CN113752301B - Multi-degree-of-freedom robot joint feedback system - Google Patents
Multi-degree-of-freedom robot joint feedback system Download PDFInfo
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- CN113752301B CN113752301B CN202111139205.4A CN202111139205A CN113752301B CN 113752301 B CN113752301 B CN 113752301B CN 202111139205 A CN202111139205 A CN 202111139205A CN 113752301 B CN113752301 B CN 113752301B
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- processing chip
- motor
- belt pulley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a multi-degree-of-freedom robot joint feedback system which comprises an upper connecting arm, wherein a first fixing plate is fixedly arranged on the outer side of the upper connecting arm, a supporting plate is arranged at the bottom end of the upper connecting arm, a motor clamping seat is fixedly arranged on the inner side of the first fixing plate, a first motor is arranged on the inner side of the motor clamping seat, the motor clamping seat is in clamping connection with the first motor, a second fixing plate is fixedly arranged on the inner side of the upper connecting arm, a first processing chip is arranged at the upper end of the second fixing plate, and a first connecting wire is arranged on the outer side of the first processing chip. According to the speed feedback system of the joint position of the multi-degree-of-freedom robot, independent control systems, namely the first processing chip and the second processing chip, are arranged at the first motor and the second motor, and the information acquired by the sensor is subjected to rapid independent reaction through the first processing chip and the second processing chip, so that the feedback efficiency of the joint position is improved.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a multi-degree-of-freedom robot joint feedback system.
Background
The robot equipment is mechanical equipment for assisting work, the robot has higher flexibility compared with common mechanical equipment, can perform pipeline work for imitation manpower, has the basic characteristics of sensing, decision making, executing and the like, can assist or even replace human beings to complete dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, expands or extends the activity and capability range of the human beings, and as the intelligent intrinsic understanding of the robot technology is deepened, the robot technology starts to continuously permeate into various fields of human activities, and various special robots with sensing, decision making, action and interaction capabilities and various intelligent robots are developed by combining the application characteristics of the fields, so that the equipment for improving the production efficiency can be developed.
Most of the existing robot devices adopt the form of an air cylinder to adjust the position of a joint of the robot, the recognition feedback speed of data is low, the operation time difference is easy to occur, the use is inconvenient, and multi-angle adjustment processing cannot be carried out according to feedback.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom robot joint feedback system, which aims to solve the problems that the existing robot joint position provided by the background technology is low in data identification feedback speed, easy to cause operation time difference, inconvenient to use and incapable of performing multi-angle adjustment processing according to feedback.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multi freedom robot joint feedback system, includes the linking arm, the outside fixed mounting of linking arm has first fixed plate, the bottom of linking arm is provided with the layer board, the inboard fixed mounting of first fixed plate has the motor cassette, the inboard of motor cassette is provided with first motor, the motor cassette with first motor block connection, the inboard fixed mounting of linking arm has the second fixed plate, the upper end of second fixed plate is provided with first processing chip, the outside of first processing chip is provided with first connecting wire, first processing chip is through first connecting wire with first motor interconnect, the output shaft fixed mounting of first motor has first gear, the bottom of second fixed plate is provided with the pivot, the bottom of pivot with the upper end central point of layer board puts fixed connection, the outside fixed mounting of pivot has the second gear, first gear with second gear engagement connection, the bottom fixed mounting of layer board has the first connecting wire, the upper end of second fixed plate is provided with first connecting wire, the second connecting wire is provided with the second connecting plate is provided with the bottom of second connecting wire, the second connecting wire is provided with the second connecting plate, the bottom of second connecting wire is provided with the sensor interconnect, the bottom of second connecting plate is provided with the second connecting wire, the bottom of second connecting wire is provided with the first connecting wire, the bottom of second connecting wire is provided with the second connecting wire is connected with the first connecting wire, the sensor mutually, the sensor transmits data to a second processing chip and a first processing chip, the second processing chip and the first processing chip recognize the data, the data recognized by the second processing chip and the first processing chip are transmitted to the second motor and the first motor, the information acquired by the sensor 21 is rapidly and independently reacted through the first processing chip 7 and the second processing chip 23, and the respective data are independently analyzed through the first processing chip 7 and the second processing chip 23.
Preferably, a first belt pulley is fixedly arranged on the outer side of the fixed shaft, a connecting belt is arranged on the outer side of the first belt pulley, and the first belt pulley is rotationally connected with the connecting belt.
Preferably, a baffle is fixedly arranged on the inner side of the lower connecting arm, a second motor is arranged at the upper end of the baffle, a second belt pulley is fixedly arranged on an output shaft of the second motor, and the second belt pulley is rotationally connected with the connecting belt.
