CN102554922A - Method for operating numerical-control manipulator with five degrees of freedom - Google Patents
Method for operating numerical-control manipulator with five degrees of freedom Download PDFInfo
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- CN102554922A CN102554922A CN201210025180XA CN201210025180A CN102554922A CN 102554922 A CN102554922 A CN 102554922A CN 201210025180X A CN201210025180X A CN 201210025180XA CN 201210025180 A CN201210025180 A CN 201210025180A CN 102554922 A CN102554922 A CN 102554922A
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Abstract
The invention provides a method for operating a numerical-control manipulator with five degrees of freedom. The manipulator comprises a base, a turntable, an upper arm, a forearm, a wrist and a paw, the base is connected with the turntable, the turntable is connected with the upper arm by a shoulder, the upper arm is connected with the forearm by an elbow, and the forearm is connected with the paw by the wrist. A space between the base and the turntable has a first degree of freedom, the shoulder has a second degree of freedom, the elbow has a third degree of freedom, the wrist has a fourth degree of freedom, the paw has a fifth degree of freedom, the degrees of freedom are realized by the aid of servo motors, and the servo motors are controlled by a numerical control system. The turntable rotates due to the first degree of freedom, the shoulder lifts up due to the second degree of freedom, the elbow lifts up due to the third degree of freedom, the wrist lifts up due to the fourth degree of freedom, and the paw realizes clamping due to the fifth degree of freedom.
Description
Technical field
The present invention relates to a kind of method of operating of robot device, particularly a kind of method of operating of five degree of freedom numerical controlled machinery hand.
Background technology
Along with the development of industrial automation, manipulator has obtained using widely in industry.Manipulator has following advantage, and the one, safe.With getting product in the staff entering mould, if injection machine fault or mistake button cause matched moulds, the danger of the hand of crushing is arranged, use manipulator can guarantee safety.The 2nd, can raise the efficiency and quality.The 3rd, reduce the product fraction defective.Just the shaped article temperature is too high, and personnel take out product can cause the hand trace, produces defective products, takes out because of manipulator uses special tool, so can not hurt product.The 4th, be to save manpower and time.The 5th, conservation reduces cost, and it is indefinite that personnel get the product time, and the particularity of raw material can cause product shrink, modification, because of the time that manipulator takes out is fixed, so steady quality.
Yet manipulator of the prior art has intrinsic defective, and is simple like the robot movement form, only can realize single operation.Structure is firm inadequately, as easy as rolling off a log being damaged.Locate not precisely, and control performance is low, is difficult for being considered to operation.
For solving defective of the prior art, CN102229142A discloses a kind of five degree of freedom electric manipulator, and this manipulator adopts the mode of friction pulley motor and pulley electric motor braking that manipulator is controlled; Structure is simple relatively, and can realize multiple forms of motion, but because the motor braking underaction; Cause this manipulator location not accurate enough, control performance is low, and is not easy to operate; And the paw function singleness, effect is not strong.
Summary of the invention
Shortcoming to the prior art existence.The object of the present invention is to provide a kind of method of operating of five degree of freedom numerical controlled machinery hand, realize accurate control, can reach accurate positioning manipulator, controlled strong, easy to operate, broad-spectrum technique effect.
The invention provides a kind of method of operating of five degree of freedom numerical controlled machinery hand, the free degree of five degree of freedom numerical controlled machinery hand is realized that by servomotor servomotor is controlled by digital control system; Said digital control system comprises computer control system, No. 24 servomotor main circuit boards and five servomotor control circuit boards, and said five degree of freedom manipulator comprises base, turntable, big arm, forearm, wrist and paw, and said base is connected with turntable; Turntable is connected through shoulder with big arm, and big arm is connected with forearm through ancon, and forearm is connected with paw through wrist; It is characterized in that; First free degree is set between said base and the turntable, and shoulder is provided with second free degree, and ancon is provided with Three Degree Of Freedom; Wrist is provided with four-degree-of-freedom, and paw is provided with five degree of freedom; Said computer control system is used for programming Control work; Adopt 3 dimension tridimensional virtual programing systems; Program is transferred to No. 24 servomotor main circuit boards through Serial Port Line; No. 24 servomotor main circuit boards adopt single-chip computer control system; To instruct to be sent to five servomotor control circuit boards through the servomotor connecting line, five servomotor control circuit board acquisition instructions are also controlled and are positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist is accomplished turntable rotation, shoulder up-down, ancon up-down, wrist up-down and paw clamp operation.
