CN105690421A - Universal mechanical arm capable of automatically memorizing trajectory - Google Patents
Universal mechanical arm capable of automatically memorizing trajectory Download PDFInfo
- Publication number
- CN105690421A CN105690421A CN201610251601.9A CN201610251601A CN105690421A CN 105690421 A CN105690421 A CN 105690421A CN 201610251601 A CN201610251601 A CN 201610251601A CN 105690421 A CN105690421 A CN 105690421A
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- Prior art keywords
- mechanical arm
- joint
- control system
- universal
- automatic memory
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a universal mechanical arm capable of automatically memorizing the trajectory. The universal mechanical arm comprises a plurality of sections of mechanical arm bodies which are connected in sequence, a plurality of joints used for connecting the mechanical arm bodies and a control system, wherein a parameter sensor is arranged in each joint; the control system is provided with a 3D analog simulator and is in wireless connection with the parameter sensors. According to the universal mechanical arm capable of automatically memorizing the trajectory, provided by the invention, the joints of the mechanical arms can be manually regulated, real-time parameters after regulation can be fed back to the control system through the parameter sensors; the control system stores the parameters and memorize the manual regulation trajectory so as to perform recurrence or realize motion synchronization, which avoids tedious, low-efficiency and unintuitive regulation on parameters of joints one by one, so that the most direct and efficient method is adopted for regulation, a presentation effect of current parameters can be observed in real time, and the action design is more convenient and accurate.
Description
Technical field
The present invention relates to robotic arm, be specifically related to the universal mechanical arm of automatic Memory track。
Background technology
The mode being manually entered angle numeral, slide bar controls or is adjusted in 3D modeling software is generally taked in the current adjustment to multi-joint mechanical arm action, the movement locus making mechanical arm reaches expection requirement, complete predetermined action, needing joint to be one by one adjusted, the parameter adjustment in one of them joint will directly influence the parameter in follow-up joint, and parameter setting is loaded down with trivial details, need repeatedly to verify, regulating inefficient, and be not easy to make glibly molar behavior, effect is not directly perceived。
As can be seen here, current multi-joint mechanical arm exists that parameter setting is loaded down with trivial details, regulate inefficient problem。
Summary of the invention
The multi-joint mechanical arm that the technical problem to be solved is current exists that parameter setting is loaded down with trivial details, regulate inefficient problem。
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention there is provided the universal mechanical arm of a kind of automatic Memory track, including:
The multistage mechanical arm being sequentially connected with；
Connecting the joint of described mechanical arm, each described intraarticular is provided with parameter sensors；
Control system, is provided with 3D emulation simulator, described control system and described parameter sensors wireless connections。
In the universal mechanical arm of above-mentioned automatic Memory track, described parameter sensors is angular displacement sensor or position sensor。
In the universal mechanical arm of above-mentioned automatic Memory track, described joint is rotary joint or bending joint, and described angular displacement sensor is for measuring the rotational angle of described rotary joint, and described position sensor is for measuring the displacement of described bending joint。
In the universal mechanical arm of above-mentioned automatic Memory track, manually adjust each described mechanical arm to correct position, testing result is sent to described control system by described parameter sensors, and described 3D emulation simulator shows the real time position of each described mechanical arm in real time on its display screen。
In the universal mechanical arm of above-mentioned automatic Memory track, described control system is connected with analog machine mechanical arm, the described analog machine mechanical arm instruction real-time transform self-position according to described control system。
In the universal mechanical arm of above-mentioned automatic Memory track, the testing result of described parameter sensors is preserved and forms instruction by described control system, it is achieved described analog machine mechanical arm and described mechanical arm synchronization action or asynchronous behavior。
In the universal mechanical arm of above-mentioned automatic Memory track, described mechanical arm is divided into mechanical arm shoulder, upper arm and forearm, the number in described joint is 7, the three, the 4th bending joints that the second rotary joint that the first bending joint of lifting including the first rotary joint making shoulder rotate, upper arm, forearm rotate, the second bending joint of front brachiocylloosis, wrist are stirred to two vertical direction and the 3rd rotary joint of wrist rotation。
The present invention, can the manually each joint of adjusting mechanical arm, real-time parameter after adjusting can be fed back to control system by parameter sensors, control system will preserve parameter, the track of memory manual adjustments synchronizes to carry out reappearing or realize action, it is to avoid loaded down with trivial details, the poor efficiency that joint parameter is adjusted one by one and directly perceived, takes the most efficient mode to be adjusted, and the bandwagon effect of parameter current can be seen in real time, make movements design more convenient also more accurate。
Accompanying drawing explanation
Fig. 1 is principles of the invention schematic diagram。
Detailed description of the invention
The invention provides the universal mechanical arm of a kind of automatic Memory track, can the manually each joint of adjusting mechanical arm, control system will remember track, adjust mode convenient and efficient。Below in conjunction with specific embodiment and Figure of description, the present invention is described in detail。
As it is shown in figure 1, the universal mechanical arm of automatic Memory track provided by the invention includes multistage mechanical arm, multiple joint and control system。
Multistage mechanical arm is sequentially connected with by joint, and each intraarticular is provided with parameter sensors。Control system is provided with 3D emulation simulator, controls system and parameter sensors wireless connections。
Parameter sensors is angular displacement sensor or position sensor, and joint is rotary joint or bending joint。Angular displacement sensor is for measuring the rotational angle of rotary joint, and position sensor is for measuring the displacement of bending joint。
