CN203125520U - Five-axis numerical control mechanical arm - Google Patents

Abstract

The utility model discloses a five-axis numerical control mechanical arm. The five-axis numerical control mechanical arm is characterized in that a mechanical arm body is included, the mechanical arm body is provided with an X-axis arm, a Y-axis arm and a Z-axis arm, the X-axis arm, the Y-axis arm and the Z-axis arm are respectively placed in an X axis, a Y axis and a Z axis, a servo motor is used for driving translation, the mechanical arm body is provided with a control device and a mechanical arm operation feedback device, a CAN control bus is used for achieving mutual connection, a B and C axis movement mechanism is arranged at the tail end of the Z-axis arm, the B and C axis movement mechanism is driven by the servo motor and can rotate by 180 degrees in the B axis and 360 degrees in the C axis, and the control device comprises a central control module, a data operation module, a memory storage module and a signal processing module which are sequentially connected.

Description

A kind of five-shaft numerical control mechanical arm

Technical field

The utility model relates to mechanical automation control field, is specifically related to a kind of five-shaft numerical control mechanical arm.

Background technology

Along with development of modern industry, people are for enhancing productivity, stabilize and increase product quality, improve workman's working condition, accelerate to realize the consideration of industrial production mechanization and automation, utility model mechanical arm, and it is widely used in the production process, especially at high temperature, high pressure, dust, noise and have radioactivity and the occasion of pollution, mechanical arm has obtained using widely especially.Mechanical arm is a new technology that occurs in the automation field in modern age, and has become an important component part in the modern industry production system.Mechanical arm is a kind of of industrial robot, and it is by manipulator, controller, and servo drive system and detect sensing device and constitute is a kind of apery operation, control automatically, but overprogram can be finished the automated production equipment of each section's operation at three dimensions.Mechanical arm is applied to automobile industry the earliest, often is applied to welding, sprays paint loading and unloading and carrying.Mechanical arm extends and has enlarged brothers and the cerebral function of going into, and it can replace being engaged in the work in the adverse circumstances such as danger, harmful, poisonous, low temperature and Gao Re, and it is heavy to replace the people to be engaged in, and the dull duplication of labour is raised labour productivity, the assurance product quality.

In the existing traditional injection moulding manipulator, usually can only carry out three rectilinear motions of XYZ, can only in two dimensional surface, get thing, can only realize simple movement locus, can't realize that multiple degrees of freedom, three dimensions gets thing, for the complex appearance product, it is bigger that it gets thing tool limitation, range of choice is little, single, and the designing requirement height can't satisfy the more and more higher machinery manufacturing industry development of standard.

The utility model content

The purpose of this utility model is at above-mentioned deficiency, provides a kind of new five-shaft numerical control mechanical arm by at Z axis robot end one BC shaft movement mechanism being set, and adopts the control method of innovation, realizes that three dimensions gets thing.

The utility model is that the technical scheme that adopts that achieves the above object is:

A kind of five-shaft numerical control mechanical arm, it comprises a mechanical arm body, be provided with X-axis arm, Y-axis arm and Z axle arm at this mechanical arm body, respectively on X-axis, Y-axis and Z axle, drive translation work by servomotor, be respectively equipped with control device and mechanical arm operation feedback device at the mechanical arm body, and be connected to each other by the CAN control bus, at described Z axle arm end, be provided with a B, C shaft movement mechanism, this B, C shaft movement mechanism drive on the B axle Rotate 180 ° by servomotor, 360 ° of C axle rotations; Comprise central control module, data operation module, memory storage module and the signal processing module that connects successively at described control device; Wherein said central control module and data operation module connect by the SCI communication module; In described memory storage module, there is mechanical arm motion optimum position coordinate; In described central control module, be embedded with the control algolithm formula:

${\mathrm{\θ}}_L\left(\mathrm{\δ}\right)=\frac{K_m(K_p+\mathrm{\δ}{K}_v)\mathrm{\θ\τ}\left(\mathrm{\δ}\right)-n{R}_{m}D\left(\mathrm{\δ}\right)}{{\mathrm{\δ}}^2{R}_m{J}_{\mathrm{off}}+\mathrm{\δ}(R_m{f}_{\mathrm{off}}+K_m{K}_b+K_m{K}_v)+K_m{K}_p}$

Wherein: δ is Laplace operator, R _mBe servomotor resistance, θ _LBe the angular displacement of bearing axle, θ τ is the instruction angle displacement, J _OffEffective moment of inertia, f _OffEffective viscous friction coefficient, n gear ratio, K _mBe torque ratio constant, K _bBe proportionality constant, K _pBe position feedback gain, K _vBe the error derivative feedback gain, D is disturbing moment; In described data operation module, be embedded with high accuracy, efficient data mathematical algorithm, the incremental pid algorithm, data are carried out preliminary treatment, the inverse kinematics equation carries out mathematical modeling, cubic polynomial interpolation algorithm, space line interpolation algorithm and space circular arc interpolation algorithm to the movement locus of mechanical arm, mechanical arm real time kinematics track is calculated, draw result of calculation; Gained result of calculation transfers to central control module by the SCI communication module, and central control module with the contrast of result of calculation numerical value, is in real time adjusted control to the motion of mechanical arm by calling predefined best coordinates in the memory storage module.

