CN106695742A - Multi-joint mechanical arm system based on mobile robot - Google Patents
Multi-joint mechanical arm system based on mobile robot Download PDFInfo
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- CN106695742A CN106695742A CN201710073527.0A CN201710073527A CN106695742A CN 106695742 A CN106695742 A CN 106695742A CN 201710073527 A CN201710073527 A CN 201710073527A CN 106695742 A CN106695742 A CN 106695742A
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- mechanical arm
- joint mechanical
- moving cart
- mobile robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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)
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Abstract
The invention relates to a multi-joint mechanical arm system based on a mobile robot. The multi-joint mechanical arm system is located on a mobile trolley system and comprises a machine body, a servo driving module and a control module; the machine body comprises an execution unit, a mechanical arm body and a sensing component; the control module comprises a multi-joint mechanical arm PLC and a movement control module; the multi-joint mechanical arm PLC is connected with the mobile trolley system and the sensing component and is also connected with the servo driving module through the movement control module; and the execution unit is connected with the servo driving module. The multi-joint mechanical arm system based on the mobile robot is simple in mechanical arm structure, few in transmission chain, precise in positioning and stable in performance, meanwhile, has radiation resistance and corrosion resistance and can adapt to various special working environments.
Description
Technical field
Extracted the present invention relates to danger solution and detection field, specifically a kind of multi-joint machine based on mobile robot
Tool arm system.
Background technology
The manufacturing, health care, nuclear test and many places of the industry such as nuclear power, chemical metallurgy produce a large amount of components to answer
The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This
Class dangerization solution typically using isolation method storage within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidification etc. method process after, be converted into the concentrate of small size and preserved, treat corrosivity
With radioactivity less than after maximum allowable discharge index, arranged and buried in environment or spread.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage will be detected to the composition and content of dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, could only be endangered after strictly processing and be reduced to most
It is low.
Dangerization solution sampling need on a small quantity extract solution when detecting using advanced ways and means, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution extraction uses the mode based on vacsorb and builds
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on somewhere together, and the extraction of dangerization solution, such device are completed in artificial presence
Consider almost not extract the measure of control using accurate for stability, so being difficult to the quantitative and random of dangerization solution
Sampling observation.Lack flexible extraction means and cannot accurate quantification lifted as restriction dangerization solution treatment effeciency the problems such as extract
Bottleneck, due to using fixed solution extraction device, it is impossible to move freely operation, when device breaks down or dangerization solution
In the case of change of component, fixed solution extraction device cannot be competent at sampling observation work, cause dangerization solution to process when serious temporary
Stop, production line stop, bring huge economic loss.
In addition, many occasions do not have fixed dangerization solution extraction equipment, when the danger solution type for extracting is relatively more, away from
From distant, working environment it is more severe when, it is necessary to people enter different environment even high-risk environment in manual operations, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
Because mechanical arm has flexible control, the duplication of labour, the low feature of environmental requirement so that current dangerization solution treatment
During gradually adopt the danger solution based on mechanical arm to automatically extract equipment to carry out dangerization solution extraction work, and combine quick
Mobile platform forms mobile robot, alternative manually to carry out every risky operation.But tied using conventional more than current mechanical arm
Six articulated mechanical arms of structure, have that mechanical structure is more compared with complicated, control unit, the not high defect of positioning precision, and anti-in anti-spoke
Corruption protection, efficiently the aspect Shortcomings such as crawl, its internal electric components that perform are vulnerable to radiation and corrosion and produce failure,
Whole operation system is caused to produce error running and be unable to efficient operation.
The content of the invention
It is the problem above for overcoming prior art to exist, the invention provides a kind of can adapt to based on mobile robot
The multi-joint mechanical arm system of different complex environments, it can well be combined with mobile platform, form mobile mechanical arm, more be increased
Effect ground completes mobile and operation task.
