CN206899222U - A kind of multi-joint mechanical arm system based on mobile robot - Google Patents
A kind of multi-joint mechanical arm system based on mobile robot Download PDFInfo
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- CN206899222U CN206899222U CN201720123451.3U CN201720123451U CN206899222U CN 206899222 U CN206899222 U CN 206899222U CN 201720123451 U CN201720123451 U CN 201720123451U CN 206899222 U CN206899222 U CN 206899222U
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Abstract
A kind of multi-joint mechanical arm system based on mobile robot is the utility model is related to, the multi-joint mechanical arm system is located in moving cart system, and the multi-joint mechanical arm system includes basic machine, servo-driven module and control module；The basic machine includes execution unit, mechanical arm body and sensing element；The control module includes multi-joint mechanical arm PLC and motion-control module；The multi-joint mechanical arm PLC is connected with moving cart system, sensing element and by motion-control module and servo-driven module respectively；The execution unit is connected with servo-driven module.Mechanical arm of the present utility model is simple in construction, driving-chain is few, registration, stable performance, while has radiation proof corrosion resistance, adapts to a variety of particular job environment.
Description
Technical field
It the utility model is related to the extraction of dangerization solution and detection field, specifically a kind of more passes based on mobile robot
Save mechanical arm system.
Background technology
The many places of the industry such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy can produce a large amount of components and 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 the step such as discharge, after being handled the methods of dilution or solidification, it is converted into the concentrate of small size and is stored, treat corrosivity
After being less than maximum allowable discharge index with radioactivity, arranged and buried or spread in environment.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage will be detected to the composition of dangerization solution and content, only fully
Effective dangerization solution processing methods can be just found after detection, could only be endangered and be reduced to most after strict processing
It is low.
Dangerization solution sampling need to extract solution on a small quantity using advanced ways and means when detecting, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution extraction is built using the mode based on vacsorb
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and image it is first-class form, with
Dangerization solution processing equipment is fixed on somewhere together, and the extraction of dangerization solution, such device are completed in artificial presence
Consider for stability almost without the measure using accurate extraction control, so being difficult to the quantitative and random of dangerization solution
Sampling observation.Lack flexible extraction means and can not accurate quantification extraction the problems such as restrict dangerization solution treatment effeciency lifted
Bottleneck, due to using fixed solution extraction device, it is impossible to operation is moved freely, when device breaks down or dangerization solution
In the case of change of component, fixed solution extraction device can not be competent at sampling observation work, cause the processing of dangerization solution temporary when serious
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 of extraction is relatively more, away from
From it is distant, working environment 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 the characteristics that flexible control, the duplication of labour, environmental requirement are low so that current dangerization solution processing
During gradually adopt the danger solution based on mechanical arm to automatically extract equipment to carry out the extraction work of dangerization solution, and combine quick
Mobile platform forms mobile robot, alternative manually to carry out every risky operation.But current mechanical arm is more using conventional knot
Six articulated mechanical arms of structure, mechanical structure be present and prevent compared with the defects of complicated, control unit is more, positioning precision is not high, and in anti-spoke
Corruption protection, efficiently crawl etc. Shortcomings, 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.
Utility model content
To overcome problem above existing for prior art, the utility model provide it is a kind of based on mobile robot can
The multi-joint mechanical arm system of different complex environments is adapted to, it can be combined well with mobile platform, form mobile mechanical arm, more
Add and efficiently complete mobile and operation task.
The utility model is realized by following technical scheme：
A kind of multi-joint mechanical arm system based on mobile robot, the multi-joint mechanical arm system are located at moving cart
In system, the multi-joint mechanical arm system includes basic machine, servo-driven module and control module；The basic machine bag
Include execution unit, mechanical arm body and sensing element；The control module includes multi-joint mechanical arm PLC and motion is controlled
Molding block；The multi-joint mechanical arm PLC is respectively with moving cart system, sensing element and passing through motion control mould
Block is connected with servo-driven module；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 revolute pair between middle pedestal and base, base and large arm, large arm and forearm, 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, and the forearm uses solid aluminum casting.
Further, the multi-joint mechanical arm PLC storage inside has mechanical arm crawl dangerization solution, storage danger
Change solution and transport the control program and signal handler of 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 processing.
