CN105881533A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
- Publication number
- CN105881533A CN105881533A CN201410840416.4A CN201410840416A CN105881533A CN 105881533 A CN105881533 A CN 105881533A CN 201410840416 A CN201410840416 A CN 201410840416A CN 105881533 A CN105881533 A CN 105881533A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- robot
- motion
- controller
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention relates to an industrial robot. The industrial robot structurally comprises a mechanical arm and a handheld programmer. The mechanical arm is provided with six rotating shafts, a series structure is adopted, and each rotating shaft is composed of a stepping motor, a precision speed reducer and a precision bearing. An electromagnetic chuck connector is arranged at the front end of the mechanical arm, and therefore automatic replacement of various end execution mechanisms can be achieved. A motion controller is composed of an embedded processor, rotating shaft motion, linear motion, arc motion and the like can be achieved, external shafts are supported, and the repeated locating precision is smaller than 0.1 mm. The motion controller and a motor power drive circuit can be completely embedded into the mechanical arm, and no external control cabinet is needed. Wiring of the mechanical arm and the handheld programmer is simple, and only a power line and a serial data bus are needed. Power supply at the low voltage ranging from 12 V to 24 V is achieved, and the industrial robot is especially suitable for being mounted on field mobile equipment or used in the underwater work environment.
Description
Technical field
The present invention relates to a kind of industrial robot.
Background technology
Industrial robot is extensively applied in manufacturing industry, and service behaviour the most all exceedes manually, it has also become commercial production can not
Or the instrument lacked.But present industrial robot still has some problems to limit its wider application, for example with servomotor
Needing 200V high pressure, outdoor safety in operation is poor, and is not suitable for battery and powers；Servo-control system complex and expensive, it is difficult to do
To miniaturization, it is difficult to be embedded in mechanical arm；Study, programming, operating process complexity etc..These are all owing to excessively pursuit is watched
Take the perfect performance of motor, and the added burden produced, thus limit application and the application model of universal type industrial robot
Enclose.Such as can only be the most clumsy in the mechanical arm action to equip in battery powered field movable robot, and action is dexterous
The superb industrial robot of performance is not then resistant to because of high voltage that rainwater is moist, power consumption can not persistently be difficult to install greatly.
Summary of the invention
Present invention design achieves a high-performance 6 rotating shaft industrial robot driven by stepper motors.Motor has structure
Simply, the feature that stable and reliable for performance, precision is high, stepper motor driver is the most reliable and the most stable, and embedding be can be miniaturized
Motor internal.Robot arm 12-24 lies prostrate low-voltage power supply, and repetitive positioning accuracy is high, can reach 0.1 to 0.01 millimeter.
The repetitive positioning accuracy of robot is determined by each rotor axis mechanical element precision.
Robot architecture: be six rotating shaft serial machine mechanical arm, wherein waist joint 1, shoulder joint 2 and elbow joint 3 are all by stepping electricity
Machine 8, accurate retarding machine 9 are constituted；Wrist portion is the 4th 56 joint 4,5,6, by motor 8, accurate retarding machine 9,
Drive mechanism is constituted.Wrist portion front end is equipped with a magnechuck interface 7, in order to connect end effector mechanism.
High speed inserted computer constitute motion controller control manipulator motion, it is possible to achieve pivot, move along a straight line, circle
Arc motion etc., and can output mux amount and 4 road pwm signals.
Teaching programming uses hand-hold programmer to operate, and can control with keyboard 14 and rocking bar 12,13 controls.Use keyboard 14
Or rocking bar 12,13 can position teaching track by pivot or linear motion when carrying out teaching operation.The number of teaching programming
It is stored on SD card with document form according to by message handler.
The rocking bar of manipulation robot is for three-dimensional potentiometer structure and carries a press button 15,16, and the voltage signal of output is through A/D
Conversion obtains controlled quentity controlled variable, and actuator carries out speed governing by this controlled quentity controlled variable.There is self-return function after rocking bar release, control after return
Amount is 0, and now mechanical arm keeps current pose, transfixion.Under pivot state rocking bar 12 control mechanical arm the 1st, 2,
3 axles rotate, and rocking bar 13 controls the 4th, 5,6 axles and rotates；When being transformed into linear motion state by status button, rocking bar 12
Controlling mechanical arm to move along a straight line in 3-dimensional rectangular coordinate system, rocking bar 13 controls the attitude of wrist joint (the 4th, 5,6 axles).Machine
Mechanical arm movement velocity is proportional to the controlled quentity controlled variable of rocking bar.Three-dimensional rocker manipulation simple, intuitive, is not required to study and can operate with machine
People.
