor R13; a resistor R14; a resistor R15; a resistor R16; a resistor R17; SYN6288A voice module; a HORN power amplifier interface; power vcc_3.3; ground GND; the R, G, B end of the three-color integrated light-emitting diode D2 is respectively connected with one ends of the resistors R17, R16 and R15, and the other ends of the three-color integrated light-emitting diode D2 are respectively connected with one end of the light-emitting diode D3 and the power supply VCC_3.3; one end of the light-emitting diode D3 is respectively connected with one end of the power supply VCC_3.3 and one end of the three-color integrated light-emitting diode D2, and the other end of the light-emitting diode D3 is respectively connected with one end of the resistor R14; one end of the light-emitting diode D4 is respectively connected with the power supply VIN, and the other end is respectively connected with the resistor R13; one ends of the resistors R17, R16 and R15 are respectively connected with pins PC6, PC7 and PC8 of the singlechip of the STM32F103RCT6 of the main controller, and the other ends of the resistors are respectively connected with the R, G, B end of the three-color integrated light emitting diode D2; one ends of the resistors R13 and R14 are respectively connected with one ends of the light emitting diodes D4 and D3, and the other ends of the resistors are respectively connected with the ground GND; the three-color integrated light emitting diode D2 displays various colors through different brightness of red, green and blue to display the running state of the main control end circuit; the light emitting diodes D3 and D4 are nine-circuit power supply indicator lamps of the power supply module; the VCC and GND pins of the SYN6288A voice module are respectively connected with a power supply VCC_3.3 and a ground GND; the SPEAK and SPEAK+ pins of the HORN power amplifier interface are respectively connected with the SPEAKER and SPEAKER+ pins of the SYN6288A voice module; the SYN6288A voice module is used for broadcasting the state of the somatosensory bionic circuit.

As shown in fig. 7, a second circuit diagram of the man-machine interaction module; the second circuit of the man-machine interaction module comprises a three-color integrated light-emitting diode D8; a light emitting diode D7; a light emitting diode D6; a resistor R28; a resistor R27; a resistor R26; a resistor R25; a resistor R24; the R, G, B end of the three-color integrated light-emitting diode D8 is respectively connected with one ends of the resistors R28, R27 and R26, and the other ends of the three-color integrated light-emitting diode D8 are respectively connected with one end of the light-emitting diode D7 and the power supply VCC_3.3; one end of the light-emitting diode D7 is respectively connected with one end of the power supply VCC_3.3 and one end of the three-color integrated light-emitting diode D8, and the other end of the light-emitting diode D7 is respectively connected with one end of the resistor R25; one end of the light-emitting diode D6 is respectively connected with the power supply VIN, and the other end is respectively connected with the resistor R24; one ends of the resistors R28, R27 and R26 are respectively connected with the PB7, PB8 and PB9 pins of the slave controller STM32F103RCT6 singlechip, and the other ends of the resistors are respectively connected with the R, G, B end of the three-color integrated light emitting diode D8; one ends of the resistors R24 and R25 are respectively connected with one ends of the light emitting diodes D6 and D7, and the other ends of the resistors are respectively connected with the ground GND; the three-color integrated light emitting diode D8 displays various colors through different brightness of red, green and blue to display the running state of the slave control end circuit; the light emitting diodes D6 and D7 are ten-circuit power supply indicator lamps of the slave power supply module.

As shown in fig. 8, a wireless communication module three-circuit diagram; the wireless communication module III is formed by a WiFi module five circuit; seven circuits of the Bluetooth module are formed; the WiFi module five circuit comprises a GT-24 module G1; power vcc_3.3; ground GND; the seven circuits of the Bluetooth module comprise an HC-05 module H1; power vcc_5.0; ground GND; the VCC and GND pins of the GT-24 module G1 are respectively connected with a power supply VCC_3.3 and a ground GND; and the wireless communication module III is used for data communication of the somatosensory bionic circuit.

As shown in fig. 9, a wireless communication module four-circuit diagram; the wireless communication module IV is composed of a WiFi module six circuit; eight circuits of the Bluetooth module; the WiFi module six circuit comprises a GT-24 module G2; power vcc_3.3; ground GND; the Bluetooth module eight circuit comprises an HC-05 module H2; power vcc_5.0; ground GND; the VCC and GND pins of the GT-24 module G2 are respectively connected with a power supply VCC_3.3 and a ground GND; and the wireless communication module is used for data communication of the somatosensory bionic circuit.

