CN103465275A - Power supply system for manipulator encoder - Google Patents
Power supply system for manipulator encoder Download PDFInfo
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- CN103465275A CN103465275A CN201310437664XA CN201310437664A CN103465275A CN 103465275 A CN103465275 A CN 103465275A CN 201310437664X A CN201310437664X A CN 201310437664XA CN 201310437664 A CN201310437664 A CN 201310437664A CN 103465275 A CN103465275 A CN 103465275A
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- encoders
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Abstract
The invention discloses a power supply system for a manipulator encoder. The power supply system comprises a manipulator body, a first encoder, a second encoder, a third encoder, a fourth encoder, a fifth encoder and a sixth encoder, wherein the first encoder and a 5V battery are connected and are arranged in a base together, and the second encoder and a 5V battery are connected and are arranged in a waist seat together; the third and fourth encoders are respectively connected with a 5V battery and are respectively arranged in a front arm together with the 5V battery, and the fifth and sixth encoders are respectively connected with a 5V battery and are respectively arranged in a small arm together with the 5V battery. In the use process, if the manipulator body suddenly loses power or is disconnected with a connecting wire of a controller for a long time, the encoders can remember data and can remember the physical locations of a manipulator permanently without origin correction. In addition, after the correction of the manipulator body is completed, and the encoders are cleared, the manipulator and the controller can be arbitrarily replaced because the data is not lost.
Description
Technical field
The present invention relates to the manipulator technical field, particularly a kind of manipulator coding device electric power system.
Background technology
In the manipulator technical field, encoder is as the signal feedback system in servo-control system, in order to corner and the rotating speed of feedback servo motor.During manipulator work, controller can send to servo-driver by pulse command, allows motor rotate, and then encoder starts rotation, sends pulse signal, and this signal feedback is to controller, and controller is according to the action of the signal control motor of feedback.Current encoder does not have reserve battery or reserve battery to be contained in servo-driver, once after the disconnection of the stube cable of manipulator body and controller, the loss of data of encoder, the position data of manipulator body is lost, and must do mechanical origin and proofread and correct.
Summary of the invention
For solving the problems of the technologies described above, the object of the present invention is to provide a kind of manipulator coding device electric power system, realize that the manipulator body, when outage suddenly or the long-time connecting line disconnected with controller, can forever remember the physical location of manipulator.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions: a kind of manipulator coding device electric power system, comprise the manipulator body, the first encoder, the second encoder, the 3rd encoder, the 4th encoder, the 5th encoder and the 6th encoder, described manipulator body comprises base, the waist seat, large arm, forearm, forearm and wrist body, described the first encoder connects a 5V battery, and be installed on together in described base, described the second encoder connects a 5V battery, and be installed on together in described waist seat, described the 3rd encoder is connected respectively a 5V battery with the 4th encoder, and be installed on together respectively in described forearm, described the 5th encoder is connected respectively a 5V battery with the 6th encoder, and be installed on together in described forearm respectively.
The invention has the beneficial effects as follows: manipulator coding device electric power system of the present invention, due to each encoder, be installed in the manipulator body after having connected the 5V battery, make in use, if the connecting line of the outage suddenly of manipulator body or long-time disconnection and controller, encoder can be remembered data, realize after the manipulator body has been proofreaied and correct forever remembeing the physical location of manipulator, without carrying out origin correction.In addition, after the manipulator body has been proofreaied and correct, and after encoder tanks, because data are not lost, manipulator body and controller can be changed arbitrarily and not affect the work of manipulator.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that, protection scope of the present invention is made to more explicit defining.
As shown in Figure 1, a kind of manipulator coding device electric power system, comprise the manipulator body, the first encoder 1, the second encoder 2, the 3rd encoder 3, the 4th encoder 4, the 5th encoder 5 and the 6th encoder 6, described manipulator body comprises base 7, waist seat 8, large arm 9, forearm 10, forearm 11 and wrist body 12, described the first encoder 1 connects a 5V battery, and be installed on together in described base 7, described the second encoder 2 connects a 5V battery, and be installed on together in described waist seat 8, described the 3rd encoder 3 is connected respectively a 5V battery with the 4th encoder 4, and be installed on together respectively in described forearm 10, described the 5th encoder 5 is connected respectively a 5V battery with the 6th encoder 6, and be installed on together respectively in described forearm 11.
Manipulator comprises the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the waist seat rotation of the first axle driving mechanical hand body, the second axle drives large arm and does elevating movement, the 3rd axle drives forearm and does elevating movement, the 4th axle drives forearm and rotates, the 5th axle drives the wrist body and does elevating movement, and the 6th axle drives wrist body head and rotates.
