Mechanical arm master control system

Abstract

The utility model discloses a master control system of a mechanical arm. The system comprises a main control unit which is in communication connection with an execution unit through a TX communication line and an RX communication line, and the main control unit is used for sending a corresponding action instruction to the execution unit through the TX communication line based on an instruction of a user; receiving state information of the execution unit through the RX communication line; the execution unit is used for receiving the action instruction and controlling the motor to start / stop based on the action instruction; one end of the locking switch is electrically connected with the TX communication line, and the other end is grounded; the locking switch is used for locking the stop state of the motor to prevent mistaken starting. According to the mechanical arm, the grounded locking switch is additionally arranged on the TX communication line between the main control unit and the execution unit, the locking switch is closed to enable the TX communication line to be grounded, locking of the stopping state of the motor of the mechanical arm is achieved, misoperation of the motor is prevented, and safety of the mechanical arm is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm control technical field more specifically, relate to a kind of mechanical arm master control system. BACKGROUND

[0002] In modern industrial automation production, mechanical arm is widely used in various tasks, such as material handling, assembly, welding, etc. In the operation process of mechanical arm, it is very important to ensure the accurate control of motor and prevent misoperation. The traditional mechanical arm control mode may not be accurate enough for motor control, and may easily misstart, which not only affects the normal operation of the mechanical arm, but also may cause safety hazards to the operator and equipment. At the same time, the number of electrical connection cables between the master control unit and the execution unit is limited, therefore, a master control system is needed that can effectively control the mechanical arm motor without increasing the number of wires and prevent the mechanical arm motor from misstarting.

[0003] The information disclosed in the background section of the utility model is only intended to deepen the understanding of the general background technology of the utility model, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the utility model is to provide a kind of mechanical arm master control system, realize the locking motor without increasing the number of wires, prevent motor misoperation.

[0005] To achieve the above purpose, the utility model provides a kind of mechanical arm master control system, comprising:

[0006] Master control unit, and execution unit are communicated by TX communication line and RX communication line, the master control unit is used to send corresponding action instruction to the execution unit by the TX communication line based on the instruction of user;Receive the state information of the execution unit through the RX communication line;

[0007] Execution unit, for receiving the action instruction, and controlling motor start / stop based on the action instruction;

[0008] Locking switch, one end is electrically connected with the TX communication line, the other end is grounded;The locking switch is used to lock the stop state of the motor, to prevent misstart.

[0009] Optionally, the master control unit comprises:

[0010] Control switch, one end is electrically connected with the first microprocessor, the other end is grounded, and the user sends the instruction to control the motor start / stop through the control switch;

[0011] A first microprocessor is in communication connection with the communication module, and is configured to generate corresponding action instructions based on user instructions and send the action instructions to the execution unit through the communication module.

[0012] The communication module is in communication connection with the execution unit through the TX communication line and the RX communication line, and is configured to send the action instructions to the execution unit through the TX communication line, and receive state information of the execution unit through the RX communication line and transmit the state information to the first microprocessor.

[0013] Optionally, the execution unit comprises:

[0014] A second microprocessor is in communication connection with the communication module through the TX communication line and the RX communication line, and is configured to control the motor to start / stop based on the action instructions.

[0015] A motor driving module is electrically connected with the second microprocessor and the motor respectively, and is configured to drive the motor to start / stop under the control of the second microprocessor.

[0016] The motor is configured to drive the movement of the mechanical arm.

[0017] Optionally, the execution unit further comprises:

[0018] A voltage monitoring module is connected to the TX communication line between the locking switch and the second microprocessor at one end, and is connected to the second microprocessor at the other end, and is configured to monitor the voltage of the TX communication line.

[0019] Optionally, when the locking switch is closed, the voltage monitoring module monitors that the voltage of the TX communication line is 0V, and sends the monitoring result to the second microprocessor, and the second microprocessor sends the locking state information to the first microprocessor based on the monitoring result.

[0020] Optionally, the main control unit further comprises:

[0021] A display module is configured to display the state information of the execution unit, and the first microprocessor sends the locking state to the display module to display the locking state after receiving the locking state information.

[0022] Optionally, the communication module comprises:

[0023] An RS232 interface.

[0024] The utility model discloses an advantage lies in: the utility model discloses a locking switch of ground increase between the TX communication line of main control unit and execution unit, make TX communication line ground through the locking switch closing, realize the locking of mechanical arm motor stop state, prevent motor misoperation, improved the security of mechanical arm.