The present invention is realized by following technical scheme：
A kind of multi-joint mechanical arm system based on mobile robot, the multi-joint mechanical arm system is located at moving cart system
On, the multi-joint mechanical arm system includes basic machine, servo-driven module and control module；The basic machine includes holding
Row unit, mechanical arm body and sensing element；The control module includes multi-joint mechanical arm PLC and motion control mould
Block；The multi-joint mechanical arm PLC respectively with moving cart system, sensing element and by motion-control module and
Servo-driven module is connected；The execution unit is connected with servo-driven module.
Further, the mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft successively, its
It is secondary to rotate between middle pedestal and base, base and large arm, large arm and forearm, it is prismatic pair between forearm and end telescopic shaft,
And angle remains 90 ° between forearm and end telescopic shaft.
Further, the execution unit includes DC servo motor, decelerator, bearing and bearing block.
Further, the pedestal, base, large arm use hollow aluminum casting, the forearm to use solid aluminum casting.
Further, the multi-joint mechanical arm PLC storage inside has mechanical arm to capture dangerization solution, storage danger
Change the control program and signal handler of solution and transhipment dangerization solution.
Further, the base bottom is provided with fixed plate, and the fixed plate is firm by bolt with moving cart system
Property connection.
Further, the moving cart system includes moving cart PLC, the moving cart PLC
It is connected with multi-joint mechanical arm PLC, and uses master-slave control mode.
Further, the multi-joint mechanical arm system has carried out radiation proof treatment.
Compared with prior art, beneficial effects of the present invention are as follows：
Mechanical arm simple structure of the invention, few driving-chain, registration, stable performance, while having the corrosion-resistant energy of radiation proof
Power, adapts to various particular job environment；Can well be combined with mobile platform, be formed mobile mechanical arm, it is more efficiently complete
Into mobile and operation task；Using advanced automation and informationization technology, the intelligent level of elevating mechanism arm, easily
It is integrated in being realized with other systems, reduce information island；By the way of remote control, make one to isolate with hazardous environment, hence it is evident that
The labour intensity and security risk of people are reduced, the working environment of people is greatly improved.
Multi-joint mechanical arm uses three rotary shafts and a mechanical structure for shifting axle, inherits six articulated mechanical arm works
Make that scope is big and positioning precision advantage high, while in mechanical arm tail end one shifting axle of design, mechanical arm can be made quickly to move
The operations such as the extraction of dangerization solution and crawl are carried out, so as to be extracted and treatment in the interior dangerization solution that quickly and accurately carries out in a big way
Work.
Multi-joint mechanical arm is rigidly connected with moving cart system using high-strength bolt, ensure that the flat of operating process
Surely, multifunctional mechanical arm is made together with moving cart system in structure effective integration；Multifunctional mechanical arm uses work simultaneously
PLC is used as core controller for industry level, master-slave control mode is used with moving cart system, so that multifunctional mechanical arm and movement
Cart system logic in control is rigorous, reliablely and stablely work.
Multi-joint mechanical arm each axle of machinery and servomotor surface carry out totally-enclosed radiation proof through high density stereotype parcel
Corrosion-resistance treatment, control section and servo-drive are partially disposed in inside moving cart, prevent critical electrical part from being produced by radiation
Failure, mitigates the influence of radiation, so that mechanical arm can be in trouble free service under high-risk environment.
Brief description of the drawings
Fig. 1 is System Working Principle figure of the invention.
Fig. 2 is the block diagram of system of the invention.
Fig. 3 is mobile robot structure chart of the invention.
Fig. 4 is mobile-robot system control structure figure of the invention.
Fig. 5 is control instruction of the invention and transmittance process network diagramming.
Fig. 6 is wireless telecommunication system network topological diagram of the invention.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the invention.
Fig. 8 is the supervisory control desk software and hardware network architecture of the invention.
Fig. 9 is supervisory control desk shape assumption diagram of the invention.
Figure 10 is moving cart system module block diagram of the invention.
Figure 11 is moving cart body interior structure chart of the invention.
