CN102554922B - 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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- CN102554922B CN102554922B CN201210025180.XA CN201210025180A CN102554922B CN 102554922 B CN102554922 B CN 102554922B CN 201210025180 A CN201210025180 A CN 201210025180A CN 102554922 B CN102554922 B CN 102554922B
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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 numerical-control manipulator with five degrees of freedom.
Background technology
Along with the development of industrial automation, manipulator is widely used in the industry.Manipulator has following advantage, and one is that security is high.Enter in mould with staff and get product, if injection machine fault or by mistake button cause matched moulds, have the danger of hand clamping, use manipulator to guarantee safety.Two is can raise the efficiency and quality.Three is reduce product fraction defective.Firm shaped article temperature is too high, and personnel take out product can cause hand trace, produces defective products, because manipulator uses special tool to take out, so can not hurt product.Four is save manpower and time.Five is conservations, reduces costs, and it is indefinite that personnel get the product time, and the particularity of raw material can cause product shrink, modification, and the time of taking out because of manipulator is fixed, so steady quality.
But manipulator of the prior art has intrinsic defect, as robot movement form is simple, only single operation can be realized.Structure is firm not, as easy as rolling off a log damaged.Location is not accurate, and control performance is low, is not easily considered to operation.
For solving defect of the prior art, CN102229142A discloses a kind of Five-degree-of-freedom electric manipulator, this manipulator adopts the mode of friction pulley motor and pulley electric motor braking to manipulate manipulator, and structure is relatively simple, and can realize multi-motion form, but due to motor braking underaction, cause this manipulator to be located not accurate enough, control performance is low, not easy to operate, and paw function singleness, effect is not strong.
Summary of the invention
For the shortcoming that prior art exists.The object of the present invention is to provide a kind of method of operating of numerical-control manipulator with five degrees of freedom, realize, to the accurate control of manipulator, can reaching accurate positioning, controlling is strong, easy to operate, broad-spectrum technique effect.
The invention provides a kind of method of operating of numerical-control manipulator with five degrees of freedom, the free degree of numerical-control manipulator with five degrees of freedom is realized by servomotor, servomotor is controlled by digital control system, described digital control system comprises computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuit boards, described Five-degree-of-freedmanipulator manipulator comprises base, turntable, large arm, forearm, wrist and paw, described base is connected with turntable, turntable is connected by shoulder with large arm, large arm is connected with forearm by ancon, forearm is connected with paw by wrist, it is characterized in that, first free degree is set between described base and turntable, shoulder arranges second free degree, ancon arranges Three Degree Of Freedom, wrist arranges four-degree-of-freedom, paw arranges five degree of freedom, described 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 by Serial Port Line, No. 24 servomotor main circuit boards adopt single-chip computer control system, instruction is sent to five Serve Motor Control circuit boards by servomotor connecting line, five Serve Motor Control circuit board acquisition instructions also control to be positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist completes turntable rotation, shoulder lifting, ancon lifting, wrist lifting and paw clamp operation.
Further preferably, described computer control system and No. 24 servomotor main circuit boards are positioned at base, and five Serve Motor Control circuit boards are arranged in turntable, paw, shoulder ancon and wrist respectively.
Further preferably, described computer control system is connected by Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five Serve Motor Control circuit boards by servomotor connecting line.
Further preferably, described first free degree is that turntable rotates, second free degree is shoulder lifting, Three Degree Of Freedom is ancon lifting, four-degree-of-freedom is wrist lifting, five degree of freedom is paw clamping.
The material of further preferred described base, turntable, large arm, forearm, wrist and paw is aluminium alloy.
Preferably the moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom further.The moment of torsion of the servomotor of described first free degree is 30kg.cm.
Further preferred described manipulator height is 400mm-600mm; Described manipulator width is 150mm-210mm.
The length of further preferred described large arm is 150mm-200mm; The length of described forearm is 120mm-160mm.
Paw preferably described further adopts two propulsive mechanism, makes paw clamp angle and remains at 0 degree.
Further preferred described paw has finger, installs pad additional between described finger and article; The chucking power of described finger is 10 kilograms.