Compared with prior art, the beneficial effects of the utility model are as follows：
Mechanical arm of the present utility model is simple in construction, driving-chain is few, registration, stable performance, while has radiation proof
Corrosion resistance, adapt to a variety of particular job environment；It can well be combined with mobile platform, form mobile mechanical arm, more
Efficiently complete mobile and operation task；Using advanced automation and informationization technology, the intelligence of elevating mechanism arm
Change level, be easy to realize integrated, reduction information island with other systems；By the way of remote control, make one and hazardous environment
Isolation, hence it is evident that reduce the labor intensity and security risk of people, make the working environment of people be greatly improved.
Multi-joint mechanical arm inherits six articulated mechanical arm works using three rotary shafts and the mechanical structure of a shifting axle
Make the advantages of scope is big and positioning precision is high, while a shifting axle is designed in mechanical arm tail end, 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 quickly and accurately carry out the extraction of dangerization solution and processing interior in a big way
Work.
Multi-joint mechanical arm is rigidly connected with moving cart system using high-strength bolt, can ensure the flat of operating process
Surely, make multifunctional mechanical arm and moving cart system in structure together with effective integration；Multifunctional mechanical arm uses work simultaneously
Industry level PLC uses master-slave control mode, so that multifunctional mechanical arm and movement as core controller with moving cart system
Cart system logic in control is rigorous, reliablely and stablely works.
The each axle of multi-joint mechanical arm 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, mitigate 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 present utility model.
Fig. 2 is the block diagram of system of the present utility model.
Fig. 3 is mobile robot structure chart of the present utility model.
Fig. 4 is mobile-robot system control structure figure of the present utility model.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming.
Fig. 6 is wireless telecommunication system network topological diagram of the present utility model.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present utility model.
Fig. 9 is supervisory control desk shape assumption diagram of the present utility model.
Figure 10 is moving cart system module block diagram of the present utility model.
Figure 11 is moving cart body interior structure chart of the present utility model.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model.
Figure 13 is multi-joint mechanical arm body outline drawing of the present utility model.
Figure 14 is multi-joint mechanical arm structure principle chart of the present utility model.
Figure 15 is that each axle of mechanical arm of the present utility model controls driving principle figure.
Figure 16 is mechanical arm master-salve station control model of the present utility model.
Embodiment
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and automatic ration extraction flow, consider the reliable reality of processing safety and function
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 separated with controlling organization and executing agency, mobile-robot system are placed on inside high-risk environment as executing agency,
Supervisory control desk is placed on outside high-risk environment as controlling organization, suitable for radioactivity is high, chemical composition is uncertain, variety type
The dangerization solution more, safety requirements is high quantitatively extracts the scene of requirement at random, has good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, more
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 forms mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regarded
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 with moving
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, send simultaneously
Liquid information and movement instruction is taken to give moving cart system；The moving cart system receives and forwards what supervisory control desk system was sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and placed 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 by communication network and communicated to connect with supervisory control desk system.
Fig. 4 is the system architecture control figure of mobile robot, and supervisory control desk system is used as at instruction transmission and real time data
Reason center, by communication module in real time with the main system such as moving cart system, multi-joint mechanical arm system, vision ultrasound examination
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system connect, and form and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected by wired with wireless mixing LAN 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, i.e. the PLC of moving cart system as main website, multi-joint mechanical arm system
As slave station, both are connected PLC by Prifibus DP module interfaces, for performing mobile and operation behavior, and it is more
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 and 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 and mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Power-supply system inside moving cart provides mobile, operation, the energy needed for detection for main system and accessory system, by wireless charging
The three parts such as electric installation, Li-ion batteries piles and power management module form, and wherein power management module is by MCU micro-control lists
Member, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming, and system control instruction and transmittance process describe
For, work when supervisory control desk dangerization solution extracting parameter letter is sent through radio transmitting device by instruction input and sending module
Number, action command signal is to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its auxiliary
Started working after System self-test is errorless.Moving cart is moved according to instruction, and sending action is instructed to more passes after completing assignment of mission
Mechanical arm is saved, mechanical arm is carried out corresponding dangerization solution extraction and grasping manipulation, dangerization solution is deposited while mechanical arm acts
Storage system works according to the control instruction cooperative mechanical arm of moving cart.In addition, vision ultrasonic wave detecting system is by collection in worksite
To video information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and electricity
Pond feedback of status gives master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, and inside and outside high-risk environment, structure is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, be data medium by WIFI wireless networks, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., form control data, video data, 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 of IEEE802.3 communications protocol structure, supervisory control desk are directly connected to LAN by wired mode；Wireless aps and nothing
Line data transmitter-receiver set 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 control data, video data, status data high-speed transfer.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model, and supervisory control desk is calculated by display, master control
The hardware such as machine, real-time communication server, data server, video server, network communication module and monitoring application system, backstage
The software sharings such as database, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint
The real-time communications such as mechanical arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, simultaneously
Transmission takes liquid information and movement instruction to modules, realizes the Remote of mobile robot.
