Control circuit of mechanical arm of automatic tea making robot

Abstract

The utility model relates to the technical field of automatic tea making robots, and discloses a control circuit of a mechanical arm of an automatic tea making robot, which is simple and reliable in structure and comprises a signal input module (101) for receiving pulse signals, a trigger module (102), a multivibrator module (103) and a master control module (104), the output end of the master control module (104) is connected with one end of each of relays (K1 and K2), and the other end of each of the relays (K1 and K2) is connected with the trigger module (102). The other ends of the relays (K1 and K2) are connected with the output end of the trigger module (102) and are used for receiving a second path of control signal; and when the input clock pulse signal is at a high level, the relays (K1 and K2) are controlled to be conducted so as to control the manipulator to act.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic tea-making robots, and more specifically to a control circuit of a mechanical arm of an automatic tea-making robot. Background Art

[0002] A control system and at least one robotic arm are added to the existing functions of the traditional tea maker, and the tea maker is connected to the IoT cloud platform through a wireless module. Users can operate and control the tea maker on the APP of the mobile device. For example, when the tea maker needs to be controlled, voice can be input or buttons can be pressed on the APP to perform operations such as grabbing tea leaves and pouring water. However, the existing control system includes at least a microcontroller (MCU), a drive module, a detection module, and multiple peripheral circuits (such as step-down and pressure relief). There are many circuit modules that make up the control system, which makes the control system design more complicated and leads to a high production cost of the control system.

[0003] Therefore, how to optimize the circuit structure of the control system to reduce its manufacturing cost has become a technical problem that technical personnel in this field need to solve urgently. Utility Model Content

[0004] The technical problem to be solved by the utility model is that, in view of the defect that the above-mentioned control system in the prior art at least includes a microcontroller (MCU), a driving module, a detection module and multiple peripheral circuits (such as voltage reduction and pressure relief), and the control system has many circuit modules, which makes the control system design more complicated, a control circuit for the mechanical arm of an automatic tea-making robot with a relatively simple structure and reliability is provided.

[0005] The technical solution adopted by the utility model to solve the technical problem is to construct a control circuit of an automatic tea-making robot mechanical arm, which has:

[0006] A signal input module, which is configured in the control circuit and is used to receive a pulse signal input from a previous circuit;

[0007] a trigger module, whose signal input end is connected to the output end of the signal input module, for receiving the pulse signal, flipping the pulse signal, and outputting two control signals;

[0008] a multivibrator module, whose signal input end is coupled to the output end of the trigger module, for receiving a first control signal, oscillating the first control signal, and outputting a clock pulse signal;

[0009] a main control module, whose signal input terminal is coupled to the output terminal of the multivibrator module and is used to receive the clock pulse signal,

[0010] The output end of the main control module is connected to one end of the relay, wherein,

[0011] The other end of the relay is connected to the output end of the trigger module for receiving a second control signal;

[0012] When the input clock pulse signal is at a high level, the relay is controlled to be turned on to control the movement of the robot.

[0013] In some embodiments, the signal input module includes a first diode, a first transistor and a first controller.

[0014] The anode of the first diode is used to receive the pulse signal input by the previous stage circuit;

[0015] The base of the first transistor is connected to the cathode of the first diode.

[0016] The collector of the first transistor is connected to the input terminal of the first controller via a second capacitor.

[0017] The output terminal of the first controller is connected to the signal input terminal of the trigger module,

[0018] The emitter of the first transistor is connected to the common end.

[0019] In some embodiments, the trigger module includes a second controller, wherein a signal input terminal of the second controller is connected to an output terminal of the first controller.

[0020] The output end of the second controller is connected to one end of the relay and the signal input end of the multivibrator module respectively.

[0021] In some embodiments, the multivibrator module includes a third controller, and a signal input terminal of the third controller is connected to an output terminal of the second controller.

[0022] The output end of the third controller is coupled to the signal input end of the main control module.

[0023] In some embodiments, the main control module includes a main controller, a third transistor and a fourth transistor.

[0024] The signal input terminal of the main controller is coupled to the signal output terminal of the third controller,

[0025] The first output terminal of the main controller is connected to the base of the third transistor.

[0026] The second output terminal of the main controller is connected to the base of the fourth transistor.

[0027] The collector of the third transistor is connected to one end of the first relay.

[0028] The collector of the fourth transistor is connected to one end of the second relay,

[0029] The emitters of the third transistor and the fourth transistor are connected to a common end.

[0030] In some implementations, the third transistor and the fourth transistor are selected as NPN transistors.

[0031] In some embodiments, a wireless receiving circuit is further included, whose signal input terminal is communicatively connected to the transmitting terminal of the mobile client for receiving a trigger signal.