Further preferred, said computer control system and No. 24 servomotor main circuit boards are positioned at base, and five servomotor control circuit boards are arranged at respectively in turntable, paw, shoulder ancon and the wrist.
Further preferred, said computer control system is connected through Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five servomotor control circuit boards through the servomotor connecting line.
Further preferred, said first free degree is that turntable rotation, second free degree are that shoulder goes up and down, Three Degree Of Freedom is that ancon goes up and down, four-degree-of-freedom is that wrist goes up and down, five degree of freedom is that paw clamps.
Further the material of preferred said base, turntable, big arm, forearm, wrist and paw is an aluminium alloy.
Further the moment of torsion of the servomotor of preferred said second free degree is 3 times of moment of torsion of the servomotor of four-degree-of-freedom.The moment of torsion of the servomotor of said first free degree is 30kg.cm.
Further preferred said manipulator height is 400mm-600mm; Said manipulator width is 150mm-210mm.
The length of further preferred said big arm is 150mm-200mm; The length of said forearm is 120mm-160mm.
Further preferred described paw adopts two propulsive mechanisms, makes paw clamping angle remain at 0 degree.
Further preferred said paw has finger, installs pad additional between said finger and article; The chucking power of said finger is 10 kilograms.
Further preferred said manipulator adopts lithium polymer battery.
Adopt method of operating of the present invention to have following advantage: adopt servomotor to realize five frees degree, servomotor is controlled by digital control system, and is easy to operate, and controlled strong, motion flexibly, joint strength is big and accurate positioning; Adopt alloy and ABS engineering plastics material, make manipulator sturdy and durable, long service life; Paw adopts two propulsive mechanisms, and between finger and article, installs pad additional, increases the range of application of paw, makes the purposes of manipulator more extensive.
Description of drawings
Fig. 1: the structural representation of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention; Fig. 2: the side view of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention; Fig. 3: the structural representation of the paw of the preferred embodiment of five degree of freedom numerical controlled machinery hand of the present invention.
Wherein: 1, base, 2, turntable, 3, big arm, 4, forearm, 5, wrist, 6, paw, 7, shoulder, 8, ancon, 9, wrist, 10, finger, 11, connecting rod, 12, driving gear, 13, driven gear, 14, mount pad.
The specific embodiment
1-3 is said according to Figure of description, the invention provides a kind of method of operating of five degree of freedom numerical controlled machinery hand, and the free degree of five degree of freedom numerical controlled machinery hand is realized by servomotor; Servomotor is controlled by digital control system, and said digital control system comprises computer control system, No. 24 servomotor main circuit boards and five servomotor control circuit boards, and said five degree of freedom manipulator comprises base 1, turntable 2, big arm 3, forearm 4, wrist 5 and paw 6; Said base 1 is connected with turntable 2, and turntable 2 is connected through shoulder 7 with big arm 3, and big arm 3 is connected with forearm 4 through ancon 8; forearm 4 is connected with paw 6 through wrist 9, it is characterized in that between said base 1 and the turntable 2 first free degree is set; shoulder 7 is provided with second free degree; ancon 8 is provided with Three Degree Of Freedom, wrist 9 is provided with four-degree-of-freedom, and paw 6 is provided with five degree of freedom; Said computer control system is used for programming Control work; Adopt 3 dimension tridimensional virtual programing systems; Program is transferred to No. 24 servomotor main circuit boards through Serial Port Line; No. 24 servomotor main circuit boards adopt single-chip computer control system; To instruct to be sent to five servomotor control circuit boards through the servomotor connecting line, five servomotor control circuit board acquisition instructions are also controlled and are positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist is accomplished turntable rotation, shoulder up-down, ancon up-down, wrist up-down and paw clamp operation.
Said computer control system and No. 24 servomotor main circuit boards are positioned at 1, five servomotor control circuit board of base and are arranged at respectively in turntable 2, paw 6, shoulder 7, ancon 8 and the wrist 9.
