CN106182075A - Two-freedom universal machine Arm Joint drive system and method - Google Patents
Two-freedom universal machine Arm Joint drive system and method Download PDFInfo
- Publication number
- CN106182075A CN106182075A CN201610607675.1A CN201610607675A CN106182075A CN 106182075 A CN106182075 A CN 106182075A CN 201610607675 A CN201610607675 A CN 201610607675A CN 106182075 A CN106182075 A CN 106182075A
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- China
- Prior art keywords
- motor
- mcu controller
- encoder
- socket
- arm joint
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of two-freedom universal machine Arm Joint drive system and method, drive plate, motor, encoder, communication conductor wire, MCU controller, networking circuit and power module including limit switch, zero position switch, motor；Wherein, on the one hand motor connects MCU controller by encoder, on the other hand drives plate to connect MCU controller by motor；Second socket passes sequentially through conducting slip ring, networking circuit connects MCU controller；First socket connects MCU controller by networking circuit；Power module is for providing power supply to MCU controller, encoder, motor；MCU controller, for driving plate to drive motor movement by motor, gathers the current location information of motor by encoder.The present invention controls stable, simple to operate, and versatility degree is high, can meet the motion requirement of two degrees of freedom mechanical arm joint module, and reduce use cost and maintenance cost, safe and reliable.
Description
Technical field
The present invention relates to mechanical arm technical field, in particular it relates to a kind of two-freedom universal machine Arm Joint drives
Dynamic system and method.
Background technology
In recent years, robotics achieves significant progress, and mechanical arm is obtaining in current robotics
Automated machine device to broad practice.In the production fields such as machine-building, electronics, metallurgy, therapeutic treatment, machine
The use of mechanical arm can accelerate the automatization of system, intellectuality and the construction degree of modernization, thus significantly promote and produce effect
Rate.
Meanwhile, existing arm robot is generally of multiple cradle head, and the rotation in each joint controls substantially
It is to be realized by motor or servomotor.For its construction features, current mechanical arm joint module trend increases the weight of, logical
Crossing series of identical mechanical arm joint module and form whole mechanical arm system, this mode solves original joint of mechanical arm
Volume is compared with the shortcoming such as big, structure is too fat to move.Reduce joint of mechanical arm and the probability of joint damage occurs, mechanical arm after occurring damaging
Dismounting and maintenance are also to become very simple because the driving of every part with communicate separate.
For the development trend of nowadays mechanical arm, the demand of corresponding mechanical arm joint module driving method also increases.
When, after whole hardware system module, also getting over driving the reliability of control unit, stability, accuracy, the requirement of real-time
Come the highest.Based on above-mentioned background condition, the present invention proposes a kind of two-freedom universal machine Arm Joint driving method.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of two-freedom universal machine Arm Joint
Drive system and method.
The two-freedom universal machine Arm Joint drive system provided according to the present invention, including limit switch, zero-bit
Switch, motor drive plate, motor, encoder, communication conductor wire, MCU controller, networking circuit and power module；
Wherein, on the one hand described motor connects described MCU controller by described encoder, on the other hand by described electricity
Machine drives plate to connect described MCU controller；
Second socket passes sequentially through conducting slip ring, networking circuit connects described MCU controller；First socket is by networking electricity
Road connects described MCU controller；Described power module is for providing power supply to described MCU controller, encoder, motor；
Described MCU controller, for driving plate to drive described motor movement by described motor, is adopted by described encoder
Collect the current location information of described motor；Described limit switch is used for the movement position of limit mechanical arm, described zero position switch
In the original position demarcating manipulator motion；
Preferably, described encoder is used for being converted to the movable information of described motor the signal of telecommunication, and by the described signal of telecommunication
Send to described MCU controller, thus the current location information of described motor is provided；
It is provided with motor-drive circuit on described drives plate；Described motor connects institute by described motor-drive circuit
State MCU controller.
Preferably, between described second socket and described conducting slip ring, between described conducting slip ring and described networking circuit,
Between described first socket and described networking circuit, between described first socket and described power module and described conducting slip ring
It is connected by communication conductor wire with between described power module.
Preferably, described limit switch, described zero position switch, described motor drive plate, described motor and described coding
The quantity of device is multiple；
Described limit switch, described zero position switch, described motor drive plate, described motor and described encoder one a pair
Should.
Preferably, described first socket connects a motor driving plate；Described second socket connects an electricity by conducting slip ring
Machine drives plate.
Preferably, described first socket, described second socket use aviation socket；Described networking circuit uses 485 networkings
Circuit.