[0032] The output end of the wireless receiving circuit is connected to another signal input end of the signal input module.

[0033] In some embodiments, the wireless receiving circuit includes a fourth controller,

[0034] The signal input terminal of the fourth controller is connected to the transmitting terminal of the mobile client for receiving a trigger signal.

[0035] The output end of the fourth controller is connected to another signal input end of the signal input module.

[0036] The control circuit of the automatic tea-making robot arm of the utility model includes a signal input module for receiving pulse signals, a trigger module, a multivibrator module and a main control module, wherein when the input clock pulse signal is at a high level, the relay is controlled to be turned on to control the action of the robot. Compared with the prior art, the PWM pulse signal input by the front-stage circuit is received by the signal input module, and then the clock pulse signal is output after flipping and oscillation processing. The main control module controls the on / off state of the relay according to the level of the clock pulse signal, thereby controlling the action of the robot arm. The circuit module design of the control system of the present design is relatively simple and the control logic is reliable, which can effectively reduce the production cost of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 This is a circuit schematic diagram of an embodiment of a driving circuit provided by the utility model;

[0039] Figure 2 The utility model provides a circuit principle diagram of an embodiment of a wireless receiving circuit. DETAILED DESCRIPTION

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present utility model, the specific implementation methods of the present utility model are now described in detail with reference to the accompanying drawings.

[0041] like Figure 1-Figure 2 As shown, in the first embodiment of the control circuit of the automatic tea-making robot mechanical arm of the utility model, the control circuit (100, 200) of the automatic tea-making robot mechanical arm includes a driving circuit 100 and a wireless receiving circuit 200.

[0042] The driving circuit 100 includes a signal input module 101, a trigger module 102, a multi-vibrator module 103 and a main control module 104;

[0043] The signal input module 101 is used to receive the pulse signal input from the previous circuit.

[0044] The trigger module 102 is used to perform flip processing on the pulse signal to output at least two control signals;

[0045] The multivibrator module 103 is used to perform oscillation processing on the input control signal to generate a clock pulse signal;

[0046] The main control module 104 has the functions of logic operation, signal processing and outputting driving signals;

[0047] Specifically, a signal input module 101 is configured in the control circuit, and is used to receive a pulse signal input from a previous circuit. The level state of the input pulse signal controls the on / off state of the signal input module 101 to output a pulse signal to the trigger module 102;

[0048] A signal input end of a trigger module 102 is connected to an output end of the signal input module 101, and is used to receive a pulse signal input by the signal input module 101, and to flip the pulse signal and output two control signals;

[0049] A signal input terminal of a multivibrator module 103 is coupled to the output terminal of the trigger module 102, and is used to receive a first control signal input by the trigger module 102, and oscillate the first control signal to output a clock pulse signal;

[0050] A signal input terminal of a main control module 104 is coupled to the output terminal of the multivibrator module 103, and is used to receive a clock pulse signal. The main control module 104 can output a driving signal according to the level state of the input clock pulse signal;

[0051] Furthermore, the output end of the main control module 104 is connected to one end of the relay (K1, K2), wherein:

[0052] The other end of the relay (K1, K2) is connected to the output end of the trigger module 102 to receive the second control signal;

[0053] When the input clock pulse signal is at a low level, the relays (K1, K2) are controlled to be turned off, and the robot does not move;

[0054] When the input clock pulse signal is at a high level, the relays (K1, K2) are controlled to be turned on to control the movement of the robot arm, and control it to perform actions such as grabbing tea leaves and pouring water.

[0055] Using the present technical solution, the signal input module 101 receives the PWM pulse signal input by the previous circuit, and then outputs the clock pulse signal after flipping and oscillation processing. The main control module 104 controls the on / off state of the relay (K1, K2) according to the level of the clock pulse signal, thereby controlling the movement of the robotic arm. The circuit module design of the control system of the present design is relatively simple and the control logic is reliable, which can effectively reduce the production cost of the control system.

[0056] In some embodiments, Figure 1 As shown, the signal input module 101 includes a first diode D101, a first transistor VT101 and a first controller A101, wherein the first controller A101 has the function of receiving and processing signals;

[0057] Specifically, the anode of the first diode D101 is used to receive the pulse signal input by the previous circuit;

[0058] The base of the first transistor VT101 is connected to the cathode of the first diode D101 through the second resistor R102.

[0059] The collector of the first transistor VT101 is connected to the input terminal (corresponding to pin 2) of the first controller A101 through the second capacitor C102.

[0060] The collector of the first transistor VT101 is connected to the power supply terminal (corresponding to 12V) through the third resistor R103.

