CN107738244A - A kind of control system of Multi-freedom-degreemanipulator manipulator - Google Patents
A kind of control system of Multi-freedom-degreemanipulator manipulator Download PDFInfo
- Publication number
- CN107738244A CN107738244A CN201710838537.9A CN201710838537A CN107738244A CN 107738244 A CN107738244 A CN 107738244A CN 201710838537 A CN201710838537 A CN 201710838537A CN 107738244 A CN107738244 A CN 107738244A
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- CN
- China
- Prior art keywords
- freedom
- control system
- degree
- servomotor
- paw
- Prior art date
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of control system of Multi-freedom-degreemanipulator manipulator, including base, turntable, large arm, forearm, wrist and paw, the base is connected with turntable, and turntable is connected with large arm by shoulder, large arm is connected by ancon with forearm, and forearm is connected by wrist with paw.First free degree is set between base and turntable, and shoulder sets second free degree, and ancon sets Three Degree Of Freedom, and wrist sets four-degree-of-freedom, and paw sets five degree of freedom；The free degree is realized that servomotor is controlled by digital control system by servomotor；First free degree is turntable rotation, second free degree is that shoulder lifts, Three Degree Of Freedom is that ancon lifts, four-degree-of-freedom is that wrist lifts, five degree of freedom is that paw clamps.
Description
Technical field
The present invention relates to a kind of robot device, particularly a kind of control system of Multi-freedom-degreemanipulator manipulator.
Background technology
With the development of industrial automation, manipulator is widely used in the industry.Manipulator has following excellent
Gesture, first, safe.Entered with human hand in mould and take product, if injection machine failure or mistake button cause matched moulds, there is hand clamping
Danger, can ensure that safety using manipulator.Second, efficiency and quality can be improved.Third, reduce product fraction defective.Just shaping
Product temperature is too high, and personnel, which take out product, can cause hand trace, produces defective products, because manipulator is taken out using special tool, so
Product will not be hurt.Fourth, save manpower and time.Fifth, saving raw material, cost is reduced, personnel take the product time indefinite, former
The particularity of material can cause product to shrink, modification, because the time that manipulator takes out is fixed, so steady quality.
But manipulator of the prior art has the defects of intrinsic, as robot movement form is simple, it is only capable of realizing single
One operation.Structure is not firm enough, is easy to be damaged.Positioning is not accurate, and control performance is low, is not easy to be considered as operating.
The defects of to solve in the prior art, CN102229142A discloses a kind of Five-degree-of-freedom electric manipulator, the machine
The mode that tool hand getting is braked with friction turbin generator and pulley electric motor manipulates to manipulator, and structure is relatively easy, and can be with
Realize multi-motion form, but due to motor braking underaction, cause that manipulator positioning is not accurate enough, and control performance is low,
It is not easy to operate, and paw function is single, and application effect is not strong.
The content of the invention
The shortcomings that existing for prior art.It is an object of the invention to provide a kind of control system of Multi-freedom-degreemanipulator manipulator
System, realizes the accurate control to manipulator, can reach accurate positioning, and controlling is strong, easy to operate, widely used technology effect
Fruit.
The invention provides a kind of control system of Multi-freedom-degreemanipulator manipulator, including Five-degree-of-freedmanipulator manipulator and numerical control system
System, the digital control system include computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuits
Plate, the Five-degree-of-freedmanipulator manipulator include base, turntable, large arm, forearm, wrist and paw, and the base is connected with turntable, turn
Platform is connected with large arm by shoulder, and large arm is connected by ancon with forearm, and forearm is connected by wrist with paw, and its feature exists
In setting first free degree between the base and turntable, shoulder sets second free degree, and ancon sets Three Degree Of Freedom, wrist
Portion sets four-degree-of-freedom, and paw sets five degree of freedom；The free degree is realized that servomotor is by numerical control system by servomotor
System control.
Further preferably, the computer control system and No. 24 servomotor main circuit boards are located in base, and five are watched
Circuit for controlling motor plate is taken to be respectively arranged in turntable, paw, shoulder ancon and wrist.
Further preferably, the computer control system is connected with No. 24 servomotor main circuit boards by Serial Port Line, and 24
Road servomotor main circuit board is connected by servomotor connecting line with five Serve Motor Control circuit boards.