Further preferred described manipulator adopts lithium polymer battery.
Adopt method of operating tool of the present invention to have the following advantages: adopt servomotor to realize five frees degree, servomotor is controlled by digital control system, easy to operate, controlling is strong, motion is flexible, joint strength is large and accurate positioning; Adopt alloy and ABS engineering plastics material, make manipulator sturdy and durable, long service life; Paw adopts two propulsive mechanism, and installs pad additional between finger and article, increases the range of application of paw, makes the purposes of manipulator more extensive.
Accompanying drawing explanation
Fig. 1: the structural representation of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention; Fig. 2: the side view of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention; Fig. 3: the structural representation of the paw of the preferred embodiment of numerical-control manipulator with five degrees of freedom of the present invention.
Wherein: 1, base, 2, turntable, 3, large 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.
Detailed description of the invention
According to Figure of description 1-3, the invention provides a kind of method of operating of numerical-control manipulator with five degrees of freedom, the free degree of numerical-control manipulator with five degrees of freedom is realized by servomotor, servomotor is controlled by digital control system, described digital control system comprises computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuit boards, described Five-degree-of-freedmanipulator manipulator comprises base 1, turntable 2, large arm 3, forearm 4, wrist 5 and paw 6, described base 1 is connected with turntable 2, turntable 2 is connected by shoulder 7 with large arm 3, large arm 3 is connected with forearm 4 by ancon 8, forearm 4 is connected with paw 6 by wrist 9, it is characterized in that, between described base 1 and turntable 2, first free degree is set, shoulder 7 arranges second free degree, ancon 8 arranges Three Degree Of Freedom, wrist 9 arranges four-degree-of-freedom, paw 6 arranges five degree of freedom, described 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 by Serial Port Line, No. 24 servomotor main circuit boards adopt single-chip computer control system, instruction is sent to five Serve Motor Control circuit boards by servomotor connecting line, five Serve Motor Control circuit board acquisition instructions also control to be positioned at turntable, paw, shoulder, and the servomotor of ancon and wrist completes turntable rotation, shoulder lifting, ancon lifting, wrist lifting and paw clamp operation.
Described computer control system and No. 24 servomotor main circuit boards are positioned at base 1, and five Serve Motor Control circuit boards are arranged in turntable 2, paw 6, shoulder 7, ancon 8 and wrist 9 respectively.
Described computer control system is connected by Serial Port Line with No. 24 servomotor main circuit boards, and No. 24 servomotor main circuit boards are connected with five Serve Motor Control circuit boards by servomotor connecting line.
Described first free degree is that turntable 2 rotates, second free degree is that shoulder 7 is elevated, Three Degree Of Freedom is that ancon 8 is elevated, four-degree-of-freedom is that wrist 9 is elevated, five degree of freedom is that paw 6 clamps.
The material of described base 1, turntable 2, large arm 3, forearm 4, wrist 5 and paw 6 is aluminium alloy.
The moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
The moment of torsion of the servomotor of described first free degree is 30kg.cm.
Described manipulator height is 400mm-600mm.Described manipulator width is 150mm-210mm.
The length of described large arm 3 is 150mm-200mm.The length of described forearm 4 is 120mm-160mm.
Described paw 6 adopts two propulsive mechanism, this pair of propulsive mechanism adopts two steering wheels, one is active steering wheel, connect the holding wire from digital control system, initiatively steering wheel output shaft drives driving gear 12 to rotate, another is driven steering wheel, this driven steering wheel does not connect holding wire, the rotation of driven gear 13 relies on driving gear 12 to drive, as shown in Figure 3, driving gear 12 and driven gear 13 and connecting rod 11, point 10, mount pad 14 forms a parallel four-bar linkage, when driving gear 12 rotates, drive driven gear 13 makes finger 10 move in parallel.Make paw clamp angle and remain at 0 degree.Described paw 6 has finger 10, installs pad additional between described finger 10 and article.The chucking power of described finger 10 is 10 kilograms.
Described manipulator adopts lithium polymer battery.Lithium polymer battery volume is little, quality is light, electricity is large, immediate current is large, the life-span is long, safety.