Figure 12 is multi-joint mechanical arm system module block diagram of the invention.
Figure 13 is multi-joint mechanical arm body outline drawing of the invention.
Figure 14 is multi-joint mechanical arm structure principle chart of the invention.
Figure 15 is each axle control driving principle figure of mechanical arm of the invention.
Figure 16 is mechanical arm master-salve station control model of the invention.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and the flow extracted of automatic ration, it is considered to processing safety and function it is reliable real
It is existing, a kind of danger solution automatic ration extraction system based on mobile robot is designed, operation principle is as shown in Figure 1.Entirety is adopted
The thought for controlling organization and executing agency separate, mobile-robot system is placed on inside high-risk environment as executing agency,
Supervisory control desk is placed on outside high-risk environment as controlling organization, it is adaptable to which radioactivity is high, chemical composition is uncertain, variety type
The dangerization solution many, safety requirements is high quantitatively extracts the scene of requirement at random, with good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regards
Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination
System, dangerization solution storage system are arranged in moving cart system；The supervisory control desk system is based on communication network and moves
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, while sending
Take liquid information and movement instruction and give moving cart system；The moving cart system is received and forwards what supervisory control desk system sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and place the movement on circuit in dangerization solution；The movement is small
Car system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized being communicated to connect with supervisory control desk system by communication network.
Fig. 4 for mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system, vision ultrasound examination such as moving cart system, multi-joint mechanical arm system
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are moved under composition high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected with wireless mixing LAN by wired with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system uses master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
Used as slave station, both are connected PLC by Prifibus DP module interfaces, for performing mobile and operation behavior and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
The energy of power-supply system inside moving cart for needed for main system and accessory system provide mobile, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three constitutes, and wherein power management module is by MCU micro-control lists
Unit, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is control instruction of the invention and transmittance process network diagramming, and system control instruction and transmittance process are described as, work
Supervisory control desk sends dangerization solution extracting parameter signal, action with sending module by instruction input through radio transmitting device when making
, to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its accessory system are certainly for command signal
Started working after inspection is errorless.Moving cart is moved according to instruction, and sending action is instructed and gives multi-joint machinery after completion assignment of mission
Arm, makes mechanical arm carry out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution storage system while mechanical arm is acted
Control instruction cooperative mechanical arm according to moving cart works.In addition, vision ultrasonic wave detecting system by collection in worksite to regard
Frequency information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and battery status
Feed back to master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol builds, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data source and sink is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network and AP wireless connections, so as to realize the high-speed transfer of control data, video data, status data.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the invention, and supervisory control desk is by display, main control computer, reality
When the hardware such as communication server, data server, video server, network communication module and monitoring application system, back-end data
The software sharings such as storehouse, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint machinery
The real-time communications such as arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, while sending
Liquid information and movement instruction are taken to modules, the Remote of mobile robot is realized.
Monitoring application system is developed based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 is the software and hardware network architecture of supervisory control desk system, main control computer, data server, video server etc.
In the form of bus connection over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and treatment are carried out in monitoring software.Real-time communication server is installed above Communications service software, in time crawl master
The instruction that control computer is assigned is to subsystems, while the status data and sensing data of subsystems feedback are captured, and
Storage is on data server and video server.Installation relation type database on data server, for monitoring software provides number
Supported according to storage, real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission refer to
Make historical data etc..Video information and ultrasonic height detection that video server real-time storage vision ultrasonic system is collected
Information.
Fig. 9 is a kind of shape assumption diagram of supervisory control desk of the invention, outward appearance is designed using ergonomics thought, by two
Individual display, an operating desk and master control platform housing composition, two of which display one are used for visual control, a use
Sent and received in control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, a radiation proof,
Corrosion-resistant effect.