Further preferably, the computer control system is worked for programming Control, and system is programmed using 3-dimensional tridimensional virtual
System, program is transmitted to No. 24 servomotor main circuit boards by Serial Port Line.
Further preferably, first free degree is turntable rotation, second free degree is shoulder lifting, Three Degree Of Freedom is
Ancon lifting, four-degree-of-freedom are wrist lifting, five degree of freedom is that paw clamps.
The material of the further preferably base, turntable, large arm, forearm, wrist and paw is aluminium alloy.
The moment of torsion of the servomotor of further preferred second free degree is the moment of torsion of the servomotor of four-degree-of-freedom
3 times.The moment of torsion of the servomotor of first free degree is 30kg.cm.
The further preferred manipulator is highly 400mm -600mm；The manipulator width is 150mm -210mm.
The length of the further preferred large arm is 150mm -200mm；The length of the forearm is 120mm -160mm.
Further preferably described paw makes paw claming angle remain at 0 degree using double propulsive mechanisms.
The further preferred paw has finger, and pad is installed additional between the finger and article；The chucking power of the finger
For 10 kilograms.
The further preferred manipulator uses lithium polymer battery.
No. 24 servomotor main circuit boards use single-chip computer control system, will instruction by servomotor connecting line send to
Five Serve Motor Control circuit boards.
Five Serve Motor Control circuit board acquisition instructions and controlling are watched positioned at turntable, paw, shoulder, ancon and wrist
Take the operations such as motor completes turntable rotation, shoulder lifting, ancon lifts, wrist lifts and paw clamps.
Had the following advantages that using the control system of the present invention：Five frees degree, servomotor are realized using servomotor
Controlled by digital control system, easy to operate, controlling is strong, motion is flexible, joint strength is big and accurate positioning；Using alloy and ABS
Engineering plastics material, make manipulator sturdy and durable, service life length；Paw uses double propulsive mechanisms, and between finger and article
Install pad additional, increase the application of paw, make the purposes of manipulator more extensive.
Embodiment
A kind of control system of Multi-freedom-degreemanipulator manipulator, including Five-degree-of-freedmanipulator manipulator and digital control system, the numerical control system
System includes computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuit boards, and described five freely
Degree manipulator includes base 1, turntable 2, large arm 3, forearm 4, wrist 5 and paw 6, and the base 1 is connected with turntable 2, turntable 2
It is connected with large arm 3 by shoulder 7, large arm 3 is connected by ancon 8 with forearm 4, and forearm 4 is connected by wrist 9 with paw 6, and it is special
Sign is, first free degree is set between the base 1 and turntable 2, and shoulder 7 sets second free degree, and ancon 8 sets the 3rd
The free degree, wrist 9 set four-degree-of-freedom, and paw 6 sets five degree of freedom；The free degree realized by servomotor, servo
Motor is controlled by digital control system.
The computer control system and No. 24 servomotor main circuit boards are located in base 1, five Serve Motor Controls
Circuit board is respectively arranged in turntable 2, paw 6, shoulder 7, ancon 8 and wrist 9.
The computer control system is connected with No. 24 servomotor main circuit boards by Serial Port Line, No. 24 servomotor masters
Circuit board is connected by servomotor connecting line with five Serve Motor Control circuit boards.
The computer control system is worked for programming Control, and using 3-dimensional tridimensional virtual programing system, program is passed through
Serial Port Line is transmitted to No. 24 servomotor main circuit boards.
First free degree is that turntable 2 rotates, second free degree is that shoulder 7 lifts, Three Degree Of Freedom is 8 liters of ancon
Drop, four-degree-of-freedom are that wrist 9 lifts, five degree of freedom is that paw 6 clamps.
The base 1, turntable 2, large arm 3, forearm 4, the material of wrist 5 and paw 6 are aluminium alloy.
The moment of torsion of the servomotor of second free degree is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
The moment of torsion of the servomotor of first free degree is 30kg.cm.
The manipulator is highly 400mm -600mm.The manipulator width is 150mm -210mm.
The length of the large arm 3 is 150mm -200mm.The length of the forearm 4 is 120mm -160mm.
