Multifunctional control system based on mechanical arm end tool

Abstract

The utility model discloses a multifunctional control system based on a mechanical arm end tool, a flexible ring circuit board is provided with three buttons, an indicating lamp ring and a constant current source circuit, the circuit board is connected with a mechanical arm tool port, and an upper computer collects signals of the buttons through a control box to carry out linear motion, plane keeping and free motion. In the using process, the lamp ring is used for indicating the state of the mechanical arm, and the lamp ring can be directly dragged to the mechanical arm and can be stopped after the lamp ring is loosened only by pressing the key down corresponding operation beside the mechanical arm. The method is simple and safe, the action of operating the upper computer and the mechanical arm back and forth by a doctor is relieved, and the possibility of misoperation is also prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of electromechanical equipment, especially to a multifunctional control system based on mechanical arm end tool. BACKGROUND

[0002] At present, the mechanical arm on the market mostly adopts host computer to control, and the path of the mechanical arm includes (linear motion, plane keeping, free motion) and path planning motion, but when registering and shooting the frontal and lateral position films, the mechanical arm is dragged by the mechanical arm when moving up and down after positioning and when adjusting the in-plane motion, and the doctor needs to manually operate the mechanical arm.

[0003] In view of the above, a multifunctional control system based on mechanical arm end tool is needed to solve the problems in the prior art. UTILITY MODEL CONTENT

[0004] In view of the problems in the prior art, the utility model provides a multifunctional control system based on mechanical arm end tool to solve the above problems.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a multifunctional control system based on mechanical arm end tool, including the nimble ring circuit board, the initiative luminous module, the mechanical arm, the mechanical arm control box and the host computer;

[0006] The nimble ring circuit board is used for receiving user key input signals and displaying the state of the mechanical arm.

[0007] The initiative luminous module is connected to the nimble ring circuit board and provides stable power supply through the power supply constant current source circuit.

[0008] The mechanical arm is connected to the nimble ring circuit board and is used for executing motion commands.

[0009] The mechanical arm control box is used for TCP / IP communication with the host computer, I / O signal acquisition and output driving signal.

[0010] The host computer is used for collecting I / O conversion information in the control box, judging key information and sending motion instructions to the mechanical arm.

[0011] Optionally, the key input driving circuit of the nimble ring circuit board includes keys S1 to S3, resistors R1, R2, R6-R8, capacitors C7 and C9.

[0012] The power supply is connected to the key S1 through the resistor R1 and grounded, and the resistor R6 is connected in parallel with the resistor R1.

[0013] The power supply is connected to the ground through the resistance R3, R7 and R8 connected to the buttons S2 and S3 respectively, the resistance R7 and R8 are connected in parallel, and the capacitors C7 and C9 are used for filtering;

[0014] When the button S1 is closed, the voltage at the Analog in 2 input end is zero;

[0015] When the button S1 is opened, the voltage at the Analog in 2 input end is the power supply voltage;

[0016] When the button S2 or S3 is closed, the voltage at the Analog in 3 input end is zero;

[0017] When the button S2 or S3 is opened, the voltage at the Analog in 3 input end is the power supply voltage.

[0018] Optionally, the power supply constant current source circuit of the active light emitting device comprises a control chip U3, a MOS tube Q1, resistors R9 and R13, and a capacitor C11.

[0019] The control chip U3 is used for providing a stable current, filtering through the capacitor C11, setting the current value of the constant current source through the resistor R13, driving the MOS tube Q1 through the DRV pin of the control chip U3, connecting the base of the MOS tube to the DRV pin of the control chip U3 through the resistor R9, grounding the emitter of the MOS tube Q1, and connecting the collector of the MOS tube Q1 to the load through the interface J3.

[0020] Optionally, the intelligent ring circuit board displays the state of the mechanical arm through the indicator light band.

[0021] Optionally, the single circuit of the indicator light band comprises indicator lights LED1, LED2 and a connector J2.

[0022] The power supply voltage is introduced through the connector J2, the anodes of the indicator lights LED1 and LED2 are connected to the first pin of the connector J2, the cathode of the indicator light LED1 is connected to the third pin of the connector J2, and the cathode of the indicator light LED2 is connected to the second pin of the connector J2.