[0025] The device has other characteristics and advantages that will be apparent from and / or set forth in the accompanying drawings and subsequent detailed description, which together serve to illustrate specific principles of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and other objects, features and advantages of the utility model will become more apparent from the following detailed description of exemplary embodiments of the utility model, taken in conjunction with the accompanying drawings, in which like reference characters refer to like parts throughout the several views. In the drawings:

[0027] Figure 1 A schematic diagram of a mechanical arm master control system according to one embodiment of the utility model is shown.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] 1, main control unit, 2, execution unit, 3, microprocessor, 4, RS232 interface, 5, liquid crystal display, 6, microprocessor, 7, motor drive module, 8, voltage monitoring module, K1, locking switch, S1, manual control switch, M, motor, RX, receiving communication line, TX, sending communication line. DETAILED DESCRIPTION

[0030] The utility model will be described in more detail below with reference to the drawings. Although the preferred embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the utility model more thorough and complete, and to fully convey the scope of the utility model to those skilled in the art.

[0031] According to a mechanical arm master control system of the utility model, comprising:

[0032] The main control unit is communicated and connected with the execution unit through TX communication line and RX communication line, and the main control unit is used for sending corresponding action instructions to the execution unit through the TX communication line based on the instructions of the user; The state information of the execution unit is received through the RX communication line;

[0033] The execution unit is used for receiving action instructions and controlling the motor to start / stop based on the action instructions;

[0034] The locking switch is electrically connected with the TX communication line at one end and grounded at the other end.

[0035] Specifically, the whole system mainly consists of a master control unit, an execution unit and a locking switch, which are communicatively connected through a TX (Transmit) communication line and a RX (Receive) communication line. The master control unit plays the role of issuing instructions and receiving state information, and will send corresponding action instructions to the execution unit through the TX communication line according to the instructions given by the user, and receive the state information feedback from the execution unit through the RX communication line. The execution unit is responsible for receiving the action instructions sent by the master control unit, and controls the start and stop of the motor according to these instructions, thereby realizing functions such as driving the movement of the mechanical arm. The locking switch is electrically connected with the TX communication line at one end and grounded at the other end, and its key role is to lock the motor in the stop state to avoid the misstart of the motor. The utility model increases a grounding locking switch on the TX communication line between the master control unit and the execution unit, and realizes the locking of the stop state of the mechanical arm motor by closing the locking switch and grounding the TX communication line, thereby preventing the misoperation of the motor and improving the safety of the mechanical arm.

[0036] In one example, the master control unit comprises:

[0037] The control switch is electrically connected with the first microprocessor at one end and grounded at the other end, and the user sends instructions to control the start / stop of the motor through the control switch.

[0038] The first microprocessor is communicatively connected with the communication module, and is used to generate corresponding action instructions based on the instructions of the user and send the action instructions to the execution unit through the communication module.

[0039] The communication module is communicatively connected with the execution unit through the TX communication line and the RX communication line, and is used to send the action instructions to the execution unit through the TX communication line, and receive the state information of the execution unit through the RX communication line and transmit it to the first microprocessor.

[0040] Specifically, the master control unit comprises a control switch, a first microprocessor and a communication module. When the control switch is closed, the first microprocessor sends a logic "1" level signal to the execution unit through the communication module and the TX communication line, the execution unit controls the motor to start, and the start state is fed back to the first microprocessor through the RX communication line and the communication module. When the control switch is opened, the first microprocessor sends a logic "0" level signal to the execution unit through the communication module and the TX communication line, the execution unit controls the motor to stop, and the stop state is fed back to the first microprocessor through the RX communication line and the communication module.

[0041] In one example, the execution unit comprises:

[0042] The second microprocessor is in communication connection with the communication module through the TX communication line and the RX communication line; the second microprocessor is used for controlling the motor to start / stop based on the action instruction;

[0043] The motor driving module is electrically connected with the second microprocessor and the motor respectively; the motor driving module is used for driving the motor to start / stop under the control of the second microprocessor;

[0044] The motor is used for driving the mechanical arm to move.

[0045] In one example, the execution unit further comprises:

[0046] The voltage monitoring module is connected to the TX communication line between the locking switch and the second microprocessor at one end, and connected to the second microprocessor at the other end; the voltage monitoring module is used for monitoring the voltage of the TX communication line.

[0047] In one example, when the locking switch is closed, the voltage monitoring module monitors that the voltage of the TX communication line is 0V, and sends the monitoring result to the second microprocessor, and the second microprocessor sends the locking state information to the first microprocessor based on the monitoring result.

[0048] In one example, the main control unit further comprises:

[0049] The display module is used for displaying the state information of the execution unit, and the first microprocessor sends the locking state to the display module for display after receiving the locking state information.

[0050] Specifically, the display module is located in the main control unit, and its function is to display the state information of the execution unit, so that the user can intuitively understand the working state of the execution unit and the motor. For example, when the first microprocessor receives the locking state information sent by the second microprocessor of the execution unit, the information is transmitted to the display module, and then the display module displays that the motor is in the locking state, which improves the visualization degree of the whole system and the friendliness of human-computer interaction, realizes real-time feedback and display of related state information.

[0051] In one example, the communication module comprises:

[0052] RS232 interface.

[0053] Specifically, RS232 adopts negative logic level, and the logic "1" level is-5V-15V, that is, the logic "0" level of high level is+5V+15V. When the locking switch is closed, the voltage monitoring module monitors that the voltage of the TX communication line is 0V, which corresponds to the locking state, and the second microprocessor sends the locking state information to the first microprocessor.