The first encoder 1 connects the first servomotor 13, and this first servomotor 13 is for driving the first axle, and the first encoder 1 feeds back corner and the rotating speed of the first servomotor 13; The second encoder 2 connects the second servomotors 14, and this second servomotor 14 is for driving the shoulder joint pitching rotating shaft that drives large arm pitching, i.e. the second axle, corner and the rotating speed of second encoder 2 feedback the second servomotors 14; The 3rd encoder 3 connects the 3rd servomotor 15, the three servomotors 15 for driving the elbow joint pitching rotating shaft that drives the forearm pitching, i.e. the 3rd axle, corner and the rotating speed of the 3rd encoder 3 feedback the 3rd servomotors 15; The 4th encoder 4 connects the 4th servomotor 16, the four servomotors 16 for driving the 4th axle, corner and the rotating speed of the 4th encoder 4 feedback the 4th servomotors 16; The 5th encoder 5 connects the 5th servomotor 17, the five servomotors 17 for driving the wrist joint pitching rotating shaft that drives the pitching of wrist body, i.e. the 5th axle, corner and the rotating speed of the 5th encoder 5 feedback the 5th servomotors 17; The 6th encoder 6 connects the 6th servomotor 18, the six servomotors 18 for driving the 6th axle, corner and the rotating speed of the 6th encoder 6 feedback the 6th servomotors 18.
During manipulator work, controller can send to servo-driver by pulse command, allows each servomotor rotate, encoder detects corner and the rotating speed of each servomotor, send pulse signal, this signal feedback is to controller, and controller is according to the action of the signal control motor of feedback.Wherein, each encoder is absolute type encoder.
Two power supply lines of each encoder link together, and be installed in the manipulator body after having connected the 5V battery, make in use, if the connecting line of the outage suddenly of manipulator body or long-time disconnection and controller, encoder can be remembered data, realize after the manipulator body has been proofreaied and correct forever remembeing the physical location of manipulator, without carrying out origin correction.In addition, after the manipulator body has been proofreaied and correct, and after encoder tanks, because data are not lost, manipulator body and controller can be changed arbitrarily and not affect the work of manipulator.
The above is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.
Claims (1)
1. manipulator coding device electric power system, it is characterized in that: comprise the manipulator body, the first encoder, the second encoder, the 3rd encoder, the 4th encoder, the 5th encoder and the 6th encoder, described manipulator body comprises base, the waist seat, large arm, forearm, forearm and wrist body, described the first encoder connects a 5V battery, and be installed on together in described base, described the second encoder connects a 5V battery, and be installed on together in described waist seat, described the 3rd encoder is connected respectively a 5V battery with the 4th encoder, and be installed on together respectively in described forearm, described the 5th encoder is connected respectively a 5V battery with the 6th encoder, and be installed on together in described forearm respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310437664XA CN103465275A (en) | 2013-09-24 | 2013-09-24 | Power supply system for manipulator encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310437664XA CN103465275A (en) | 2013-09-24 | 2013-09-24 | Power supply system for manipulator encoder |
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| CN103465275A true CN103465275A (en) | 2013-12-25 |
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| CN201310437664XA Pending CN103465275A (en) | 2013-09-24 | 2013-09-24 | Power supply system for manipulator encoder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104810314A (en) * | 2014-01-29 | 2015-07-29 | 日本电产三协株式会社 | Industrial robot |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN107081757A (en) * | 2017-05-17 | 2017-08-22 | 成都瑞迪机械科技有限公司 | Control system for robot palletizer |
| CN109641352A (en) * | 2017-03-24 | 2019-04-16 | 深圳配天智能技术研究院有限公司 | The method and apparatus of Robot calibration |
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| US5115690A (en) * | 1989-01-30 | 1992-05-26 | Fanuc Ltd. | Multi-articulated industrial robot with an offset robot arm |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN102256755A (en) * | 2008-12-17 | 2011-11-23 | Abb研究有限公司 | Damage-preventing system for manipulator |
| CN203495977U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Manipulator encoder power supply system |
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2013
- 2013-09-24 CN CN201310437664XA patent/CN103465275A/en active Pending
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| US5006035A (en) * | 1985-04-27 | 1991-04-09 | Fanuc, Ltd. | Industrial robot |
| JPS62166412A (en) * | 1986-01-18 | 1987-07-22 | Fanuc Ltd | Moving type industrial robot |
| US5115690A (en) * | 1989-01-30 | 1992-05-26 | Fanuc Ltd. | Multi-articulated industrial robot with an offset robot arm |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN102256755A (en) * | 2008-12-17 | 2011-11-23 | Abb研究有限公司 | Damage-preventing system for manipulator |
| CN203495977U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Manipulator encoder power supply system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104810314A (en) * | 2014-01-29 | 2015-07-29 | 日本电产三协株式会社 | Industrial robot |
| JP2015139854A (en) * | 2014-01-29 | 2015-08-03 | 日本電産サンキョー株式会社 | industrial robot |
| CN110808225A (en) * | 2014-01-29 | 2020-02-18 | 日本电产三协株式会社 | Industrial robot |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN109641352A (en) * | 2017-03-24 | 2019-04-16 | 深圳配天智能技术研究院有限公司 | The method and apparatus of Robot calibration |
| CN107081757A (en) * | 2017-05-17 | 2017-08-22 | 成都瑞迪机械科技有限公司 | Control system for robot palletizer |
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Application publication date: 20131225 |