[0023] The utility model discloses the beneficial effects of the following:

[0024] 1、 the utility model discloses an intelligent ring circuit board, with three buttons, an indicator light ring and an active light emitting module, the circuit board is connected to the mechanical arm tool port, and the upper computer collects the signal of the button through the control box to carry out linear motion, plane keeping and free motion, and the light ring indicates the state of the mechanical arm.

[0025] 2. The utility model discloses a process, only need to be beside the mechanical arm, button presses corresponding operation, can directly drag to the mechanical arm, loosens and will stop. This method is simple and safe, alleviates the operation of doctor back and forth host computer and the action of mechanical arm, also prevent the possibility of misoperation;

[0026] 3. The utility model discloses a mechanical arm directly power supply gives the inside wiring of nimble ring, reduces external wiring risk, and the button function increases the man -machine interaction, and the user operation is more convenient, so as to realize the effect that mechanical arm follows and stops, provides constant -current source and pilot lamp, increases the overall appearance. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a system block diagram of the utility model.

[0028] Figure 2 It is a power supply system circuit diagram of the utility model.

[0029] Figure 3 It is a button acquisition circuit diagram of the utility model.

[0030] Figure 4 It is a constant -current source drive circuit diagram of the utility model.

[0031] Figure 5 It is a lamp strip drive circuit diagram of the utility model.

[0032] Figure 6 It is a lamp strip indication circuit diagram of the utility model. DETAILED DESCRIPTION

[0033] In order to more clearly illustrate the technical scheme in the embodiment of the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, and obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0034] Combining the drawings in the specification Figure 1 -attached Figure 6 , the technical scheme is explained

[0035] As shown in the figure, a multifunctional control system based on the end tool of mechanical arm includes nimble ring circuit board, active light emitting module, mechanical arm, mechanical arm control box and host computer.

[0036] Nimble ring circuit board is used for receiving user button input signal and displaying the state of mechanical arm.

[0037] Active light-emitting module, connected to the intelligent ring circuit board, providing stable power supply through constant current source circuit;

[0038] Mechanical arm, connected to the intelligent ring circuit board, for responsible for executing motion commands;

[0039] Mechanical arm control box for TCP / IP communication with the host computer, I / O signal acquisition and output driving signal;

[0040] Host computer for collecting I / O conversion information in the control box, judging key information, and issuing motion instructions to the mechanical arm.

[0041] The key input driving circuit of the intelligent ring circuit board includes keys S1 to S3, resistors R1, R2, R6-R8, capacitors C7 and C9;

[0042] The power supply is connected to the key S1 through the resistor R1 and then grounded, and the resistors R6 and R1 are connected in parallel;

[0043] The power supply is connected to the keys S2 and S3 through resistors R3, R7 and R8 respectively and then grounded, and the resistors R7 and R8 are connected in parallel, and the capacitors C7 and C9 are used for filtering;

[0044] When the key S1 is closed, the voltage at the Analog in 2 input end is zero;

[0045] When the key S1 is open, the voltage at the Analog in 2 input end is the power supply voltage;

[0046] When the key S2 or S3 is closed, the voltage at the Analog in 3 input end is zero;

[0047] When the key S2 or S3 is open, the voltage at the Analog in 3 input end is the power supply voltage.

[0048] The power supply constant current source circuit of the active light-emitting device includes control chip U3, MOS tube Q1, resistors R9, R13 and capacitor C11;

[0049] The control chip U3 is used to provide stable current, filter through capacitor C11, set the current value of the constant current source through resistor R13, and drive the MOS tube Q1 through the DRV pin of the control chip U3. The base of the MOS tube is connected to the DRV pin of the control chip U3 through resistor R9, the emitter of the MOS tube Q1 is grounded, and the collector of the MOS tube Q1 is connected to the load through interface J3.