Described B, C shaft movement mechanism comprise two servomotors, servo motor B and servomotor C; Described servomotor C through belt gear, drives conical tooth, by two conical tooth transmissions, makes motion do 360 ° of rotations at the C axle; Described servo motor B through the two-stage belt gear, makes motion do 180 ° of rotations at the B axle.

Described mechanical arm operation feedback device comprises photoelectric encoder and fault detection module; Photoelectric encoder feeds back mechanical arm ruuning situation in real time, the signal processing module that feedback signal transfers in the control device is handled, after signal processing module is handled, transferring to data processing module calculates, by the SCI communication module result of calculation is transferred to central control module then, by central control module mechanical arm is adjusted control at last; Described fault detection module Auto-Sensing fault is also remembered the fault numbering, and shaft position and the automatic tired running number of times of calculating are realized automatic warning function when moving by fine setting, and jump out the endless loop operating condition, safeguards system safety.

Described central control module comprises host computer PLC programmable logic controller (PLC) and arm processor.

Also be provided with input/output module on the described mechanical arm body, it comprises button control module, program editing module and function display module, interconnects by data/address bus and control device.

Described button control module is function button, switch etc., and described program editing module is USB interface, input keyboard etc., and described function display module is indicator lamp and display.

The beneficial effects of the utility model are: by at Z axis robot end one BC shaft movement mechanism being set, and adopt specific control method, realize that three dimensions gets thing.Adopt dialog mode backlight design screen, and the band electricity-saving function, simple to operate understandable; The running modulus can be set, and reports to the police automatically when exceeding standard, and is convenient to manufacturing schedule tracing record and arrangement.

Description of drawings

Fig. 1 is control flow schematic diagram of the present utility model;

Fig. 2 is the utility model B, C shaft movement mechanism overall structure schematic diagram;

Fig. 3 is the internal structure schematic diagram of Fig. 2.

Wherein: 1. servo motor B 2. servomotor C 3. belt gears 4. two-stage belt gears 5. conical tooths

The specific embodiment

Embodiment: referring to Fig. 1 to Fig. 3, present embodiment provides a kind of five-shaft numerical control mechanical arm, it comprises a mechanical arm body, be provided with the X-axis arm at this mechanical arm body, Y-axis arm and Z axle arm, respectively in X-axis, on Y-axis and the Z axle, drive translation work by servomotor, be respectively equipped with control device and mechanical arm operation feedback device at the mechanical arm body, and be connected to each other by the CAN control bus, at described Z axle arm end, be provided with a B, the C shaft movement mechanism, this B, the C shaft movement mechanism, drive on the B axle Rotate 180 ° by servomotor, 360 ° of C axle rotations; Comprise central control module, data operation module, memory storage module and the signal processing module that connects successively at described control device; Wherein said central control module and data operation module connect by the SCI communication module; In described memory storage module, there is mechanical arm motion optimum position coordinate; In described central control module, be embedded with the control algolithm formula:

${\mathrm{\θ}}_L\left(\mathrm{\δ}\right)=\frac{K_m(K_p+\mathrm{\δ}{K}_v)\mathrm{\θ\τ}\left(\mathrm{\δ}\right)-n{R}_{m}D\left(\mathrm{\δ}\right)}{{\mathrm{\δ}}^2{R}_m{J}_{\mathrm{off}}+\mathrm{\δ}(R_m{f}_{\mathrm{off}}+K_m{K}_b+K_m{K}_v)+K_m{K}_p}$

Wherein: δ is Laplace operator, R _mBe servomotor resistance, θ _LBe the angular displacement of bearing axle, θ τ is the instruction angle displacement, J _OffEffective moment of inertia, f _OffEffective viscous friction coefficient, n gear ratio, K _mBe torque ratio constant, K _bBe proportionality constant, K _pBe position feedback gain, K _vBe the error derivative feedback gain, D is disturbing moment; In described data operation module, be embedded with high accuracy, efficient data mathematical algorithm, the incremental pid algorithm, data are carried out preliminary treatment, the inverse kinematics equation carries out mathematical modeling, cubic polynomial interpolation algorithm, space line interpolation algorithm and space circular arc interpolation algorithm to the movement locus of mechanical arm, mechanical arm real time kinematics track is calculated, draw result of calculation; Gained result of calculation transfers to central control module by the SCI communication module, and central control module with the contrast of result of calculation numerical value, is in real time adjusted control to the motion of mechanical arm by calling predefined best coordinates in the memory storage module.

Described B, C shaft movement mechanism comprise two servomotors, servo motor B 1 and servomotor C2; Described servomotor C2 through belt gear 3, drives conical tooth 5, by two conical tooth 5 transmissions, makes motion do 360 ° of rotations at the C axle; Described servo motor B 1 through two-stage belt gear 4, makes motion do 180 ° of rotations at the B axle.