Described paw 6 uses two steering wheels using double propulsive mechanisms, this pair of propulsive mechanism, and one is active steering wheel, even
Fetch the signal wire from digital control system, active steering wheel output shaft drives driving gear 12 to rotate, and another is driven steering wheel, this from
Dynamic steering wheel does not connect signal wire, and the rotation of driven gear 13 drives by driving gear 12, driving gear 12 and driven gear
13 form a parallel four-bar linkage with connecting rod 11, finger 10, mounting seat 14, and driving gear 12 drives driven gear when rotating
13 move in parallel finger 10.Paw claming angle is set to remain at 0 degree.The paw 6 has finger 10, the finger 10
Install pad additional between article.The chucking power of the finger 10 is 10 kilograms.
The manipulator uses lithium polymer battery.Lithium polymer battery small volume, light weight, electricity are big, immediate current
Greatly, long lifespan, safety.
No. 24 servomotor main circuit boards use single-chip computer control system, will instruction by servomotor connecting line send to
Five Serve Motor Control circuit boards.
Five Serve Motor Control circuit board acquisition instructions are simultaneously controlled positioned at turntable 2, paw 6, shoulder 7, ancon 8 and wrist
9 servomotor completes the operations such as turntable 2 rotates, shoulder 7 lifts, ancon 8 lifts, wrist 9 lifts and paw 6 clamps.
A kind of control system of Multi-freedom-degreemanipulator manipulator can make manipulator control is strong, motion flexibly, joint strength
Big and accurate positioning, sturdy and durable, service life length are widely used.
Claims (10)
1. a kind of control system of Multi-freedom-degreemanipulator manipulator, including Five-degree-of-freedmanipulator manipulator and digital control system, the digital control system
Including computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuit boards, the five degree of freedom
Manipulator includes base（1）, turntable（2）, large arm（3）, forearm（4）, wrist（5）And paw（6）, the base（1）With turntable
（2）Connection, turntable（2）With large arm（3）Pass through shoulder（7）Connection, large arm（3）Pass through ancon（8）With forearm（4）Connection, forearm
（4）Pass through wrist（9）With paw（6）Connection, it is characterised in that the base（1）With turntable（2）Between set first freely
Degree, shoulder（7）Second free degree, ancon are set（8）Three Degree Of Freedom, wrist are set（9）Four-degree-of-freedom, paw are set（6）
Five degree of freedom is set；The free degree is realized that servomotor is controlled by digital control system by servomotor.
A kind of 2. control system of Multi-freedom-degreemanipulator manipulator according to claim 1, it is characterised in that the computer control
System processed and No. 24 servomotor main circuit boards are located at base（1）Interior, five Serve Motor Control circuit boards, which are respectively arranged at, to be turned
Platform（2）, paw（6）, shoulder（7）Ancon（8）And wrist（9）In.
A kind of 3. control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, it is characterised in that computer control
System processed is connected with No. 24 servomotor main circuit boards by Serial Port Line, and No. 24 servomotor main circuit boards are connected by servomotor
Wiring is connected with five Serve Motor Control circuit boards.
A kind of 4. control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, it is characterised in that the calculating
Machine control system is worked for programming Control, and using 3-dimensional tridimensional virtual programing system, program is transmitted to 24 tunnels by Serial Port Line
Servomotor main circuit board.
5. the control system of a kind of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, it is characterised in that described first
The free degree is turntable（2）Rotation, second free degree are shoulder（7）Lifting, Three Degree Of Freedom are ancon（8）Lifting, the 4th are freely
Spend for wrist（9）Lifting, five degree of freedom are paw（6）Clamp.
6. a kind of control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, the servo of second free degree
The moment of torsion of motor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
7. a kind of control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, the servo of first free degree
The moment of torsion of motor is 30kg.cm.
8. a kind of control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, the manipulator are highly
400mm—600mm。
9. a kind of control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, the manipulator width are
150mm—210mm。
10. a kind of control system of Multi-freedom-degreemanipulator manipulator according to claim 1 or 2, the large arm（3）Length be
150mm—200mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838537.9A CN107738244A (en) | 2017-09-18 | 2017-09-18 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710838537.9A CN107738244A (en) | 2017-09-18 | 2017-09-18 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107738244A true CN107738244A (en) | 2018-02-27 |
Family
ID=61235942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710838537.9A Withdrawn CN107738244A (en) | 2017-09-18 | 2017-09-18 | A kind of control system of Multi-freedom-degreemanipulator manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107738244A (en) |
-
2017
- 2017-09-18 CN CN201710838537.9A patent/CN107738244A/en not_active Withdrawn
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180227 |