[0061] The output terminal (corresponding to pin 5) of the first controller A101 is connected to the signal input terminal of the trigger module 102.

[0062] The emitter of the first transistor VT101 is connected to the common terminal.

[0063] For example, the front-stage circuit inputs a pulse signal from the Vin terminal to the input terminal (corresponding to pin 2) of the first controller A101, and the first controller A101 is triggered to form a positive pulse signal of about 0.6s and sent to the signal input terminal of the trigger module 102.

[0064] In some embodiments, Figure 1 As shown, the trigger module 102 includes a second controller A102, which is used to perform signal flip processing;

[0065] Specifically, the signal input terminal (corresponding to pin 11) of the second controller A102 is connected to the output terminal (corresponding to pin 5) of the first controller A101, and is used to receive the positive pulse signal input by the first controller A101, and perform flip processing on it to output two control signals.

[0066] The output terminal (corresponding to pin 9) of the second controller A102 is connected to the signal input terminal of the multivibrator module 103 to receive the first control signal.

[0067] The output end (corresponding to pin 9) of the second controller A102 is connected to the base of the second transistor VT102 through the seventh resistor R107, the emitter of the second transistor VT102 is connected to the power supply end (corresponding to 12V), and the collector of the second transistor VT102 is connected to one end of the relay (K1, K2) for receiving the second control signal.

[0068] For example, the second controller A102 uses a D flip-flop. If a positive pulse signal is input each time, the output state of the second controller A102 changes. The second controller A102 is divided into two outputs. The second control signal is added to the base of the second transistor VT102 to trigger the second transistor VT102 to turn on, thereby turning on the power supply for the relays (K1, K2).

[0069] The first control signal is sent to the signal input terminal of the multivibrator module 103 and is oscillated by the multivibrator module 103 .

[0070] In some embodiments, Figure 1 As shown, the multivibrator module 103 includes a third controller A103, whose oscillation period T=2.2 / R108*C105, the parameter is about 1s, and the generated oscillation signal is used as the clock pulse signal of the main controller U101;

[0071] Specifically, the signal input end (corresponding to pin 9) of the third controller A103 is connected to the output end (corresponding to pin 9) of the second controller A102, and is used to receive the first control signal, and oscillate the first control signal to output a clock pulse signal;

[0072] The output terminal (corresponding to pin 8) of the third controller A103 is coupled to the signal input terminal of the main control module 104 to output the clock pulse signal to the main control module 104 .

[0073] In some embodiments, Figure 1 As shown, the main control module 104 includes a main controller U101, a third transistor VT103 and a fourth transistor VT104, wherein the main controller U101 has the functions of counting, pulse distribution and logic operation;

[0074] The third transistor VT103 and the fourth transistor VT104 are selected as NPN transistors, which have the function of switches;

[0075] Specifically, the signal input terminal (corresponding to pin 14) of the main controller U101 is connected to the signal output terminal (corresponding to pin 8) of the third controller A103 to receive the clock pulse signal;

[0076] The first output terminal (corresponding to pin 3) of the main controller U101 is connected to the base of the third transistor VT103, and is used to receive the first driving signal output by the main controller U101.

[0077] When the first driving signal is at a low level, the third transistor VT103 is controlled to be cut off, and when the first driving signal is at a high level, the third transistor VT103 is controlled to be turned on;

[0078] The second output terminal (corresponding to pin 5) of the main controller U101 is connected to the base of the fourth transistor VT104, and is used to receive the second driving signal output by the main controller U101.

[0079] When the second driving signal is at a low level, the fourth transistor VT104 is controlled to be cut off, and when the second driving signal is at a high level, the fourth transistor VT104 is controlled to be turned on;

[0080] The collector of the third transistor VT103 is connected to one end of the first relay K1. When the second transistor VT102 and the third transistor VT103 are controlled to be turned on, the first relay K1 conducts electricity, which controls the corresponding robot arm action;

[0081] The collector of the fourth transistor VT104 is connected to one end of the second relay K2. When the second transistor VT102 and the fourth transistor VT104 are controlled to be turned on, the second relay K2 conducts electricity, which controls the corresponding robot arm action.

[0082] The emitters of the third transistor VT103 and the fourth transistor VT104 are connected to the common terminal.

[0083] For example, under the action of clock CP, the output terminal O1 or O2 of the main controller U101 outputs a high-level pulse with a pulse width of T to control the third transistor VT103 or the fourth transistor VT104 to be turned on, thereby controlling the first relay K1 or the second relay K2 to be attracted, thereby controlling the movement of the robotic arm respectively.