Figure 10 be moving cart system module block diagram of the invention, moving cart system as whole system mobile dress
Put, five major parts such as including basic machine, control module, drive module, navigation module, communication module.The movement is small
Car system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to provide
The physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Module is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 be moving cart system ontology cut-away view of the invention, moving cart basic machine, by trolley body,
Steering mechanism and sensing element are constituted, and wherein trolley body is in rectangular shape, and vehicle body frame uses aluminium alloy extrusions, carries out
Totally-enclosed radiation protection treatment, lays the thick sheet leads of 1 ~ 2mm as shielding material outside car body；Car top is main supporting part
Point, there is the multi-joint mechanical arm mounting hole of four screwed holes that are uniformly distributed along the circumference forward position, and being bolted makes moving cart
Base fixing plate with multi-joint mechanical arm connects together；There is dangerization solution storage device mounting seat position to car body top rearward,
It is rigidly connected with the mounting seat in dangerization solution storage device by bolt；Car body the right and left bottom be distributed with two pairs it is symmetrical
Four McCrum wheels, constitute the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving antenna with
The wireless communication apparatus connection of car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, and logic connecting relation is referring to " moving machine
Device people's System control structures figure ", ground floor is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of specific multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus are 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set of position detecting device based on CCD camera and ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of specific moving cart include 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system include that 1 set dangerization solution is stored and fill
Put pneumatic means, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic means, 1 set of multi-functional clamp device quantitative liquid getting dress
The pneumatic means put；Third layer is bottom, and the supply unit of power is provided for each device, specifically have one group of lithium battery string and
1 electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
Moving cart steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel
System.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, small roller axis and wheel
Hub axis angle is ± 45 °, and both materials use corrosion-resistant radiation proof material.Two left-handed spiral configurations in four McCrum wheels
With two right-handed spiral configurations, moving cart car body the right and left is arranged in the way of two left two right four-wheels are arranged symmetrically；Each wheat
Carat nurse wheel is direct-connected with a DC servo motor and motor reducer, by the speed control different to four wheels, realizes
The motion of dolly different directions.
Control module：Including PLC and motion-control module, moving cart adds motion control using PLC
The modes such as module carry out motion control, and wherein PLC is mainly responsible for being communicated with supervisory control desk, is received in time by WIFI communication mode
Control instruction and feedback trolley travelling status data that supervisory control desk sends；Motion-control module is responsible for performing the letter that PLC is received
Number instruction, to moving cart feedback navigation signal, position signalling carry out real-time processing and calculating, output control signal is to direct current
Servo-driver.In addition, the Open Control pattern that moving cart is integrally combined using host computer with slave computer, wherein host computer
It is supervisory control desk system, slave computer is the PLC of moving cart system.
Drive module：Moving cart drives and uses DC servo motor driver and DC servo motor, DC servo electricity
Machine driver one end is connected with the motion-control module in moving cart PLC, and one end is connected with DC servo motor.
The motion-control module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver uses position
Control model produces the pwm signal of impulse form according to the signal that control signal and servomotor feed back, through power amplification rear-guard
Dynamic servomotor, the pulse and direction signal that servomotor sends according to servo-driver is started, stopped, being inverted and is become
Speed etc. is acted.
Navigation module：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe are divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment,
Therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, the forward position in dolly bottom is provided with magnetic navigation sensor
And landmark sensor, make a reservation for the guiding magnetic stripe and terrestrial reference magnetic stripe of laying on ground for detecting.When moving cart is run, magnetic navigation
Sensor vertical gathers the magnetic field intensity of magnetic stripe in magnetic stripe top certain distance, judges that magnetic stripe is inclined relative to magnetic navigation sensor
Off normal and put, accordingly moving cart adjust automatically, it is ensured that moved ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and accordingly
Judge run location and change running status.Terrestrial reference magnetic stripe is attached to the ground beside navigation magnetic stripe perpendicular to navigation magnetic stripe direction
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus are wireless data
R-T unit, installed in moving cart inside ground floor, signal transmitting and receiving antenna is arranged on moving cart outside right side.Wireless telecommunications
Module one end uses WLAN standard agreement IEEE 802.11b/g/a/h, is connected with supervisory control desk real-time radio, in time
Obtain master control platform send take liquid instruction and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the feedback signal that moving cart PLC is received is passed to always
Console.