As shown in fig. 10, a power supply module nine circuit diagram; the power supply module nine circuit comprises an SX1308 chip U1; SPX5205 chip U2; XC6206 chip U3; a battery BT1; a single pole single throw switch S1; a resistor R1; a resistor R2; a resistor R3; a resistor R4; a resistor R5; a resistor R6; a capacitor C1; a capacitor C2; a capacitor C3; a capacitor C4; a capacitor C5; a capacitor C6; a capacitor C7; a capacitor C8; a capacitor C9; a capacitor C10; a capacitor C11; a capacitor C12; a capacitor C13; a capacitor C14; a capacitor C15; a capacitor C16; a diode D1; an inductance L1; ground GND; one end of the battery BT1 is connected with the ground GND, and the other end of the battery BT1 is connected with one end of the single-pole single-throw switch S1; one end of the single-pole single-throw switch S1 is connected with one end of the battery BT1, and the other end of the single-pole single-throw switch S1 is connected with the power supply VIN; the SW pin of the SX1308 chip U1 is connected with one end of the inductor L1 and one end of the diode D1, and the GND pin of the SX1308 chip U1 is connected with the ground GND; the FB pin of the SX1308 chip U1 is connected with one end of a resistor R1, a resistor R2 and a capacitor C4, the VCC pin of the SX1308 chip U1 is connected with one end of a resistor R3, a capacitor C15, an inductor L1 and a power supply VIN, and the EN pin of the SX1308 chip U1 is connected with one end of the resistor R3; one end of the resistor R1 is connected with one end of the diode D1, the capacitor C1 and the capacitor C4 and the power supply VCC_UP, and the other end of the resistor R2 and one end of the capacitor C4 are connected with the FB pin of the SX1308 chip U1; one end of a resistor R2 is connected with a capacitor C4, one end of a resistor R1 and the FB pin of the SX1308 chip U1, and the other end of the resistor R2 is connected with the ground GND; one end of the resistor R3 is connected with the EN pin of the SX1308 chip U1, and the other end of the resistor R3 is connected with one end of the capacitor C15, one end of the inductor L1, the EN pin of the SX1308 chip U1 and the power supply VIN; one end of the capacitor C1 is connected with the diode D1, the resistor R1 and one end of the capacitor C4, and the other end of the capacitor C4 is connected with the ground GND; one end of a capacitor C4 is connected with a diode D1, a resistor R1, one end of the capacitor C1 and a power supply VCC_UP, and the other end of the capacitor C4 is connected with the resistor R1, one end of a resistor R2 and an FB pin of an SX1308 chip U1; one end of a capacitor C15 is connected with one end of a resistor R3, one end of an inductor L1, a VCC pin of a SX1308 chip U1 and a power supply VIN, and the other end of the capacitor C is connected with the ground GND; one end of the diode D1 is connected with one end of the resistor R1, the capacitor C1 and the capacitor C4 and the power supply VCC_UP, and the other end of the diode D1 is connected with one end of the inductor L1 and the SW pin of the SX1308 chip U1; one end of the inductor L1 is connected with one end of the diode D1 and the SW pin of the SX1308 chip U1, and the other end of the inductor L1 is connected with one end of the resistor R3, one end of the capacitor C15 and the VCC pin of the SX1308 chip U1; the VIN, GND, CE pin of the SPX5205 chip U2 is respectively connected with a power supply VCC_UP, a ground GND and a power supply VCC_UP, the OUT pin of the SPX5205 chip U2 is connected with one end of a capacitor C12, one end of a capacitor C14 and the power supply VCC_5.0, and the NC pin of the SPX5205 chip U2 is connected with one end of the capacitor C12, one end of the capacitor C14 and the ground GND; one end of the capacitor C12 is connected with one end of the capacitor C14, the OUT pin of the SPX5205 chip U2 and the power supply VCC_5.0, and the other end of the capacitor C is connected with the NC pin of the SPX5205 chip U2, one end of the capacitor C14 and the ground GND; one end of a capacitor C14 is connected with one end of a capacitor C12, the OUT pin of the SPX5205 chip U2 and a power supply VCC_5.0, and the other end of the capacitor C is connected with the NC pin of the SPX5205 chip U2, one end of the capacitor C12 and a ground GND; the VIN pin of the XC6206 chip U3 is connected with a power supply VCC_5.0, the VOUT pin of the XC6206 chip U3 is connected with a capacitor C11, one end of a capacitor C13 and the power supply VCC_3.3, and the VSS pin of the XC6206 chip U3 is connected with the capacitor C11, one end of the capacitor C13 and the ground GND; one end of the capacitor C11 is connected with one end of the capacitor C13, the VOUT pin of the XC6206 chip U3 and the power supply VCC_3.3, and the other end of the capacitor C11 is connected with one end of the capacitor C13, the VSS pin of the XC6206 chip U3 and the ground GND; one end of the capacitor C13 is connected with one end of the capacitor C11, the VOUT pin of the XC6206 chip U3 and the power supply VCC_3.3, and the other end of the capacitor C13 is connected with the VSS pin of the XC6206 chip U3 and the ground GND; one end of the capacitor C3, the capacitor C6, the capacitor C8 and the capacitor C10 are connected in parallel and then connected with the power supply VCC_5.0, and the other end of the capacitor C is connected with the ground GND; one end of the capacitor C2, the capacitor C5, the capacitor C7 and the capacitor C9 are connected in parallel and then connected with the power supply VCC_3.3, and the other end of the capacitor C is connected with the ground GND; one end of the resistor R4 is connected with one end of the resistor R5 and one end of the resistor R6, and the other end of the resistor R is connected with one end of the capacitor C16 and the ground GND; one end of the resistor R5 is connected with one end of the resistor R4 and one end of the resistor R6, and the other end of the resistor R5 is connected with one end of the capacitor C16 and a PA0 pin of the master controller STM32F103RCT6 singlechip; one end of the resistor R6 is connected with one end of the resistor R4 and one end of the resistor R5, and the other end of the resistor R6 is connected with the power supply VIN; one end of a capacitor C16 is connected with one end of a resistor R4 and the ground GND, and the other end of the capacitor C is connected with one end of a resistor R5 and a PA0 pin of a master controller STM32F103RCT6 singlechip; the nine circuits of the power supply module adopt lithium batteries BT1 with rated voltage of 3.7V, firstly, the voltage of 3.7V is boosted to about 5.0V (slightly higher), and then, 5.0V and 3.3V voltage stabilizing chips are respectively used for reducing the voltage and then the main control end of the somatosensory bionic circuit is powered.