Preferably, the inductor is electrically connected with the second processing chip, and the inductor is electrically connected with the first processing chip.
Preferably, the first gear and the second gear are located on the same horizontal plane, and the diameter of the first gear is smaller than that of the second gear.
Preferably, the second motor is located inside the lower connecting arm, and the second belt pulley is rotatably connected with the first belt pulley through the connecting belt.
Compared with the prior art, the invention has the beneficial effects that: this multi freedom robot joint feedback system, collect information through the inductor, in the inductor was carried out information transfer to first processing chip and second processing chip, handle the information through first processing chip and second processing chip, the information after handling is transmitted respectively to first motor and second motor in, first motor start drive first gear rotation, the meshing through first gear and second gear is connected and is driven the second gear rotation, the second gear drives the pivot and rotates the pivot and rotate spacing processing through the second fixed plate, the pivot drives the layer board and rotates, thereby carry out circular rotation to the robot arm, start second motor drive second belt pulley and rotate, the second belt pulley drives first belt pulley through connecting belt and rotates, drive the fixed axle through first belt pulley and rotate, thereby send and drive down the arm and rotate round first link plate, through the rotation angle of layer board and lower link arm, carry out the adjustment processing of multi freedom to equipment, through setting up independent control system to first motor and second motor department, first processing chip and second processing chip carry out the information that gathers fast independent reaction to the inductor through first processing chip, thereby feedback department has been improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic cross-sectional view of the present invention;
FIG. 4 is a schematic diagram of a feedback structure according to the present invention;
FIG. 5 is a schematic diagram of a first motor circuit structure according to the present invention;
fig. 6 is a schematic diagram of a circuit structure of a second motor according to the present invention.
In the figure: 1. an upper connecting arm; 2. a first fixing plate; 3. a supporting plate; 4. a motor clamping seat; 5. a first motor; 6. a second fixing plate; 7. a first processing chip; 8. a first connecting line; 9. a first gear; 10. a rotating shaft; 11. a second gear; 12. a first connection plate; 13. a second connecting plate; 14. a lower connecting arm; 15. a fixed shaft; 16. a first pulley; 17. a connecting belt; 18. a partition plate; 19. a second motor; 20. a second pulley; 21. an inductor; 22. a second connecting line; 23. a second processing chip; 24. and a third connecting line.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: the multi-degree-of-freedom robot joint feedback system comprises an upper connecting arm 1, wherein a first fixing plate 2 is fixedly arranged on the outer side of the upper connecting arm 1, a supporting plate 3 is arranged at the bottom end of the upper connecting arm 1, a motor clamping seat 4 is fixedly arranged on the inner side of the first fixing plate 2, a first motor 5 is arranged on the inner side of the motor clamping seat 4, the motor clamping seat 4 is in clamping connection with the first motor 5, a second fixing plate 6 is fixedly arranged on the inner side of the upper connecting arm 1, a first processing chip 7 is arranged at the upper end of the second fixing plate 6, a first connecting wire 8 is arranged on the outer side of the first processing chip 7, the first processing chip 7 is mutually connected with the first motor 5 through the first connecting wire 8, a first gear 9 is fixedly arranged at the output shaft of the first motor 5, a rotating shaft 10 is arranged at the bottom end of the second fixing plate 6, the bottom end of the rotating shaft 10 is fixedly connected with the central position of the upper end of the supporting plate 3, the outer side of the rotating shaft 10 is fixedly provided with a second gear 11, the first gear 9 is meshed with the second gear 11, the second gear 11 is driven to rotate by the meshed connection of the first gear 9 and the second gear 11, the second gear 11 drives the rotating shaft 10 to rotate, the rotating shaft 10 is subjected to rotation limiting treatment by a second fixing plate 6, the rotating shaft 10 drives a supporting plate 3 to rotate, thereby circularly rotating a robot arm, the bottom end of the supporting plate 3 is fixedly provided with a first connecting plate 12, the outer side of the first connecting plate 12 is provided with a second connecting plate 13, the bottom end of the second connecting plate 13 is fixedly provided with a lower connecting arm 14, the outer side of the first connecting plate 12 is fixedly provided with a fixed shaft 15, the first connecting plate 12 is rotationally connected with the second connecting plate 13 by the fixed shaft 15, the bottom end of the lower connecting arm 14 is provided with an inductor 21, the upper end of the inductor 21 is provided with a second connecting wire 22, the upper end position of the inner side of the lower connecting arm 14 is provided with a second processing chip 23, the inductor 21 is connected with the second processing chip 23 through a second connecting wire 22, the outer side of the second processing chip 23 is provided with a third connecting wire 24, the bottom end of the third connecting wire 24 is connected with the second motor 19, the inductor 21 transmits data to the second processing chip 23 and the first processing chip 7, the second processing chip 23 and the first processing chip 7 recognize the data, the data after the recognition of the second processing chip 23 and the first processing chip 7 are transmitted to the second motor 19 and the first motor 5, the information acquired by the inductor 21 is subjected to rapid independent reaction through the first processing chip 7 and the second processing chip 23, and the respective data are independently analyzed through the first processing chip 7 and the second processing chip 23.