Figure 12 is multi-joint mechanical arm system module block diagram of the invention, and the multi-joint mechanical arm system is according to high-risk
Environment dangerization solution quantitatively extracts one of feature design and integrates machinery, control, electric open chain link-type and right angle to be sat
Mark formula mixed type articulated robot, working range farthest reaches 2 meters, and moving cart top is arranged on by bolt, small with movement
Car cooperation completes the work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed.Mainly include basic machine, servo
Drive and motion control portion.
As shown in Figure 13,14, basic machine is made up of execution unit, mechanical arm body, sensing element.Execution unit is by watching
Take the parts such as motor, decelerator, bearing and bearing block composition.Sensing element be detect the angle of each axle servomotor, rotating speed,
The isoparametric sensor of electric current, voltage.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, altogether
There are four frees degree, secondary to rotate wherein between pedestal and base, base and large arm, large arm and forearm, forearm stretches with end
It is that angle remains 90 ° between prismatic pair, and forearm and end telescopic shaft between axle.
Mechanical arm pedestal using square-section hollow aluminum casting, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom be one with being uniformly distributed along the circumference four fixed plates of screwed hole, this
Fixed plate is rigidly connected with the multi-joint arm mounting hole in moving cart by bolt.Base is using in circular cross-section
Empty aluminum casting, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Arm uses the hollow and thin-walled aluminum casting of circular cross-section, and inside is provided with DC servo drive motor, decelerator, the bearing of forearm
And the parts such as bearing block.Forearm uses the solid aluminum casting of circular cross-section, and end is provided with the execution of end telescopic shaft
The parts such as part, i.e. servomotor, Timing Belt, nuts ball leading screw.End telescopic shaft is by servomotor, Timing Belt, nut
Ball-screw and end effector are constituted, and inside ball-screw kinematic pair by the way of nut driving, feed screw nut is existed
The synchronized band of DC servo motor drive it is lower produce rotary motion, so as to drive the leading screw to carry out the linear motion of vertical direction.
Sheet lead is laid on each axle of basic machine and servomotor surface, is placed on outside moving cart；Control section and
Servo-drive is partially disposed in inside moving cart, mitigates the influence of radiation.
As shown in figure 15, multi-joint mechanical arm servo-driven module designs servo-drive by the way of actuated control system
Module, servo-driver is connected with mechanical arm PLC, and its mechanism is：The Drive Module of PLC sends number
Word amount high-speed pulse signal passes to servo-driver through motion-control module, servo-driver using position control mode according to
The signal of control signal and servomotor feedback produces the pwm signal of impulse form, and servomotor is driven after power amplification.Watch
Motor is taken inside pedestal, base, large arm, forearm and the end telescopic shaft, the pulse that is sent according to servo-driver and
Direction signal servomotor is started, is stopped, being inverted and the action such as speed change.
As shown in figure 16, multi-joint mechanical arm control module, by the way of PLC plus motion-control module, machine
Tool arm PLC storage insides have mechanical arm capture dangerization solution, store dangerization solution and transport dangerization solution control program
And signal handler, it is responsible for capturing control instruction, feeding back multi-joint with moving cart real-time communication, the timely dangerization solution that receives
Arm running state data；Motion-control module receives the computations that PLC sends, to each joint of multi-joint mechanical arm feedback
Corner and position signalling carry out real-time processing and calculating, and output control signal is to direct current servo driver.
Using main website and the control model of slave station, wherein main website is moving cart control to multi-joint mechanical arm control model
Device, slave station is multi-joint mechanical arm controller, is attached by Profigbus DP agreements and the corresponding interface between the two.Move
Dynamic dolly PLC receives the control instruction that supervisory control desk sends, instead in time by WIFI communication mode and supervisory control desk real-time communication
Feedback running state data, while the controller real-time communication with multi-joint mechanical arm, assigns simple instruction, obtains mechanical arm work
Make state parameter.