Monitor application system to develop based on windows platform, on main control computer, there is basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The six big module such as security protection alarm module and real-time data communication module.
Fig. 8 is the software and hardware network architecture, main control computer, data server, video server etc. of supervisory control desk system
Connected in the form of bus over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and processing 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 captures the status data and sensing data of subsystems feedback to subsystems, and
It is stored on data server and video server.Installation relation type database on data server, number is provided for monitoring software
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 the ultrasonic height detection that video server real-time storage vision ultrasonic system collects
Information.
Fig. 9 is a kind of shape assumption diagram of supervisory control desk of the present utility model, and outward appearance is designed using ergonomics thought,
It is made up of two displays, an operating desk and master control platform housing, two of which display one is used for visual control, and one
It is individual to be sent and received for control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, is risen anti-
Radiation, corrosion-resistant effect.
Figure 10 is moving cart system module block diagram of the present utility model, movement of the moving cart system as whole system
Device, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement
Cart system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to carry
For the physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Molding block is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 is moving cart system ontology cut-away view of the present utility model, moving cart basic machine, by dolly
Body, steering mechanism and sensing element composition, wherein trolley body is in rectangular shape, and vehicle body frame uses aluminium alloy type
Material, totally-enclosed radiation protection processing is carried out, the thick sheet leads of 1 ~ 2mm are laid outside car body as shielding material；Car top is main
There is the multi-joint mechanical arm mounting hole for four screwed holes that are uniformly distributed along the circumference bearing part, forward position, and being bolted makes shifting
The base fixing plate of dynamic dolly and multi-joint mechanical arm connects together；There is dangerization solution storage device peace position to car body top rearward
Seat is filled, is rigidly connected by bolt and the mounting seat in dangerization solution storage device；Car body the right and left bottom is distributed with two pairs
Symmetrical four McCrum wheels, form the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving
The wireless communication apparatus of antenna and car interior connects, and forms the wireless communication module of dolly.
Car interior is three layers of mounting structure, logic connecting relation is referring to " moving machine according to the principle of reasonable utilization space
Device people's System control structures figure ", first layer 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 include 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus is 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit are 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 and controlled
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system include 1 set dangerization solution and stored to 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.Dolly bottom four corners direction is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor, a wireless charging receiver of a set of magnetic induction navigation.
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 both 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 a manner of two left two right four-wheels are arranged symmetrically；Each wheat
Carat nurse wheel and a DC servo motor and motor reducer are direct-connected, pass through the speed control different to four wheels, realize
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 communicating with supervisory control desk, received in time by WIFI communication mode
The control instruction and feedback trolley travelling status data that supervisory control desk is sent；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 in real time handle and calculate, 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
For supervisory control desk system, slave computer is the PLC of moving cart system.
Drive module：Moving cart driving 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 and uses position to servo-driver, servo-driver
The signal that control model is fed back according to control signal and servomotor produces the pwm signal of impulse form, through power amplification rear-guard
Dynamic servomotor, the pulse and direction signal that servomotor is sent according to servo-driver are started, stopped, being inverted and become
Speed etc. acts.
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 small forward position of car bottom is provided with magnetic navigation sensor
And landmark sensor, for detecting guiding magnetic stripe and terrestrial reference magnetic stripe in the predetermined laying in ground.When moving cart is run, magnetic navigation
Sensor vertical certain distance above magnetic stripe, the magnetic field intensity of magnetic stripe is gathered, judge 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 running position and change running status.Terrestrial reference magnetic stripe is perpendicular to navigation magnetic stripe direction, the ground being attached to beside navigation magnetic stripe
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus is wireless data
R-T unit, installed in first layer inside moving cart, signal transmitting and receiving antenna is arranged on right side outside moving cart.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 instruct 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 to pass to moving cart PLC, while the moving cart PLC feedback signals received are passed to always
Console.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model, and the multi-joint mechanical arm system is basis
High-risk environment dangerization solution quantitatively extract feature design one integrate machinery, control, open chain link-type electrically and directly
Angular coordinate formula mixed type articulated robot, working range farthest reach 2 meters, are arranged on by bolt at the top of moving cart, with shifting
The work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed are completed in dynamic dolly cooperation.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 for detect the angle of each axle servomotor, rotating speed,
The sensor of the parameters such as 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, be wherein revolute pair between pedestal and base, base and large arm, large arm and forearm, forearm stretches with end
It is prismatic pair between axle, and angle remains 90 ° between forearm and end telescopic shaft.
