Arduino-based mechanical arm control system

Abstract

The utility model relates to the field of mechanical arms, in particular to an Arduino-based mechanical arm control system which comprises an Arduino single-chip microcomputer, a power source, a driving module, a relay and an ultrasonic module. The power source is connected with the Arduino single-chip microcomputer and the ultrasonic module, the relay and the ultrasonic module are connected with the Arduino single-chip microcomputer, the driving module is connected with the Arduino single-chip microcomputer through the relay, and the driving module is connected with the mechanical arm and used for driving the mechanical arm to move. The ultrasonic module is used for detecting a position signal of an object to be carried and transmitting the position signal to the Arduino single-chip microcomputer to obtain distance information; the Arduino single-chip microcomputer controls a relay switch according to the distance information so as to control the driving module. The practical efficiency of the mechanical arm is effectively improved, redundant and repeated operation is reduced, and the purpose of saving energy is achieved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, and in particular to a mechanical arm control system based on Arduino. Background Art

[0002] The mechanical structure of the robot arm is composed of a series of rigid components connected by links. The robot is characterized by an arm for mobility, a wrist for flexibility, and an end effector for performing the tasks required by the robot.

[0003] Currently, robotic arms are very popular in modern industrial production processes, especially in automated production lines. However, the existing technology has shortcomings. Specifically, after the robotic arm is turned on, it will keep working and repeat the action regardless of whether there are objects to be moved. It cannot perform effective operations according to actual needs, so it consumes electricity, is not economical and practical, and has low reliability.

[0004] In view of this, the inventor provides a robotic arm control system based on Arduino to solve the above technical problems. Utility Model Content

[0005] The purpose of the utility model is to overcome the shortcomings of the above-mentioned prior art and provide a robotic arm control system based on Arduino. By setting the power supply, relay, and ultrasonic module to be connected to the Arduino single-chip computer, the purpose of controlling the drive module according to the actual working conditions and then controlling the operation of the robotic arm is achieved, thereby reducing additional consumption.

[0006] The purpose of the utility model is to solve the problem through the following technical solutions:

[0007] The utility model provides a mechanical arm control system based on Arduino, including an Arduino single chip microcomputer, a power supply, a drive module, a relay, and an ultrasonic module;

[0008] The power supply is connected to the Arduino single-chip microcomputer and the ultrasonic module respectively, the relay and the ultrasonic module are connected to the Arduino single-chip microcomputer respectively, the driving module is connected to the Arduino single-chip microcomputer through the relay, and the driving module is connected to the mechanical arm and is used to drive the mechanical arm to move;

[0009] The ultrasonic module is used to detect the position signal of the object to be transported, and transmit the position signal to the Arduino microcontroller to obtain distance information;

[0010] The Arduino single chip controls the relay switch according to the distance information, and further controls the driving module.

[0011] Furthermore, the driving module includes a current amplifying module and a plurality of servos, the relay is connected to the current amplifying module for controlling the operation of the current amplifying module, and each of the servos is connected to the robotic arm for driving the robotic arm to operate.

[0012] Furthermore, the number of servos is 3, including a first servo, a second servo and a third servo. The first servo is connected to the base A position of the robotic arm and drives the base of the robotic arm to rotate. The second servo is connected to the middle B position of the robotic arm and drives the middle part of the robotic arm to extend and retract forward and backward. The third servo is connected to the end C position of the robotic arm and drives the end of the robotic arm to grab the object to be transported.

[0013] Furthermore, a buzzer is included, and the power supply and the Arduino single chip are respectively connected to the buzzer to prompt the driving module to start working;

[0014] Among them, the Arduino microcontroller and the buzzer are connected via a serial port.

[0015] Furthermore, it also includes an LCD screen, and the power supply and the Arduino single-chip microcomputer are respectively connected to the LCD screen for displaying the distance information.

[0016] Furthermore, the distance information is the distance between the current position of the object to be transported and the robotic arm.

[0017] Furthermore, it also includes an LCD screen, and the ultrasonic module is a HC-SR04 ultrasonic module.

[0018] Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

[0019] 1) The utility model provides a robotic arm control system based on Arduino. By setting the power supply, relay and ultrasonic module to be connected with the Arduino single-chip computer, the driving module is controlled according to the actual working conditions, and then the operation of the robotic arm is controlled, which effectively improves the practical efficiency of the robotic arm, reduces redundant and repeated operations, and achieves the purpose of energy saving.