It is only for help understands the present invention, rather than for limiting this hair for the description of the understanding of specific embodiment
Bright.Those skilled in the art can carry out some and change and change using thought of the invention, as long as its technological means does not have
There are disengaging thought of the invention and main points, still within protection scope of the present invention.
Claims (8)
1. a kind of multi-joint mechanical arm system based on mobile robot, it is characterised in that：The multi-joint mechanical arm system position
In in moving cart system, the multi-joint mechanical arm system includes basic machine, servo-driven module and control module；It is described
Basic machine includes execution unit, mechanical arm body and sensing element；The control module is controlled including multi-joint mechanical arm PLC
Device and motion-control module；The multi-joint mechanical arm PLC respectively with moving cart system, sensing element and pass through
Motion-control module is connected with servo-driven module；The execution unit is connected with servo-driven module.
2. a kind of multi-joint mechanical arm system based on mobile robot according to claim 1, it is characterised in that：It is described
Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft successively, wherein pedestal and base, base with it is big
It is secondary to rotate between arm, large arm and forearm, it is between prismatic pair, and forearm and end telescopic shaft between forearm and end telescopic shaft
Angle remains 90 °.
3. a kind of multi-joint mechanical arm system based on mobile robot according to claim 1, it is characterised in that：It is described
Execution unit includes DC servo motor, decelerator, bearing and bearing block.
4. a kind of multi-joint mechanical arm system based on mobile robot according to claim 3, it is characterised in that described
Pedestal, base, large arm use hollow aluminum casting, the forearm to use solid aluminum casting.
5. a kind of multi-joint mechanical arm system based on mobile robot according to claim 1, it is characterised in that：It is described
It is molten that multi-joint mechanical arm PLC storage inside has mechanical arm to capture dangerization solution, storage dangerization solution and transhipment dangerization
The control program and signal handler of liquid.
6. a kind of multi-joint mechanical arm system based on mobile robot according to claim 2, it is characterised in that：It is described
Base bottom is provided with fixed plate, and the fixed plate is rigidly connected with moving cart system by bolt.
7. a kind of multi-joint mechanical arm system based on mobile robot according to claim 1, it is characterised in that：It is described
Moving cart system includes moving cart PLC, and the moving cart PLC is controlled with multi-joint mechanical arm PLC
Device is connected, and uses master-slave control mode.
8. a kind of multi-joint mechanical arm system based on mobile robot according to claim 1, it is characterised in that：It is described
Multi-joint mechanical arm system has carried out radiation proof treatment.
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| CN107443417A (en) * | 2017-09-22 | 2017-12-08 | 中国东方电气集团有限公司 | A kind of wrist joint with the flexible free degree |
| CN108213699A (en) * | 2018-01-09 | 2018-06-29 | 东莞市北扬工业设计有限公司 | A kind of miniature laser engraving machine |
| CN108527330A (en) * | 2018-05-05 | 2018-09-14 | 深圳市越疆科技有限公司 | Interactive mode controls integrated device, modularized robot and storage medium |
| CN108544486A (en) * | 2018-03-30 | 2018-09-18 | 苏州容浦机电科技有限公司 | A kind of multi-spindle machining hand with reluctance servo motor |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
| CN109382816A (en) * | 2017-08-11 | 2019-02-26 | 中核四0四有限公司 | A kind of high radiation underground space source item investigation robot system |
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| CN108527330A (en) * | 2018-05-05 | 2018-09-14 | 深圳市越疆科技有限公司 | Interactive mode controls integrated device, modularized robot and storage medium |
| CN108748079A (en) * | 2018-06-29 | 2018-11-06 | 深圳市越疆科技有限公司 | A kind of mobile mechanical arm, control method and its remote control system |
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Application publication date: 20170524 |