As shown in fig. 11, a power module ten-circuit diagram; the power supply module ten circuits comprise an XL-4015 chip U5; XC6206 chip U6; a battery BT2; a single pole single throw switch S3; a resistor R29; a resistor R30; a resistor R31; a resistor R32; a resistor R33; a resistor R34; a resistor R36; a resistor R40; a capacitor C28; a capacitor C29; a capacitor C30; a capacitor C31; a capacitor C32; a capacitor C33; a capacitor C34; a capacitor C35; a capacitor C36; a capacitor C37; a capacitor C38; a capacitor C39; a capacitor C40; a capacitor C41; a capacitor C64; a capacitor C65; a diode D9; an inductance L2; ground GND; one end of the battery BT2 is connected with the ground GND, and the other end of the battery BT2 is connected with one end of the single-pole single-throw switch S3; one end of the single-pole single-throw switch S3 is connected with one end of the battery BT2, and the other end of the single-pole single-throw switch S is connected with the power supply VIN; the GND pin of the XL-4015 chip U5 is connected with the ground GND, the FB pin of the XL-4015 chip U5 is connected with one end of a capacitor C29 and one end of a capacitor C30, the SW pin of the XL-4015 chip U5 is connected with one end of a diode D9 and one end of an inductor L2, and the VIN pin and the VC pin of the XL-4015 chip U5 are respectively connected with one end of a capacitor C28; one end of a diode D9 is connected with an SW pin of the XL-4015 chip U5 and one end of an inductor L2, and the other end of the diode D is connected with one end of a capacitor C31, one end of a capacitor C37, one end of a resistor R29 and the ground GND; one end of the inductor L2 is connected with the SW pin of the XL-4015 chip U5 and one end of the diode D9, and the other end of the inductor L2 is connected with one end of the capacitor C31, one end of the capacitor C37, one end of the resistor R30 and the power supply VCC_5.0; one end of a capacitor C31 is connected with one end of an inductor L2, one end of a capacitor C37, one end of a resistor R30 and a power supply VCC_5.0, and the other end of the capacitor C31 is connected with one end of a diode D9, one end of the capacitor C37, one end of a resistor R29 and a ground GND; one end of a capacitor C37 is connected with one end of an inductor L2, one end of a capacitor C31, one end of a resistor R30 and a power supply VCC_5.0, and the other end of the capacitor C is connected with one end of a diode D9, one end of the capacitor C31, one end of a resistor R29 and a ground GND; one end of a resistor R29 is connected with one end of a diode D9, one end of a capacitor C31, one end of a capacitor C37 and the ground GND, and the other end of the resistor R29 is connected with one end of a resistor R30 and the FB pin of an XL-4015 chip U5; one end of the resistor R30 is connected with one end of the inductor L2, one end of the capacitor C31, one end of the capacitor C37 and the power supply VCC_5.0, and the other end of the resistor R30 is connected with the FB pin of the resistor R29 and the XL-4015 chip U5; a single pole single throw switch S; one end is connected with the power supply VCC_5.0, and the other end is connected with the power supply VCC_5.0; the VIN pin of the XC6206 chip U6 is connected with a power supply VCC_5.0, the VOUT pin of the XC6206 chip U6 is connected with one end of a capacitor C64, one end of a capacitor C65 and a power supply VCC_3.3, and the VSS pin of the XC6206 chip U6 is connected with one end of the capacitor C64, one end of the capacitor C65 and the ground GND; one end of a capacitor C64 is connected with the VOUT pin of the XC6206 chip U6, one end of a capacitor C65 and a power supply VCC_3.3, and the other end of the capacitor C64 is connected with the VSS pin of the XC6206 chip U6, one end of the capacitor C65 and a ground GND; one end of a capacitor C65 is connected with the VOUT pin of the XC6206 chip U6, one end of a capacitor C64 and a power supply VCC_3.3, and the other end of the capacitor C65 is connected with the VSS pin of the XC6206 chip U6, one end of the capacitor C64 and a ground GND; one end of the capacitor C30, the capacitor C33, the capacitor C35 and the capacitor C39 are connected in parallel and then connected with the power supply VCC_5.0, and the other end of the capacitor C is connected with the ground GND; one end of the resistor R29, the capacitor C32, the capacitor C34 and the capacitor C38 are connected in parallel and then connected with the power supply VCC_3.3, and the other end of the resistor is connected with the ground GND; one end of the resistor R31 is connected with one end of the resistor R32 and one end of the resistor R33, and the other end of the resistor R is connected with one end of the capacitor C41 and the ground GND; one end of the resistor R32 is connected with one end of the resistor R31 and one end of the resistor R33, and the other end of the resistor R is connected with the power supply VIN; one end of the capacitor C41 is connected with a PA0 pin of the slave controller STM32F103RCT6 singlechip; one end of the resistor R33 is connected with one end of the resistor R31 and one end of the resistor R32, and the other end of the resistor R33 is connected with one end of the capacitor C41 and a PA0 pin of the slave controller STM32F103RCT6 singlechip; one end of a capacitor C41 is connected with one end of a resistor R31 and the ground GND, and the other end of the capacitor C41 is connected with one end of a resistor R33 and the PA0 pin of the slave controller STM32F103RCT6 singlechip; one end of the capacitor C36 and one end of the capacitor C40 are connected in parallel and then connected with the power supply VIN, and the other end of the capacitor C is connected with the ground GND; the power module ten circuits adopt lithium batteries BT2 with the model number of 11.1V-25C-3S, and the voltage is reduced through a 5.0V voltage stabilizing chip and a 3.3V voltage stabilizing chip to supply power to the somatosensory bionic circuit from a control end.