The driving method of the two-freedom universal machine Arm Joint drive system that the present invention provides, including walking as follows
Rapid:
Step S1: restriction scope and/or the Zero positioning of revolution that mechanical arm is swung by limit switch and zero position switch are sent out
Deliver to MCU controller；
Restriction scope that step S2:MCU controller swings according to mechanical arm and/or the Zero positioning of revolution, by coding
Motor current location information that device receives and the control information computational analysis of described networking circuit transmission also export currently electricity
The control information of machine, and turning to and rotating speed by the drive circuit modulating motor on motor driving plate.
Compared with prior art, the present invention has a following beneficial effect:
1, the present invention controls stable, simple to operate, and versatility degree is high, can meet two degrees of freedom mechanical arm joint module
Motion requirement, and reduce use cost and maintenance cost, safe and reliable；
2, MCU controller of the present invention swings according to mechanical arm restriction scope and/or the Zero positioning of revolution, by coding
Motor current location information that device receives and the control information computational analysis of described networking circuit transmission also export currently electricity
The control information of machine, it is possible to be accurately controlled swing or the revolution of mechanical arm,
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the schematic diagram of two-freedom universal machine Arm Joint drive system in the present invention；
Fig. 2 is the structural representation of two universal machine Arm Joints freely in the present embodiment.
In figure:
1 is the first aviation plug, and 2 is T-shaped swing arm, and 3 is wire group, and 4 is worm screw, and 5 is the first driving motor, and 6 is second
Driving motor, 7 is the second aviation plug, and 8 is conducting slip ring, and 9 is rotary table, and 10 is joint module frame, and 11 drive for motor
Circuit, 12 is worm gear, and 13 is curved support part.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
In the present embodiment, the two-freedom universal machine Arm Joint drive system that the present invention provides, including spacing
Switch, zero position switch, motor drive plate, motor, encoder, communication conductor wire, MCU controller, networking circuit and power supply mould
Block；
Wherein, on the one hand described motor connects described MCU controller by described encoder, on the other hand by described electricity
Machine drives plate to connect described MCU controller；
Second socket passes sequentially through conducting slip ring, networking circuit connects described MCU controller；First socket is by networking electricity
Road connects described MCU controller；Described power module is for providing power supply to described MCU controller, encoder, motor；
Described MCU controller, for driving plate to drive described motor movement by described motor, is adopted by described encoder
Collect the current location information of described motor；Described limit switch is used for the movement position of limit mechanical arm, described zero position switch
In the original position demarcating manipulator motion；
Described encoder for being converted to the signal of telecommunication by the movable information of described motor, and sends the described signal of telecommunication to institute
State MCU controller, thus the current location information of described motor is provided；Described drives plate provides the driving electricity of described motor
Road.
It is provided with motor-drive circuit on described drives plate；Described motor connects institute by described motor-drive circuit
State MCU controller.
Between described second socket and described conducting slip ring, between described conducting slip ring and described networking circuit, described
Between one socket and described networking circuit, between described first socket and described power module and described conducting slip ring is with described
Connected by communication conductor wire between power module.
Described limit switch, described zero position switch, described motor drive plate, described motor and the quantity of described encoder
For multiple；
Described limit switch, described zero position switch, described motor drive plate, described motor and described encoder one a pair
Should.
Described first socket connects a motor and drives plate；Described second socket connects a motor by conducting slip ring and drives
Plate.
Described first socket, described second socket use aviation socket；Described networking circuit uses 485 networking circuit.
The present invention provide=driving method of described two-freedom universal machine Arm Joint drive system ,=bag
Include following steps:
Step S1: restriction scope and/or the Zero positioning of revolution that mechanical arm is swung by limit switch and zero position switch are sent out
Deliver to MCU controller；
Restriction scope that step S2:MCU controller swings according to mechanical arm and/or the Zero positioning of revolution, by coding
Motor current location information that device receives and the control information of described networking circuit transmission, computational analysis also exports currently electricity
The control information of machine, and turning to and rotating speed by the drive circuit modulating motor on motor driving plate.
Meanwhile, the action of whole mechanical arm needs the overall cooperation of each joint module, so the information between each module
Communication can also pass through 485 networking circuit realiration.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (7)
1. a two-freedom universal machine Arm Joint drive system, it is characterised in that include that limit switch, zero-bit are left
Close, motor drives plate, motor, encoder, communication conductor wire, MCU controller, networking circuit and power module；
Wherein, on the one hand described motor connects described MCU controller by described encoder, is on the other hand driven by described motor
Dynamic plate connects described MCU controller；
Second socket passes sequentially through conducting slip ring, networking circuit connects described MCU controller；First socket is by networking circuit even
Connect described MCU controller；Described power module is for providing power supply to described MCU controller, encoder, motor；
Described MCU controller, for driving plate to drive described motor movement by described motor, gathers institute by described encoder
State the current location information of motor；Described limit switch is for the movement position of limit mechanical arm, and described zero position switch is used for marking
Determine the original position of manipulator motion.