Further, a first belt pulley 16 is fixedly installed on the outer side of the fixed shaft 15, a connecting belt 17 is arranged on the outer side of the first belt pulley 16, the first belt pulley 16 is rotationally connected with the connecting belt 17, the second belt pulley 20 rotationally drives the connecting belt 17 to rotate, and the connecting belt 17 is rotationally connected with the first belt pulley 16 to mechanically rotate the fixed shaft 15.
Further, a partition plate 18 is fixedly installed on the inner side of the lower connecting arm 14, a second motor 19 is arranged at the upper end of the partition plate 18, a second belt pulley 20 is fixedly installed on an output shaft of the second motor 19, the second belt pulley 20 is rotationally connected with the connecting belt 17, the second belt pulley 20 is driven and powered through the second motor 19, the second motor 19 drives the second belt pulley 20 to rotate, the second belt pulley 20 drives the connecting belt 17 to rotate, the second belt pulley 20 drives the first belt pulley 16 to rotate through the connecting belt 17, and the fixed shaft 15 is driven to rotate through the first belt pulley 16.
Further, the inductor 21 is electrically connected with the second processing chip 23, the inductor 21 is electrically connected with the first processing chip 7, and the collected data is transmitted through the electrical connection between the inductor 21 and the second processing chip 23 as well as the electrical connection between the inductor 21 and the first processing chip 7, so that the transmission efficiency is improved.
Further, the first gear 9 and the second gear 11 are located on the same horizontal plane, the diameter of the first gear 9 is smaller than that of the second gear 11, and the rotation angle of the supporting plate 3 is conveniently controlled through the diameter difference between the first gear 9 and the second gear 11.
Further, the second motor 19 is located inside the lower connecting arm 14, the second belt pulley 20 is rotatably connected with the first belt pulley 16 through the connecting belt 17, and the second belt pulley 20 is driven by the arrangement of the second motor 19, so that the lower connecting arm 14 is driven to rotate along the first connecting plate 12.
Working principle: the information is collected through the inductor 21, the inductor 21 transmits the information to the first processing chip 7 and the second processing chip 23, the information is processed through the first processing chip 7 and the second processing chip 23, the processed information is transmitted to the first motor 5 and the second motor 19 respectively, the first motor 5 starts to drive the first gear 9 to rotate, the second gear 11 is driven to rotate through the meshing connection of the first gear 9 and the second gear 11, the second gear 11 drives the rotating shaft 10 to rotate, the rotating shaft 10 is subjected to rotation limiting processing through the second fixing plate 6, the rotating shaft 10 drives the supporting plate 3 to rotate, the robot arm is subjected to circular rotation, the second motor 19 is started to drive the second belt pulley 20 to rotate, the second belt pulley 20 drives the first belt pulley 16 to rotate through the connecting belt 17, the fixed shaft 15 is driven to rotate through the first belt pulley 16, the lower connecting arm 14 is driven to rotate around the first connecting plate 12, the equipment is subjected to multi-degree-of-freedom adjustment processing through the matching of the rotating angles of the supporting plate 3 and the lower connecting arm 14, and the first motor 5 and the second motor 19 are provided with independent control systems, namely the first processing chip 7 and the second processing chip 23 are driven to rotate, and the feedback processing efficiency of the first processing chip 21 is improved through the first processing chip is improved, and the feedback processing chip is processed through the first processing chip 23.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The multi-degree-of-freedom robot joint feedback system comprises an upper connecting arm (1), and is characterized in that: the utility model discloses a motor connecting device, including upper connecting arm (1), motor cassette (4) and first motor (5) block connection, upper connecting arm (1)'s outside fixed mounting has first fixed plate (2), upper connecting arm (1)'s bottom is provided with layer board (3), upper connecting arm (1)'s bottom is provided with layer board (7), upper connecting chip (7) are provided with first connecting wire (8) in the outside, first connecting wire (8) are passed through with first motor (5) interconnect, first motor (5) output shaft fixed mounting has first gear (9), second fixed plate (6)'s bottom is provided with pivot (10), pivot (10) bottom and upper connecting arm (1) are provided with