[0020] 2) The utility model provides a robotic arm control system based on Arduino. The Arduino single chip microcomputer is arranged to connect to a buzzer via a serial port. When the relay enters a transient state, the drive module changes from a power-off state to a powered state, and drives the robotic arm to start executing a motion command. At the same time, the buzzer makes a sound to remind the staff that the robotic arm has started to operate. When the relay enters a normal state, the drive module is powered off, the robotic arm maintains an initial state, and the buzzer is silent. Therefore, the buzzer serves as a safety reminder, thereby improving the safety of the robotic arm operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into and constitute a part of this specification, and together with the description, are used to explain the principles of the present utility model.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 This is a schematic diagram of the structure of the control system of the utility model;

[0024] Figure 2 This is a connection diagram of the control system of the utility model;

[0025] Figure 3 Schematic diagram of the robotic arm structure.

[0026] Among them: 1 is the Arduino microcontroller; 2 is the power supply; 3 is the drive module; 4 is the relay; 5 is the ultrasonic module; 6 is the buzzer; 7 is the LCD screen; 31 is the current amplifier module; 32 is the servo. DETAILED DESCRIPTION

[0027] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the utility model. Instead, they are only examples of devices consistent with some aspects of the utility model as detailed in the attached claims.

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1 , Figure 2 As shown, the utility model provides a robotic arm control system based on Arduino, including an Arduino single chip computer 1, a power supply 2, a drive module 3, a relay 4, and an ultrasonic module 5;

[0030] The power supply 2 is connected to the Arduino single-chip computer 1 and the ultrasonic module 5 respectively, the relay 4 and the ultrasonic module 5 are connected to the Arduino single-chip computer 1 respectively, the driving module 3 is connected to the Arduino single-chip computer 1 through the relay 4, and the driving module 3 is connected to the robotic arm and is used to drive the robotic arm to move;

[0031] Specifically, the first output end of the power supply 2 is electrically connected to the Arduino single-chip computer 1, the second output end of the power supply 2 is connected to the power supply VCC of the ultrasonic module 5, the 7th pin of the Arduino single-chip computer 1 is connected to the input end of the relay 4, the 3rd pin of the Arduino single-chip computer 1 is connected to the Echo pin of the ultrasonic module 5, the 4th pin of the Arduino single-chip computer 1 is connected to the Trig pin of the ultrasonic module 5, the first output end of the relay 4 is connected to one end of the driving module 3, and the second output end of the relay 4 is connected to the GND of the driving module 3 to share a common ground.

[0032] In this embodiment, the model of the Arduino single chip computer 1 is Arduino mega.

[0033] The ultrasonic module 5 is used to detect the position signal of the object to be transported, and transmit the position signal to the Arduino single-chip computer 1 to obtain distance information; specifically, the Trig pin of the ultrasonic module 5 sends a high level of more than 10us to the Arduino single-chip computer 1, and automatically sends 8 40KHz square waves to the Arduino single-chip computer 1, and starts timing. When the Echo pin of the ultrasonic module 5 receives the position signal of the object to be transported, the first signal detection ends. In this process, the Arduino single-chip computer 1 obtains the time used for the detection signal. The speed of the ultrasonic wave is known, and the distance between the robot arm and the object to be transported is calculated according to the s=vt formula, that is, the distance information is obtained. It should be noted that the time used by the Arduino single-chip computer 1 to calculate the detection signal is a prior art, and no further elaboration is made here;

[0034] The Arduino single chip computer 1 controls the switch of the relay 4 according to the distance information, and further controls the driving module 3.

[0035] The distance information is the distance between the current position of the object to be transported and the robotic arm.

[0036] like Figure 2 , Figure 3 As shown, there are three servos 32, including a first servo, a second servo and a third servo. The first servo is connected to the base A position of the robotic arm and drives the base of the robotic arm to rotate. The second servo is connected to the middle B position of the robotic arm and drives the middle of the robotic arm to extend and retract forward and backward. The third servo is connected to the end C position of the robotic arm and drives the end of the robotic arm to grab the object to be transported.

[0037] Furthermore, a buzzer 6 is included, and the power supply 2 and the Arduino single-chip computer 1 are respectively connected to the buzzer 6 to prompt the driving module 3 to start working; wherein, the Arduino single-chip computer 1 and the buzzer 6 are connected by a serial port, specifically, the third output terminal of the power supply 2 is connected to the power supply VDD of the buzzer 6, the TX pin of the Arduino single-chip computer 1 is connected to the RXD pin of the buzzer 6, and the RX pin of the Arduino single-chip computer 1 is connected to the TXD pin of the buzzer 6, that is, the Arduino single-chip computer 1 can send control commands to the buzzer 6.