[0054] The utility model will be further described below in combination with the drawings and specific embodiments, but not as the limitation of the utility model. It should be noted that in the case of no conflict, the embodiments in the utility model and the features in the embodiments can be combined with each other.

[0055] Embodiment:

[0056] As Figure 1 Indicated, the embodiment provides a kind of mechanical arm master control system, comprising:

[0057] Master unit 1, with the execution unit 2 through sending communication line TX and receiving communication line RX communication connection, master unit 1 is used to send corresponding action instruction to execution unit 2 through sending communication line TX based on the instruction of user;Through receiving communication line RX, the state information of execution unit 2 is received;Master unit 1 includes: artificial control switch S1, one end is electrically connected with microprocessor 3, the other end is grounded, and user sends instruction to control motor M start / stop through artificial control switch S1;Microprocessor 3, with communication module communication connection, microprocessor 3 is used to generate corresponding action instruction based on the instruction of user, and sends action instruction to execution unit 2 through RS232 interface 4;RS232 interface 4, with the execution unit 2 through sending communication line TX and receiving communication line RX communication connection, RS232 interface 4 is used to send action instruction to execution unit 2 through sending communication line TX;Through receiving communication line RX, the state information of execution unit 2 is received and is transmitted to microprocessor 3.Liquid crystal display 5 is used to show the state information of execution unit 2, and microprocessor 3 receives and sends to liquid crystal display 5 to show lock state after lock state information.

[0058] Execution unit 2 is used to receive action instruction, and based on action instruction control motor M start / stop;Execution unit 2 includes: microprocessor 6, with communication module through sending communication line TX and receiving communication line RX communication connection;Microprocessor 6 is used to control motor M start / stop based on action instruction;Motor M drive module 7 is electrically connected with microprocessor 6 and motor M respectively;Motor M drive module 7 is used to drive motor M start / stop under the control of microprocessor 6;Motor M is used to drive mechanical arm movement.Voltage monitoring module 8, one end is connected on sending communication line TX between lock switch K1 and microprocessor 6, the other end is connected to microprocessor 6;Voltage monitoring module 8 is used to monitor the voltage of sending communication line TX.When lock switch K1 is closed, voltage monitoring module 8 monitors the voltage of sending communication line TX for 0V, and sends monitoring result to microprocessor 6, and microprocessor 6 sends lock state information to microprocessor 3 based on monitoring result.

[0059] Locking switch K1, one end is electrically connected with the sending communication line TX, the other end is grounded; the locking switch K1 is used for locking the stop state of the motor M, prevents the false start.

[0060] The above has described various embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A master control system for a robot arm, characterized in that The application relates to a control system of a robot, which comprises a main control unit and an execution unit. The main control unit is connected with the execution unit through a TX communication line and an RX communication line, and is used for sending a corresponding action instruction to the execution unit through the TX communication line based on a user's instruction; and the main control unit is used for receiving state information of the execution unit through the RX communication line. The execution unit is used for receiving the action instruction and controlling a motor to start or stop based on the action instruction. A locking switch is electrically connected with the TX communication line at one end and grounded at the other end, and is used for locking a stop state of the motor to prevent false starting.

2. The mechanical arm master system according to claim 1, characterized by, The main control unit comprises a control switch, a first microprocessor and a communication module. The control switch is electrically connected with the first microprocessor at one end and grounded at the other end, and is used for sending the instruction to control the motor to start or stop. The first microprocessor is connected with the communication module, and is used for generating a corresponding action instruction based on a user's instruction and sending the action instruction to the execution unit through the communication module. The communication module is connected with the execution unit through the TX communication line and the RX communication line, and is used for sending the action instruction to the execution unit through the TX communication line and receiving state information of the execution unit through the RX communication line and transmitting the state information to the first microprocessor.

3. The mechanical arm master system of claim 2, wherein, The execution unit comprises a second microprocessor and a motor driving module. The second microprocessor is connected with the communication module through the TX communication line and the RX communication line, and is used for controlling the motor to start or stop based on the action instruction. The motor driving module is electrically connected with the second microprocessor and the motor respectively, and is used for driving the motor to start or stop under the control of the second microprocessor. The motor is used for driving a mechanical arm to move.

4. The mechanical arm master system of claim 3, wherein, The execution unit further comprises a voltage monitoring module. When the locking switch is closed, the voltage monitoring module monitors that the voltage of the TX communication line is 0V, and sends the monitoring result to the second microprocessor.

5. The mechanical arm master system according to claim 4, characterized by, The second microprocessor sends locking state information to the first microprocessor based on the monitoring result.

6. The mechanical arm master system according to claim 5, wherein, The main control unit further comprises a display module. The display module is used for displaying the state information of the execution unit.

7. The robotic arm master system of claim 6, wherein, The communication module comprises an RS232 interface. ​

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