second fixed plate (6), the upper end of second fixed plate (6) is provided with first processing chip (7), the outside of first processing chip (7) is provided with first connecting wire (8) with first motor (5) interconnect, the bottom of pivot (10) and first connecting plate (11) fixed mounting has, the bottom of pivot (10) is connected with layer board (11), the outer side of the first connecting plate (12) is provided with a second connecting plate (13), the bottom end of the second connecting plate (13) is fixedly provided with a lower connecting arm (14), the outer side of the first connecting plate (12) is fixedly provided with a fixed shaft (15), the first connecting plate (12) is rotationally connected with the second connecting plate (13) through the fixed shaft (15), the bottom end of the lower connecting arm (14) is provided with an inductor (21), the upper end of the inductor (21) is provided with a second connecting wire (22), the upper end position of the inner side of the lower connecting arm (14) is provided with a second processing chip (23), the inductor (21) is mutually connected with the second processing chip (23) through the second connecting wire (22), the outer side of the second processing chip (23) is provided with a third connecting wire (24), the bottom end of the third connecting wire (24) is mutually connected with a second motor (19), the inductor (21) transmits data to the second processing chip (23) and the first motor (7), the second motor (23) and the second processing chip (7) are mutually connected with the second motor (7) and the second processing chip (7), the information acquired by the sensor (21) is rapidly and independently reacted through the first processing chip (7) and the second processing chip (23), and the respective data are independently analyzed through the first processing chip (7) and the second processing chip (23).
2. The multiple degree of freedom robot joint feedback system of claim 1 wherein: the outer side of the fixed shaft (15) is fixedly provided with a first belt pulley (16), the outer side of the first belt pulley (16) is provided with a connecting belt (17), and the first belt pulley (16) is rotationally connected with the connecting belt (17).
3. The multiple degree of freedom robot joint feedback system of claim 2 wherein: the inside fixed mounting of lower linking arm (14) has baffle (18), the upper end of baffle (18) is provided with second motor (19), the output shaft fixed mounting of second motor (19) has second belt pulley (20), second belt pulley (20) with connecting belt (17) rotate and connect.
4. The multiple degree of freedom robot joint feedback system of claim 1 wherein: the inductor (21) is electrically connected with the second processing chip (23), and the inductor (21) is electrically connected with the first processing chip (7).
5. The multiple degree of freedom robot joint feedback system of claim 1 wherein: the first gear (9) and the second gear (11) are positioned on the same horizontal plane, and the diameter of the first gear (9) is smaller than that of the second gear (11).
6. A multiple degree of freedom robotic joint feedback system according to claim 3, wherein: the second motor (19) is located inside the lower connecting arm (14), and the second belt pulley (20) is rotatably connected with the first belt pulley (16) through the connecting belt (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139205.4A CN113752301B (en) | 2021-09-26 | 2021-09-26 | Multi-degree-of-freedom robot joint feedback system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111139205.4A CN113752301B (en) | 2021-09-26 | 2021-09-26 | Multi-degree-of-freedom robot joint feedback system |
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| Publication Number | Publication Date |
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| CN113752301A CN113752301A (en) | 2021-12-07 |
| CN113752301B true CN113752301B (en) | 2023-05-30 |
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| CN202111139205.4A Active CN113752301B (en) | 2021-09-26 | 2021-09-26 | Multi-degree-of-freedom robot joint feedback system |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011255493A (en) * | 2010-06-04 | 2011-12-22 | Robotis Co Ltd | Actuator module usable for various forms of joints |
| JP2014050935A (en) * | 2012-09-10 | 2014-03-20 | Seiko Epson Corp | Robot control device, robot, and robot system |
| CN102837311B (en) * | 2012-09-26 | 2016-01-20 | 苏州工业园区职业技术学院 | Low speed Full-automatic spot gluing machine people servo controller in a kind of five axles |
| CN104511909A (en) * | 2013-09-28 | 2015-04-15 | 沈阳新松机器人自动化股份有限公司 | Robot arm |
| JP6416746B2 (en) * | 2015-12-24 | 2018-10-31 | ファナック株式会社 | Industrial articulated robot with miniaturized joints |
| CN108214472A (en) * | 2018-02-24 | 2018-06-29 | 珠海格力智能装备有限公司 | Transmission mechanism and robot |
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