Mechanical arm pedestal use 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 are a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected with the multi-joint arm mounting hole in moving cart by bolt.Base is used in circular cross-section
Empty aluminum casting, inside are 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 composition, inside ball-screw kinematic pair by the way of nut driving, feed screw nut is set to exist
The synchronized band driving of DC servo motor is lower to produce rotary motion, so as to drive 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 are 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, 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 crawl dangerization solution, store dangerization solution and transhipment dangerization solution control program
And signal handler, it is responsible for capturing control instruction with moving cart real-time communication, the timely dangerization solution that receives, feeding back multi-joint
Arm running state data；Motion-control module receives the computations that PLC is sent, to multi-joint mechanical arm each joint feedback
Corner and position signalling handle and calculate in real time, and output control signal is to direct current servo driver.
For multi-joint mechanical arm control model using the control model of main website and slave station, wherein main website is moving cart control
Device, slave station are multi-joint mechanical arm controller, are attached between the two by Profigbus DP agreements and the corresponding interface.Move
Dynamic dolly PLC receives the control instruction that supervisory control desk is sent, instead in time by WIFI communication mode and supervisory control desk real-time communication
Present running state data, at the same with the controller real-time communication of multi-joint mechanical arm, assign simple instruction, obtain mechanical arm work
Make state parameter.
The description of understanding for embodiment is only to understand the utility model for help, rather than for limiting
It is of the present utility model.Those skilled in the art can carry out some changes and change using thought of the present utility model, as long as
Its technological means is without departing from thought of the present utility model and main points, still within the scope of protection of the utility model.
Claims (8)
- A kind of 1. 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 controls including multi-joint mechanical arm PLC Device and motion-control module；The multi-joint mechanical arm PLC is respectively with moving cart system, sensing element and passing through Motion-control module is connected with servo-driven module；The execution unit is connected with servo-driven module.
- A kind of 2. 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 revolute pair between arm, large arm and forearm, is prismatic pair between forearm and end telescopic shaft, and between forearm and end telescopic shaft Angle remains 90 °.
- A kind of 3. 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 2, it is characterised in that described Pedestal, base, large arm use hollow aluminum casting, and the forearm uses solid aluminum casting.
- A kind of 5. 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 PLC storage inside has mechanical arm crawl dangerization solution, storage dangerization solution and transhipment dangerization molten The control program and signal handler of liquid.
- A kind of 6. 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.
- A kind of 7. 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 controls with multi-joint mechanical arm PLC Device is connected, and uses master-slave control mode.
- A kind of 8. 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 processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720123451.3U CN206899222U (en) | 2017-02-10 | 2017-02-10 | A kind of multi-joint mechanical arm system based on mobile robot |
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| CN201720123451.3U CN206899222U (en) | 2017-02-10 | 2017-02-10 | A kind of multi-joint mechanical arm system based on mobile robot |
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| CN201720123451.3U Active CN206899222U (en) | 2017-02-10 | 2017-02-10 | A kind of multi-joint mechanical arm system based on mobile robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN108762128A (en) * | 2018-04-13 | 2018-11-06 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN109000605A (en) * | 2018-09-30 | 2018-12-14 | 海安迪斯凯瑞探测仪器有限公司 | A kind of automation thickness roughness tester |
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
| CN112136381A (en) * | 2020-09-29 | 2020-12-29 | 郑州轻工业大学 | Weeding robot for corn field and control system of weeding robot |
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2017
- 2017-02-10 CN CN201720123451.3U patent/CN206899222U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695742A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Multi-joint mechanical arm system based on mobile robot |
| CN108762128A (en) * | 2018-04-13 | 2018-11-06 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN108762128B (en) * | 2018-04-13 | 2021-09-07 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN109000605A (en) * | 2018-09-30 | 2018-12-14 | 海安迪斯凯瑞探测仪器有限公司 | A kind of automation thickness roughness tester |
| CN110877337A (en) * | 2019-11-29 | 2020-03-13 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
| CN110877337B (en) * | 2019-11-29 | 2020-11-24 | 武汉科技大学 | Intelligent control method, chip and system for three-link manipulator |
| CN112136381A (en) * | 2020-09-29 | 2020-12-29 | 郑州轻工业大学 | Weeding robot for corn field and control system of weeding robot |
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