Two-freedom universal machine Arm Joint drive system the most according to claim 1, it is characterised in that
Described encoder for being converted to the signal of telecommunication by the movable information of described motor, and sends the described signal of telecommunication to described
MCU controller, thus the current location information of described motor is provided；
It is provided with motor-drive circuit on described drives plate；Described motor connects described by described motor-drive circuit
MCU controller.
Two-freedom universal machine Arm Joint drive system the most according to claim 1, it is characterised in that
Between described second socket and described conducting slip ring, between described conducting slip ring and described networking circuit, described first inserts
Between seat and described networking circuit, between described first socket and described power module and described conducting slip ring and described power supply
Connected by communication conductor wire between module.
Two-freedom universal machine Arm Joint drive system the most according to claim 1, it is characterised in that described limit
Bit switch, described zero position switch, described motor drive the quantity of plate, described motor and described encoder to be multiple；
Described limit switch, described zero position switch, described motor drive plate, described motor and described encoder one_to_one corresponding.
Two-freedom universal machine Arm Joint drive system the most according to claim 1, it is characterised in that
Described first socket connects a motor and drives plate；Described second socket connects a motor by conducting slip ring and drives plate.
Two-freedom universal machine Arm Joint drive system the most according to claim 1, it is characterised in that described
One socket, described second socket use aviation socket；Described networking circuit uses 485 networking circuit.
7. the driving side of the two-freedom universal machine Arm Joint drive system described in an any one of claim 1 to 6
Method, it is characterised in that comprise the steps:
Step S1: restriction scope and/or the Zero positioning of revolution that mechanical arm is swung by limit switch and zero position switch send extremely
MCU controller；
Restriction scope that step S2:MCU controller swings according to mechanical arm and/or the Zero positioning of revolution, connect by encoder
The motor current location information received and the control information computational analysis of described networking circuit transmission output are currently to motor
Control information, and turning to and rotating speed by the drive circuit modulating motor on motor driving plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607675.1A CN106182075A (en) | 2016-07-28 | 2016-07-28 | Two-freedom universal machine Arm Joint drive system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607675.1A CN106182075A (en) | 2016-07-28 | 2016-07-28 | Two-freedom universal machine Arm Joint drive system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182075A true CN106182075A (en) | 2016-12-07 |
Family
ID=57496209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607675.1A Pending CN106182075A (en) | 2016-07-28 | 2016-07-28 | Two-freedom universal machine Arm Joint drive system and method |
Country Status (1)
| Country | Link |
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| CN (1) | CN106182075A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186711A (en) * | 2017-05-12 | 2017-09-22 | 广州视源电子科技股份有限公司 | Position limitation protection method, device and the robot of mechanical arm |
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
| CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
| CN110587590A (en) * | 2019-08-06 | 2019-12-20 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4512710A (en) * | 1982-09-03 | 1985-04-23 | Textron Inc. | Robot forearm |
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
-
2016
- 2016-07-28 CN CN201610607675.1A patent/CN106182075A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4512710A (en) * | 1982-09-03 | 1985-04-23 | Textron Inc. | Robot forearm |
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN102717395A (en) * | 2011-03-30 | 2012-10-10 | 北京理工大学 | A Hall-switch-based system for accurately positioning the initial position of the joint of a robot |
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107186711A (en) * | 2017-05-12 | 2017-09-22 | 广州视源电子科技股份有限公司 | Position limitation protection method, device and the robot of mechanical arm |
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
| CN107336222B (en) * | 2017-08-10 | 2024-02-13 | 前元运立(北京)机器人智能科技有限公司 | Driving circuit board for humanoid mechanical arm |
| CN109465814A (en) * | 2018-12-05 | 2019-03-15 | 福州大学 | Two-freedom reconfigurable modular robot cellular construction |
| CN110587590A (en) * | 2019-08-06 | 2019-12-20 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
| CN110587590B (en) * | 2019-08-06 | 2021-04-09 | 深圳市优必选科技股份有限公司 | Steering wheel is inhaled to magnetism and steering wheel system is inhaled to magnetism |
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
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| RJ01 | Rejection of invention patent application after publication |