Described mechanical arm operation feedback device comprises photoelectric encoder and fault detection module; Photoelectric encoder feeds back mechanical arm ruuning situation in real time, the signal processing module that feedback signal transfers in the control device is handled, after signal processing module is handled, transferring to data processing module calculates, by the SCI communication module result of calculation is transferred to central control module then, by central control module mechanical arm is adjusted control at last; Described fault detection module Auto-Sensing fault is also remembered the fault numbering, and shaft position and the automatic tired running number of times of calculating are realized automatic warning function when moving by fine setting, and jump out the endless loop operating condition, safeguards system safety.

Described central control module comprises host computer PLC programmable logic controller (PLC) and arm processor.

Also be provided with input/output module on the described mechanical arm body, it comprises button control module, program editing module and function display module, interconnects by data/address bus and control device.

Described button control module is function button, switch etc., and described program editing module is USB interface, input keyboard etc., and described function display module is indicator lamp and display.

But the above only is preferable possible embodiments of the present utility model, is not in order to limit to claim of the present utility model, so the equivalent structure that all utilization the utility model specifications and accompanying drawing content are done changes, all to be included in the protection domain of the present utility model.

Claims (5)

1. five-shaft numerical control mechanical arm, it is characterized in that, it comprises a mechanical arm body, be provided with X-axis arm, Y-axis arm and Z axle arm at this mechanical arm body, respectively on X-axis, Y-axis and Z axle, drive translation work by servomotor, be respectively equipped with control device and mechanical arm operation feedback device at the mechanical arm body, and be connected to each other by the CAN control bus, at described Z axle arm end, be provided with a B, C shaft movement mechanism, this B, C shaft movement mechanism, drive on the B axle Rotate 180 ° by servomotor, 360 ° of C axle rotations; Comprise central control module, data operation module, memory storage module and the signal processing module that connects successively at described control device; Wherein said central control module and data operation module connect by the SCI communication module; In described memory storage module, there is mechanical arm motion optimum position coordinate; In described central control module, be embedded with the control algolithm formula:

${\mathrm{\θ}}_L\left(\mathrm{\δ}\right)=\frac{K_m(K_p+\mathrm{\δ}{K}_v)\mathrm{\θ\τ}\left(\mathrm{\δ}\right)-n{R}_{m}D\left(\mathrm{\δ}\right)}{{\mathrm{\δ}}^2{R}_m{J}_{\mathrm{off}}+\mathrm{\δ}(R_m{f}_{\mathrm{off}}+K_m{K}_b+K_m{K}_v)+K_m{K}_p}$

Wherein: δ is Laplace operator, R _mBe servomotor resistance, θ _LBe the angular displacement of bearing axle, θ τ is the instruction angle displacement, J _OffEffective moment of inertia, f _OffEffective viscous friction coefficient, n gear ratio, K _mBe torque ratio constant, K _bBe proportionality constant, K _pBe position feedback gain, K _vBe the error derivative feedback gain, D is disturbing moment; In described data operation module, be embedded with high accuracy, efficient data mathematical algorithm, the incremental pid algorithm, data are carried out preliminary treatment, the inverse kinematics equation carries out mathematical modeling, cubic polynomial interpolation algorithm, space line interpolation algorithm and space circular arc interpolation algorithm to the movement locus of mechanical arm, mechanical arm real time kinematics track is calculated, draw result of calculation; Gained result of calculation transfers to central control module by the SCI communication module, and central control module with the contrast of result of calculation numerical value, is in real time adjusted control to the motion of mechanical arm by calling predefined best coordinates in the memory storage module.

2. five-shaft numerical control mechanical arm according to claim 1 is characterized in that, described B, C shaft movement mechanism comprise two servomotors, servo motor B and servomotor C; Described servomotor C through belt gear, drives conical tooth, by two conical tooth transmissions, makes motion do 360 ° of rotations at the C axle; Described servo motor B through the two-stage belt gear, makes motion do 180 ° of rotations at the B axle.

3. five-shaft numerical control mechanical arm according to claim 1 is characterized in that, described mechanical arm operation feedback device comprises photoelectric encoder and fault detection module; Photoelectric encoder feeds back mechanical arm ruuning situation in real time, the signal processing module that feedback signal transfers in the control device is handled, after signal processing module is handled, transferring to data processing module calculates, by the SCI communication module result of calculation is transferred to central control module then, by central control module mechanical arm is adjusted control at last; Described fault detection module Auto-Sensing fault is also remembered the fault numbering, and shaft position and the automatic tired running number of times of calculating are realized automatic warning function when moving by fine setting, and jump out the endless loop operating condition, safeguards system safety.

4. five-shaft numerical control mechanical arm according to claim 1 is characterized in that, described central control module comprises host computer PLC programmable logic controller (PLC) and arm processor.

5. five-shaft numerical control mechanical arm according to claim 1, it is characterized in that, also be provided with input/output module on the described mechanical arm body, it comprises button control module, program editing module and function display module, interconnects by data/address bus and control device.

Images