Said computer control system is connected through Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five servomotor control circuit boards through the servomotor connecting line.
Said first free degree is that turntable 2 rotations, second free degree are that shoulder 7 goes up and down, Three Degree Of Freedom is that ancon 8 goes up and down, four-degree-of-freedom is that wrist 9 goes up and down, five degree of freedom is that paw 6 clamps.
The material of said base 1, turntable 2, big arm 3, forearm 4, wrist 5 and paw 6 is an aluminium alloy.
The moment of torsion of the servomotor of said second free degree is 3 times of moment of torsion of the servomotor of four-degree-of-freedom.
The moment of torsion of the servomotor of said first free degree is 30kg.cm.
Said manipulator height is 400mm-600mm.Said manipulator width is 150mm-210mm.
The length of said big arm 3 is 150mm-200mm.The length of said forearm 4 is 120mm-160mm.
Described paw 6 adopts two propulsive mechanisms, and this pair propulsive mechanism adopts two steering wheels, and one is the active steering wheel; Connection is from the holding wire of digital control system; Initiatively the steering wheel output shaft drives driving gear 12 rotations, and another is driven steering wheel, and this driven steering wheel does not connect holding wire; The rotation of driven gear 13 is to rely on driving gear 12 to drive; As shown in Figure 3, driving gear 12 constitutes a parallel four-bar linkage with driven gear 13 and connecting rod 11, finger 10, mount pad 14, and driving gear 12 drives driven gear 13 and makes finger 10 parallel moving when rotating.Make paw clamping angle remain at 0 degree.Said paw 6 has finger 10, installs pad additional between said finger 10 and article.The chucking power of said finger 10 is 10 kilograms.
Said manipulator adopts lithium polymer battery.The lithium polymer battery volume is little, light weight, electric weight is big, immediate current is big, the life-span is long, safety.
Controlled strong, the motion that the method for operating of this five degree of freedom numerical controlled machinery hand makes manipulator flexibly, joint strength is big and accurate positioning, and is sturdy and durable, and long service life is of many uses.
Claims (10)
1. the method for operating of a five degree of freedom numerical controlled machinery hand, the free degree of five degree of freedom numerical controlled machinery hand is realized that by servomotor servomotor is controlled by digital control system; Said digital control system comprises computer control system, No. 24 servomotor main circuit boards and five servomotor control circuit boards; Said five degree of freedom manipulator comprises base (1), turntable (2), big arm (3), forearm (4), wrist (5) and paw (6), and said base (1) is connected with turntable (2), and turntable (2) is connected through shoulder (7) with big arm (3); Big arm (3) is connected with forearm (4) through ancon (8); forearm (4) is connected with paw (6) through wrist (9), it is characterized in that between said base (1) and the turntable (2) first free degree is set; shoulder (7) is provided with second free degree; ancon (8) is provided with Three Degree Of Freedom, wrist (9) is provided with four-degree-of-freedom, and paw (6) is provided with five degree of freedom; Said computer control system is used for programming Control work; Adopt 3 dimension tridimensional virtual programing systems; Program is transferred to No. 24 servomotor main circuit boards through Serial Port Line; No. 24 servomotor main circuit boards adopt single-chip computer control system; To instruct to be sent to five servomotor control circuit boards through the servomotor connecting line, five servomotor control circuit board acquisition instructions are also controlled and are positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist is accomplished turntable rotation, shoulder up-down, ancon up-down, wrist up-down and paw clamp operation.
2. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1; It is characterized in that; Said computer control system and No. 24 servomotor main circuit boards are positioned at base (1), and five servomotor control circuit boards are arranged at respectively in turntable (2), paw (6), shoulder (7) ancon (8) and the wrist (9).
3. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2; It is characterized in that; Computer control system is connected through Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five servomotor control circuit boards through the servomotor connecting line.
4. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2; It is characterized in that said first free degree is that turntable (2) rotation, second free degree are that shoulder (7) goes up and down, Three Degree Of Freedom is that ancon (8) goes up and down, four-degree-of-freedom is that wrist (9) goes up and down, five degree of freedom is that paw (6) clamps.
5. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the moment of torsion of the servomotor of said second free degree are 3 times of moment of torsion of the servomotor of four-degree-of-freedom.
6. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the moment of torsion of the servomotor of said first free degree is 30kg.cm.
7. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, said manipulator height is 400mm-600mm.
8. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, said manipulator width is 150mm-210mm.
9. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the length of said big arm (3) is 150mm-200mm.
10. the method for operating of five degree of freedom numerical controlled machinery hand according to claim 1 and 2, the length of said forearm (4) is 120mm-160mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210025180.XA CN102554922B (en) | 2012-02-06 | 2012-02-06 | Method for operating numerical-control manipulator with five degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210025180.XA CN102554922B (en) | 2012-02-06 | 2012-02-06 | Method for operating numerical-control manipulator with five degrees of freedom |
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| Publication Number | Publication Date |
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| CN102554922A true CN102554922A (en) | 2012-07-11 |
| CN102554922B CN102554922B (en) | 2015-05-20 |
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| CN201210025180.XA Expired - Fee Related CN102554922B (en) | 2012-02-06 | 2012-02-06 | Method for operating numerical-control manipulator with five degrees of freedom |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN104816314A (en) * | 2015-05-07 | 2015-08-05 | 镇江合力汽车紧固件有限公司 | Numerical control mechanical arm |
| CN105415361A (en) * | 2015-12-04 | 2016-03-23 | 上海交通大学 | Clamping force and clamping speed online controllable robot gripper |
| CN110480225A (en) * | 2018-05-14 | 2019-11-22 | 温州市富田不锈钢管有限公司 | A kind of mechanical arm device for stainless steel tube automatic welding |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN112247976A (en) * | 2020-09-30 | 2021-01-22 | 山东科技大学 | Five-degree-of-freedom non-planar surface additive manufacturing robot |
| CN115258110A (en) * | 2022-06-20 | 2022-11-01 | 东北大学 | Boston-imitated lobster underwater movement mechanism |
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| EP0849053A1 (en) * | 1996-12-16 | 1998-06-24 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Method of controlling force assisting device and control apparatus using the same |
| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
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| CN201244813Y (en) * | 2008-08-08 | 2009-05-27 | 安徽工程科技学院 | Robot control system for precision forging |
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
| CN101797748A (en) * | 2010-01-08 | 2010-08-11 | 武汉若比特机器人有限公司 | Multiple-degree-of-freedom anti-explosion mechanical arm |
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Patent Citations (10)
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| US3025097A (en) * | 1955-03-29 | 1962-03-13 | Emmitt B Sherron | Lifting implement |
| FR1306106A (en) * | 1961-08-31 | 1962-10-13 | Saint Gobain Nucleaire | Automatic gripper |
| WO1982004218A1 (en) * | 1981-06-03 | 1982-12-09 | Tjernstroem Ove | Gripping means for a manipulator device |
| US5427531A (en) * | 1992-10-20 | 1995-06-27 | Schlumberger Technology Corporation | Dynamic simulation of mechanisms |
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| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
| CN201201242Y (en) * | 2008-04-15 | 2009-03-04 | 上海赛科现代交通设备有限公司 | Charging and blanking manipulator electric-controlled system for straight line motor stator production line |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103029125B (en) * | 2011-09-30 | 2015-05-20 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN104816314A (en) * | 2015-05-07 | 2015-08-05 | 镇江合力汽车紧固件有限公司 | Numerical control mechanical arm |
| CN105415361A (en) * | 2015-12-04 | 2016-03-23 | 上海交通大学 | Clamping force and clamping speed online controllable robot gripper |
| CN110480225A (en) * | 2018-05-14 | 2019-11-22 | 温州市富田不锈钢管有限公司 | A kind of mechanical arm device for stainless steel tube automatic welding |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN112247976A (en) * | 2020-09-30 | 2021-01-22 | 山东科技大学 | Five-degree-of-freedom non-planar surface additive manufacturing robot |
| CN115258110A (en) * | 2022-06-20 | 2022-11-01 | 东北大学 | Boston-imitated lobster underwater movement mechanism |
| CN115258110B (en) * | 2022-06-20 | 2024-04-19 | 东北大学 | Boston-imitating lobster underwater movement mechanism |
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| CN102554922B (en) | 2015-05-20 |
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