The method of operating of this numerical-control manipulator with five degrees of freedom makes that the controlling of manipulator is strong, motion flexibly, the large and accurate positioning of joint strength, sturdy and durable, long service life, of many uses.
Claims (10)
1. the method for operating of a numerical-control manipulator with five degrees of freedom, the free degree of numerical-control manipulator with five degrees of freedom is realized by servomotor, servomotor is controlled by digital control system, described digital control system comprises computer control system, No. 24 servomotor main circuit boards and five Serve Motor Control circuit boards, described numerical-control manipulator with five degrees of freedom comprises base (1), turntable (2), large arm (3), forearm (4), wrist (5) and paw (6), described base (1) is connected with turntable (2), turntable (2) is connected by shoulder (7) with large arm (3), large arm (3) is connected with forearm (4) by ancon (8), forearm (4) is connected with paw (6) by wrist (9), it is characterized in that, between described base (1) and turntable (2), first free degree is set, shoulder (7) arranges second free degree, ancon (8) arranges Three Degree Of Freedom, wrist (9) arranges four-degree-of-freedom, paw (6) arranges five degree of freedom, described 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 by Serial Port Line, No. 24 servomotor main circuit boards adopt single-chip computer control system, instruction is sent to five Serve Motor Control circuit boards by servomotor connecting line, five Serve Motor Control circuit board acquisition instructions the servomotor controlling to be positioned at turntable, paw, shoulder, ancon and wrist completes that turntable rotates, shoulder lifting, ancon lifting, wrist lifting and paw clamp operation, paw (6) adopts two propulsive mechanism, this pair of propulsive mechanism adopts two steering wheels, one is active steering wheel, connect the holding wire from digital control system, initiatively steering wheel output shaft drives driving gear (12) to rotate, and another is driven steering wheel, and this driven steering wheel does not connect holding wire, the rotation of driven gear (13) relies on driving gear (12) to drive, and makes paw clamp angle and remains at 0 degree, described computer control system and No. 24 servomotor main circuit boards are positioned at base (1), and five Serve Motor Control circuit boards are arranged in turntable (2), paw (6), shoulder (7), ancon (8) and wrist (9) respectively, described first free degree is that turntable (2) rotates, second free degree is shoulder (7) lifting, Three Degree Of Freedom is ancon (8) lifting, four-degree-of-freedom is wrist (9) lifting, five degree of freedom is paw (6) clamping.
2. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, the moment of torsion of described binary servomotor is 3 times of the moment of torsion of the servomotor of four-degree-of-freedom.
3. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, the moment of torsion of the servomotor of described first free degree is 30kgcm.
4. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, described manipulator height is 400mm-600mm.
5. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, described manipulator width is 150mm-210mm.
6. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, the length of described large arm (3) is 150mm-200mm.
7. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, the length of described forearm (4) is 120mm-160mm.
8. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, described paw (6) has finger (10), installs pad additional between described finger (10) and article.
9. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 8, the chucking power of described finger (10) is 10 kilograms.
10. the method for operating of numerical-control manipulator with five degrees of freedom according to claim 1, described manipulator adopts lithium polymer battery.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN102554922A CN102554922A (en) | 2012-07-11 |
| CN102554922B true 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105415361B (en) * | 2015-12-04 | 2017-03-29 | 上海交通大学 | Chucking power and the online controllable robot gripper of clamping speed |
| 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 |
| CN112247976B (en) * | 2020-09-30 | 2022-02-01 | 山东科技大学 | Five-degree-of-freedom non-planar surface additive manufacturing robot |
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| CN1490133A (en) * | 2003-09-01 | 2004-04-21 | 武汉理工大学 | Rotary robot for container lock |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Patent Citations (7)
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| US5427531A (en) * | 1992-10-20 | 1995-06-27 | Schlumberger Technology Corporation | Dynamic simulation of mechanisms |
| 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 |
| 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 |
| CN201244813Y (en) * | 2008-08-08 | 2009-05-27 | 安徽工程科技学院 | Robot control system for precision forging |
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| CN102554922A (en) | 2012-07-11 |
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