As shown in fig. 12, a main control end schematic diagram; the main control end schematic diagram comprises a main controller STM32F103RCT6 circuit; five-finger attitude sensor module circuit; a back of hand and arm gesture sensor module circuit; the man-machine interaction module is a circuit; five circuits of WiFi module; seven circuits of the Bluetooth module; and a power supply module nine circuits.

As shown in fig. 13, from the control side schematic; the slave control end schematic diagram comprises a slave controller STM32F103RCT6 circuit; a digital steering engine module circuit; a man-machine interaction module II circuit; six circuits of the WiFi module; bluetooth module eight circuits; and a power module.

Claims

1. A somatosensory bionic manipulator circuit is characterized in that: the circuit comprises a main controller STM32F103RCT6 circuit; slave controller STM32F103RCT6 circuit; five-finger attitude sensor module circuit; a back of hand and arm gesture sensor module circuit; a digital steering engine module circuit; the man-machine interaction module is a circuit; a man-machine interaction module II circuit; a wireless communication module three circuit; a wireless communication module four circuit; a power supply module nine circuit; a power module tenth circuit; the output ends of the five-finger gesture sensor module, the back of hand and the arm gesture module are connected to the input end of the master controller STM32F103RCT6 singlechip; the output end of the master controller STM32F103RCT6 singlechip is connected to the input end of the man-machine interaction module I; the output end of the slave controller STM32F103RCT6 singlechip is connected to the input ends of the digital steering engine module and the man-machine interaction module II; and the third wireless communication module and the fourth wireless communication module are respectively connected with the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip in a bidirectional manner.