Principles of the invention flow process is as follows: manually adjust each mechanical arm to correct position, testing result is sent to control system by parameter sensors, 3D emulation simulator shows the real time position of each mechanical arm in real time on its display screen, and whether people can be accurate according to the display detection action of display screen。
Control system can also be connected with analog machine mechanical arm, and analog machine mechanical arm is according to the instruction real-time transform self-position controlling system。The testing result of parameter sensors is preserved and forms instruction by control system, it is achieved analog machine mechanical arm and mechanical arm synchronization action or asynchronous behavior。
Mechanical arm can be divided into mechanical arm shoulder, upper arm and forearm, the number in joint is 7, the three, the 4th bending joints that the second rotary joint that the first bending joint of lifting including the first rotary joint making shoulder rotate, upper arm, forearm rotate, the second bending joint of front brachiocylloosis, wrist are stirred to two vertical direction and the 3rd rotary joint of wrist rotation。
Specifically, each mechanical arm in the present invention and each joint can simulating human skeletal structures, it is achieved the freely-movable in seven joints, including:
1), mechanical arm shoulder drives, it is achieved 360 ° of rotations of whole arm；
2), upper arm lifts, upper arm when armed state is 90 ° with mechanical arm shoulder, and upper arm can rotate takeing on mechanical arm relative mechanical arm shoulder in the plane in 90 °, say, that according to the angle position that mechanical arm shoulder is different, the direction that lifts of whole arm is controlled；
3), forearm rotates, it may be achieved except the rotation of mechanical arm shoulder and the arm except self；
4), front brachiocylloosis, it may be achieved the bending of forearm and upper arm, it is achieved the movement of forearm and the mechanical hand on forearm；
5), the rotation of wrist, it may be achieved the rotation of wrist and mechanical hand, it is achieved the turn-over of wrist and mechanical hand；
6), the bending up and down of wrist, it is achieved swinging up and down of wrist and mechanical hand；
7), the bending right and left of wrist, it is achieved swinging of wrist and mechanical hand, is combined with the bending up and down of wrist, make mechanical hand can the movement of little scope, location is more accurate, mobile more flexible。
The present invention, can the manually each joint of adjusting mechanical arm, real-time parameter after adjusting can be fed back to control system by parameter sensors, control system will preserve parameter, the track of memory manual adjustments synchronizes to carry out reappearing or realize action, it is to avoid loaded down with trivial details, the poor efficiency that joint parameter is adjusted one by one and directly perceived, takes the most efficient mode to be adjusted, and the bandwagon effect of parameter current can be seen in real time, make movements design more convenient also more accurate。
The present invention is not limited to above-mentioned preferred forms, and anyone should learn the structure change made under the enlightenment of the present invention, and every have same or like technical scheme with the present invention, each falls within protection scope of the present invention。
Claims (7)
1. the universal mechanical arm of automatic Memory track, it is characterised in that including:
The multistage mechanical arm being sequentially connected with；
Connecting the joint of described mechanical arm, each described intraarticular is provided with parameter sensors；
Control system, is provided with 3D emulation simulator, described control system and described parameter sensors wireless connections。
2. the universal mechanical arm of automatic Memory track as claimed in claim 1, it is characterised in that described parameter sensors is angular displacement sensor or position sensor。
3. the universal mechanical arm of automatic Memory track as claimed in claim 2, it is characterized in that, described joint is rotary joint or bending joint, and described angular displacement sensor is for measuring the rotational angle of described rotary joint, and described position sensor is for measuring the displacement of described bending joint。
4. the universal mechanical arm of automatic Memory track as claimed in claim 1, it is characterized in that, manually adjust each described mechanical arm to correct position, testing result is sent to described control system by described parameter sensors, and described 3D emulation simulator shows the real time position of each described mechanical arm in real time on its display screen。
5. the universal mechanical arm of automatic Memory track as claimed in claim 4, it is characterised in that described control system is connected with analog machine mechanical arm, the described analog machine mechanical arm instruction real-time transform self-position according to described control system。
6. the universal mechanical arm of automatic Memory track as claimed in claim 5, it is characterised in that the testing result of described parameter sensors is preserved and forms instruction by described control system, it is achieved described analog machine mechanical arm and described mechanical arm synchronization action or asynchronous behavior。
7. the universal mechanical arm of automatic Memory track as claimed in claim 3, it is characterized in that, described mechanical arm is divided into mechanical arm shoulder, upper arm and forearm, the number in described joint is 7, the three, the 4th bending joints that the second rotary joint that the first bending joint of lifting including the first rotary joint making shoulder rotate, upper arm, forearm rotate, the second bending joint of front brachiocylloosis, wrist are stirred to two vertical direction and the 3rd rotary joint of wrist rotation。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251601.9A CN105690421A (en) | 2016-04-21 | 2016-04-21 | Universal mechanical arm capable of automatically memorizing trajectory |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251601.9A CN105690421A (en) | 2016-04-21 | 2016-04-21 | Universal mechanical arm capable of automatically memorizing trajectory |
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| CN105690421A true CN105690421A (en) | 2016-06-22 |
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| CN201610251601.9A Pending CN105690421A (en) | 2016-04-21 | 2016-04-21 | Universal mechanical arm capable of automatically memorizing trajectory |
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Cited By (3)
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| CN106166737A (en) * | 2016-08-03 | 2016-11-30 | 江苏新光数控技术有限公司 | Mechanical arm |
| CN106596313A (en) * | 2017-01-05 | 2017-04-26 | 中国矿业大学 | Testing method and device for simulating artificial joint multiple motion trail friction |
| CN110231825A (en) * | 2019-06-21 | 2019-09-13 | 中国神华能源股份有限公司 | Vehicular intelligent cruising inspection system and method |
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| CN1745349A (en) * | 2003-02-04 | 2006-03-08 | 施托布利法韦日公司 | Multi-axis robot provided with a control system |
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Application publication date: 20160622 |