[0084] In some embodiments, Figure 2 As shown, the control circuit also includes a wireless receiving circuit 200, which is used to establish a wireless connection with the mobile client;

[0085] Specifically, the signal input end of the wireless receiving circuit 200 is connected to the transmitting end of the mobile client (such as a mobile phone or a tablet) for receiving the trigger signal.

[0086] The output end of the wireless receiving circuit 200 is connected to another signal input end of the signal input module 101 , and the driving circuit 100 is controlled to operate through the trigger signal, so that the driving circuit 100 outputs two control signals to the trigger module 102 .

[0087] In some embodiments, Figure 2 As shown, the wireless receiving circuit 200 includes a fourth controller U201, which is used to receive a trigger signal and process the trigger signal;

[0088] Specifically, the signal input terminal (corresponding to pin 1) of the fourth controller U201 is connected to the transmitting terminal of the mobile client (such as a mobile phone or tablet) through the first inductor L201 and the eighth capacitor C202 for receiving the trigger signal.

[0089] The output end (corresponding to pin 5) of the fourth controller U201 is connected to another signal input end (corresponding to pin 5) of the first controller A101 (belonging to the signal input module 101), and the trigger signal is output to the first controller A101. The first controller A101 is triggered and outputs a pulse signal to the trigger module 102. The trigger module 102 flips the pulse signal and outputs two control signals.

[0090] The embodiments of the utility model are described above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the utility model, ordinary technicians in this field can also make many forms without departing from the scope of protection of the utility model and the claims, which all fall within the protection of the utility model.

Claims

1. A control circuit for an automatic tea-making robot arm, characterized in that: have: A signal input module, which is configured in the control circuit and is used to receive a pulse signal input from a previous circuit; a trigger module, whose signal input end is connected to the output end of the signal input module, for receiving the pulse signal, flipping the pulse signal, and outputting two control signals; a multivibrator module, whose signal input end is coupled to the output end of the trigger module, for receiving a first control signal, oscillating the first control signal, and outputting a clock pulse signal; a main control module, whose signal input terminal is coupled to the output terminal of the multivibrator module and is used to receive the clock pulse signal, The output end of the main control module is connected to one end of the relay, wherein, The other end of the relay is connected to the output end of the trigger module for receiving a second control signal; When the input clock pulse signal is at a high level, the relay is controlled to be turned on to control the movement of the robot.

2. The control circuit of the automatic tea-making robot arm according to claim 1, characterized in that: The signal input module includes a first diode, a first transistor and a first controller. The anode of the first diode is used to receive the pulse signal input by the previous stage circuit; The base of the first transistor is connected to the cathode of the first diode. The collector of the first transistor is connected to the input terminal of the first controller via a second capacitor. The output terminal of the first controller is connected to the signal input terminal of the trigger module, The emitter of the first transistor is connected to the common end.

3. The control circuit of the automatic tea-making robot arm according to claim 2, characterized in that: The trigger module includes a second controller, a signal input end of the second controller is connected to an output end of the first controller, The output end of the second controller is connected to one end of the relay and the signal input end of the multivibrator module respectively.

4. The control circuit of the automatic tea-making robot arm according to claim 3, characterized in that: The multivibrator module includes a third controller, wherein a signal input terminal of the third controller is connected to an output terminal of the second controller. The output end of the third controller is coupled to the signal input end of the main control module.

5. The control circuit of the automatic tea-making robot arm according to claim 4, characterized in that: The main control module includes a main controller, a third transistor and a fourth transistor. The signal input terminal of the main controller is coupled to the signal output terminal of the third controller, The first output terminal of the main controller is connected to the base of the third transistor. The second output terminal of the main controller is connected to the base of the fourth transistor. The collector of the third transistor is connected to one end of the first relay. The collector of the fourth transistor is connected to one end of the second relay, The emitters of the third transistor and the fourth transistor are connected to a common end.

6. The control circuit of the automatic tea-making robot arm according to claim 5, characterized in that: The third transistor and the fourth transistor are selected as NPN transistors.

7. The control circuit of the automatic tea-making robot mechanical arm according to any one of claims 1 to 6, characterized in that: It also includes a wireless receiving circuit, whose signal input end is connected to the transmitting end of the mobile client for receiving the trigger signal. The output end of the wireless receiving circuit is connected to another signal input end of the signal input module.

8. The control circuit of the automatic tea-making robot arm according to claim 7, characterized in that: The wireless receiving circuit includes a fourth controller, The signal input terminal of the fourth controller is connected to the transmitting terminal of the mobile client for receiving a trigger signal. The output end of the fourth controller is connected to another signal input end of the signal input module.

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