2. The somatosensory bionic manipulator circuit according to claim 1, wherein: the five-finger attitude sensor module circuit comprises flex4.5 bending sensors F1, F2, F3, F4 and F5; DO pins of the flex4.5 bending sensors F1, F2, F3, F4 and F5 are respectively connected with PA8, PA9, PA10, PA11 and PA12 pins of the master controller STM32F103RCT6 singlechip; the flex4.5 bending sensors F1, F2, F3, F4, F5 are used for collecting five-finger gesture data.

3. The somatosensory bionic manipulator circuit according to claim 1, wherein: the back of hand and arm gesture sensor module circuit comprises MPU6050 motion gesture sensors M1, M2 and M3; the SCL pin of the MPU6050 motion gesture sensor M1 is connected with the PB6 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R12; the SDA pin of the MPU6050 motion attitude sensor M1 is connected with the PB7 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R11; the SCL pin of the MPU6050 motion gesture sensor M2 is connected with the PB10 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R10; the SDA pin of the MPU6050 motion attitude sensor M2 is connected with the PB11 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R9; the SCL pin of the MPU6050 motion gesture sensor M3 is connected with the PB10 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R8; the SDA pin of the MPU6050 motion attitude sensor M3 is connected with the PB11 pin of the master controller STM32F103RCT6 singlechip and one end of a resistor R7; the AD0 pins of the MPU6050 motion gesture sensors M1 and M2 are respectively connected with a power supply; the AD0 pin of the MPU6050 motion gesture sensor M3 is connected with the ground GND; the other ends of the resistors R7, R8, R9, R10, R11 and R12 are respectively connected with a power supply; the REGOUT pins of the MPU6050 motion gesture sensors M1, M2 and M3 are respectively connected with one ends of capacitors C21, C19 and C17; the CPOUT pins of the MPU6050 motion gesture sensors M1, M2 and M3 are respectively connected with one ends of capacitors C22, C20 and C18; the other ends of the capacitors C17, C18, C19, C20, C21 and C22 are respectively connected with the ground GND; the MPU6050 moves posture sensors M1, M2, M3 to collect hand back, large arm, small arm posture data, respectively.

4. The somatosensory bionic manipulator circuit according to claim 1, wherein: the digital steering engine module circuit comprises QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12; PWM pins of QFS2025 digital steering engine interfaces Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8, Q9, Q10, Q11 and Q12 are respectively connected with pins of PC6, PC7, PC8, PC9, PA8, PA9, PA10, PA11, PA12, PA15, PC10 and PC11 of the slave controller STM32F103RCT6 singlechip, and the QFS2025 digital steering engine is used for rotating at corresponding angles.

5. The somatosensory bionic manipulator circuit according to claim 1, wherein: the human-computer interaction module one circuit comprises a SYN6288A voice broadcasting device; a HORN power amplifier interface; a status display eleven; the man-machine interaction module II circuit comprises a status display twelve; the RXD and TXD pins of the SYN6288A voice broadcasting device are respectively connected with the PC12 and PD2 pins of the master controller STM32F103RCT6 singlechip; the SPEAKER and SPEAKER-pins of the SYN6288A voice broadcasting device are respectively connected with the SPEAK and SPEAK-pins of the HORN power amplification interface; the SYN6288A voice broadcasting device is used for broadcasting the state of the somatosensory bionic circuit; the status displays eleven and twelve respectively comprise three-color integrated light emitting diodes D2 and D8; the R, G, B ends of the three-color integrated light emitting diodes D2 and D8 are respectively connected with one ends of resistors R17, R16 and R15 and resistors R28, R27 and R26, and the other ends are respectively connected with a power supply; and the state displays eleven and twelve are used for displaying the state information of the somatosensory bionic circuit.

6. The somatosensory bionic manipulator circuit according to claim 1, wherein: the wireless communication module three circuits comprise a WiFi controller five circuit and a Bluetooth controller seven circuit; the wireless communication module four circuits comprise a WiFi controller six circuit and a Bluetooth controller eight circuit; the five and six circuits of the WiFi controller comprise GT-24 transceivers G1 and G2 respectively; the CE, CSN, SCQ, MOSI, MISO pins of the GT-24 transceivers G1 and G2 are respectively connected with the PA4, PC4, PA5, PA7 and PA6 pins of the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip; seven and eight circuits of the Bluetooth controller respectively comprise HC-05 serial port communicators H1 and H2; the RXD and TXD pins of the HC-05 serial port communicators H1 and H2 are respectively connected with the PA2 and PA3 pins of the master controller STM32F103RCT6 singlechip and the slave controller STM32F103RCT6 singlechip; and the third and fourth wireless communication modules are used for data communication of the somatosensory bionic circuit.