[0050] The intelligent ring circuit board displays the state of the mechanical arm through the indicator light strip, and the single channel of the indicator light strip includes indicator lights LED1, LED2 and connector J2;

[0051] The power voltage is introduced through the connector J2, the positive poles of the indicator lights LED1 and LED2 are connected with the first pin of the connector J2, the negative pole of the indicator light LED1 is connected with the third pin of the connector J2, and the negative pole of the indicator light LED2 is connected with the second pin of the connector J2.

[0052] The utility model discloses a working principle: the ring line board of nimble, with three buttons, indicator light ring and initiative luminous module, the line board connects the mechanical arm tool mouth, and the signal of button is gathered to the indicator light ring and carries out linear motion, plane and keeps, free motion through the control box of host computer, and the mechanical arm state indication is carried out.

[0053] In the use process, only need to be beside the mechanical arm, button press corresponding operation, can directly drag to the mechanical arm, release will stop. This method is simple and safe, and the doctor's operation of back and forth operation host computer and mechanical arm action is also reduced, and the possibility of preventing misoperation is also prevented.

[0054] The mechanical arm directly supplies power to the nimble ring to form internal wiring, reduces external wiring risk, and the button function increases the man-machine interaction, and the user operation is more convenient, so as to realize the effect that the mechanical arm follows and stops, provides constant current source and indicator light, and increases the overall appearance.

[0055] The above only is the preferred embodiment of the utility model, and does not limit the utility model, and any modification, equivalent replacement or improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A multifunctional control system based on a robotic arm end-effector tool, characterized in that, This includes a flexible ring circuit board, an active light-emitting module, a robotic arm, a robotic arm control box, and a host computer; The flexible loop circuit board is used to receive user key input signals and display the status of the robotic arm; The active light-emitting module is connected to the flexible ring circuit board and is provided with a stable power supply through the power supply constant current source circuit; The robotic arm, connected to the flexible ring circuit board, is responsible for executing motion commands; The robotic arm control box is used for TCP / IP communication with the host computer, acquiring I / O signals, and outputting drive signals. The host computer is used to collect I / O change information from the control box, determine key press information, and send motion commands to the robotic arm.

2. The multifunctional control system based on the end effector of a robotic arm according to claim 1, characterized in that, The key input driving circuit of the flexible ring circuit board includes keys S1 to S3, resistors R1, R2, R6-R8, and capacitors C7 and C9. The power supply is connected to button S1 and then grounded through resistor R1. Resistor R6 is connected in parallel with R1. The power supply is connected to buttons S2 and S3 via resistors R3, R7 and R8 respectively, and then grounded. Resistors R7 and R8 are connected in parallel, and capacitors C7 and C9 are used for filtering. When button S1 is closed, the voltage at the Analog in 2 input terminal is zero; When button S1 is disconnected, the voltage at the Analog in 2 input terminal is the power supply voltage; When button S2 or S3 is closed, the voltage at the Analog in 3 input terminal is zero; When button S2 or S3 is off, the voltage at the Analog in 3 input terminal is the power supply voltage.

3. The multifunctional control system based on the end effector of a robotic arm according to claim 1, characterized in that, The power supply constant current source circuit for the active light-emitting module includes a control chip U3, a MOSFET Q1, resistors R9 and R13, and a capacitor C11. The control chip U3 is used to provide a stable current. It is filtered by capacitor C11 and the current value of the constant current source is set by resistor R13. The control chip U3 drives the MOSFET Q1 through the DRV pin. The base of the MOSFET is connected to the DRV pin of the control chip U3 through resistor R9. The emitter of the MOSFET Q1 is grounded and the collector of the MOSFET Q1 is connected to the load through interface J3.

4. The multifunctional control system based on the end effector of a robotic arm according to claim 1, characterized in that, The flexible loop circuit board displays the status of the robotic arm via indicator lights.

5. The multifunctional control system based on the end effector of a robotic arm according to claim 4, characterized in that, The single channel of the indicator light strip includes indicator lights LED1, LED2 and connector J2; The power supply voltage is introduced through connector J2. The positive terminals of indicator lights LED1 and LED2 are connected to the first pin of connector J2; the negative terminal of indicator light LED1 is connected to the third pin of connector J2; and the negative terminal of indicator light LED2 is connected to the second pin of connector J2.

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