[0038] In the present invention, the driving module 3 includes a current amplifying module 31 and a plurality of servos 32. The relay 4 is connected to the current amplifying module 31 for controlling the operation of the current amplifying module 31. Each of the servos 32 is connected to the robotic arm for driving the robotic arm to operate. Specifically, there is one current amplifying module 31, which adopts ULN2003. The first output end of the relay 4 is respectively connected to the power supply VCC of the current amplifying module 31, the input end of the first servo, the input end of the second servo, and the first input end of the third servo. The second output end of the relay 4, the output end of the first servo, the output end of the second servo, and the output end of the third servo are respectively connected to the GND of the current amplifying module 31 for a common ground. The M8 pin of the current amplifying module 31 is connected to the second input end of the first servo, the M9 pin of the current amplifying module 31 is connected to the second input end of the second servo, and the M10 pin of the current amplifying module 31 is connected to the second input end of the third servo; in addition, the normal pin of the relay 4 is connected to the REST pin (reset pin) of the current amplifying module 31. When the ultrasonic module 5 does not detect a signal, the relay 4 returns to normal, the REST pin of the current amplifying module 31 is triggered, and the robotic arm returns to its initial state.

[0039] In this embodiment, the ultrasonic module 5 is a HC-SR04 ultrasonic module.

[0040] Furthermore, an LCD screen 7 is included, and the power supply 2 and the Arduino single-chip computer 1 are respectively connected to the LCD screen 7 for displaying the distance information. Specifically, the fourth output terminal of the power supply 2 is connected to the power supply VCC of the LCD screen 7, and the LCD screen 7 is respectively connected to the 9th pin, the 10th pin, the 11th pin, the 12th pin, and the 13th pin of the Arduino single-chip computer 1, and the output terminal of the LCD screen 7 is grounded.

[0041] The specific process of the utility model in practical application is as follows:

[0042] When the power supply 2 is turned on, the ultrasonic module 5 starts and detects. When it is detected that the position of the object to be transported is within the operating range of the robot arm, the position signal is sent to the Arduino single-chip computer 1. The Arduino single-chip computer 1 obtains the distance information according to the time used to detect the position signal, that is, the distance between the current position of the object to be transported and the robot arm. The Arduino single-chip computer 1 controls the relay 4 to be in a transient state according to the distance information, and controls the drive module 3 to drive the robot arm to perform the transport operation. At the same time, the buzzer 6 alarms; when the position of the object to be transported is not detected to be within the operating range of the robot arm, the relay 4 is in a normal state, and the buzzer 6 is silent.

[0043] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0044] It should be understood that the present invention is not limited to the above-described contents, and various modifications and changes can be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

1. A robotic arm control system based on Arduino, comprising an Arduino single chip computer (1), characterized in that: It also includes a power supply (2), a drive module (3), a relay (4), and an ultrasonic module (5); The power supply (2) is connected to the Arduino single-chip computer (1) and the ultrasonic module (5) respectively, the relay (4) and the ultrasonic module (5) are connected to the Arduino single-chip computer (1) respectively, the drive module (3) is connected to the Arduino single-chip computer (1) via the relay (4), and the drive module (3) is connected to the mechanical arm and is used to drive the mechanical arm to move; The ultrasonic module (5) is used to detect the position signal of the object to be transported, and transmit the position signal to the Arduino single chip computer (1) to obtain distance information; The Arduino single chip computer (1) controls the switch of the relay (4) according to the distance information, thereby controlling the driving module (3).

2. The Arduino-based robotic arm control system according to claim 1, characterized in that: The driving module (3) comprises a current amplifying module (31) and a plurality of steering gears (32); the relay (4) is connected to the current amplifying module (31) and is used to control the operation of the current amplifying module (31); each of the steering gears (32) is connected to a mechanical arm and is used to drive the mechanical arm to operate.

3. The Arduino-based robotic arm control system according to claim 2, characterized in that: The number of the steering gears (32) is three, including a first steering gear, a second steering gear and a third steering gear. The first steering gear is connected to a base position A of the mechanical arm and drives the base of the mechanical arm to rotate. The second steering gear is connected to a middle position B of the mechanical arm and drives the middle of the mechanical arm to extend and retract forward and backward. The third steering gear is connected to a terminal position C of the mechanical arm and drives the terminal of the mechanical arm to grab an object to be transported.

4. The Arduino-based robotic arm control system according to claim 1, characterized in that: It also includes a buzzer (6), and the power supply (2) and the Arduino single chip computer (1) are respectively connected to the buzzer (6) to prompt the driving module (3) to start operation; The Arduino single chip computer (1) and the buzzer (6) are connected via a serial port.

5. The Arduino-based robotic arm control system according to claim 1, characterized in that: It also comprises an LCD screen (7), and the power supply (2) and the Arduino single chip computer (1) are respectively connected to the LCD screen (7) for displaying the distance information.

6. The Arduino-based robotic arm control system according to claim 5, characterized in that: The distance information is the distance between the current position of the object to be transported and the robotic arm.

7. The Arduino-based robotic arm control system according to claim 1, characterized in that: The ultrasonic module (5) is a HC-SR04 ultrasonic module.

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