Control system is by message handler, motion controller, data/address bus, state display controller, human-machine operation controller structure
Become.Wherein motion controller is embedded into inside mechanical arm, and mechanical arm need not single switch board；Message handler, state are aobvious
Show that controller and human-machine operation controller load hand-hold programmer.Serial data line can be used between hand-hold programmer and mechanical arm
Or wireless serial communication connects.
The invention has the beneficial effects as follows: except having that the action of conventional industrial robot is dexterous rapidly, repetitive positioning accuracy is high, can
Outside the advantages such as teaching programming and off-line programing, by using motor to replace servomotor, it is possible to use 12-24V low-voltage is driven
Dynamic；Control and drive system is completely embedded into inside mechanical arm, it is not necessary to electric control cabinet, mechanical arm can be designed to more exquisite；
Teaching programming is easy to learn, is suitable for layman's operation；Cost is substantially reduced, can more be widely used in assembling, welding,
The traditional industries such as spraying produce, it is also possible to for the frontier in laboratory, face, desk room etc.；Lowered in field environment, underwater environment,
And under the conditions of needing battery powered mobile device, have peculiar advantage with stepper motor driven dexterous mechanical arm, so that work
Range of application and the application industry of industry robot are expanded significantly.
Accompanying drawing explanation
Mechanical construction drawing included in the following drawings broadly falls into illustrative nature, for the operation principle of the present invention is described, and machinery knot
The size of structure, mounting structure, connected mode etc. can flexible design, the present invention not by diagram mechanical transmission structure limited.
Fig. 1: Industrial robots Mechanical's arm configuration figure
Fig. 2: hand-hold programmer structure chart；
Detailed description of the invention
Being embodied as of industrial robot needs to be realized by system controlling software and hand-hold programmer software.Robot interior is adopted
By a kind of real-time Distributed Control System (DCS), each functional part has a special embedded controller, by number
According to the instruction of bus real-time reception, execution action, send data.Concurrent working between each functional part, does not interfere with each other.
The operation of robot message handler Comprehensive Control entirety parts.Message handler receives each functional part from data/address bus and sends out
The data gone out, forward instruction to arrive data/address bus, or display output after analyzing and processing.All operation information, fault message pass through
Video-stream processor connects LCD11 and shows integrated operation state.Message handler is connected to SD card memory, when with hand-hold programmer
When carrying out teaching operation, produced data are stored in the SD card of message handler with file situation.Carrying out repetition fortune
Time dynamic, message handler is sent to manipulator motion controller by reading data and by data/address bus.
Manipulator motion controller receives movement instruction by data/address bus, carries out interpolation calculation, is then output to six tunnel steppings and drives
Dynamic device control signal, drives six rotating shaft linkages of mechanical arm, makes mechanical arm navigate to impact point according to the speed of instruction regulation.
This motion controller algorithm is accurately efficient, ensures that step error do not lost by motor 8 by encoder.Can also unnecessary encode
The feedback data of device 10, and use robust techniques to ensure the repetitive positioning accuracy of mechanical arm.The real-time home position of motion controller is believed
Breath is to data/address bus.Motion controller can export 4 road pwm signals and multi-way switching values signal, by power driving circuit control
End effector processed works.
Robot can directly control three outside axles, it is possible to controls more outside axle by extended instruction system.Outside axle needs
Individually motion controller and driver.By introducing the deflection machine being made up of outside axle, industrial robot can be made to complete extremely
The complicated course of processing.
Human-machine operation controller management keyboard 14 and rocking bar 12,13.The keyboard that formed when manual operation or teaching program and shaking
Bar data, are dealt into message handler by bus, and message handler forms instruction and issues motion controller.
The industrial robot control system structure of the present invention is advanced rationally, stable and reliable for performance, and expanding of system function ability is strong, merit
Energy component models embedded design, is fully immersed into inside mechanical arm.The size of robot can be with flexible design, mechanical arm
Load capacity can be designed to different brackets as required.
Claims (12)
1. industrial robot structure includes: waist joint 1, shoulder joint 2, elbow joint 3, carpal joint 4,5,6, and six rotary shafts are strings
Connection structure, mechanical arm outer end 6 connects magnechuck interface 7, hand-hold programmer.
Robot the most according to claim 1, it is characterised in that: six rotary joints of mechanical arm all use motor to provide dynamic
Power, 12 to 24 volt low voltage drive.
Mechanical arm the most according to claim 2, it is characterised in that: rotating shaft 1,2,3 is by motor, accurate retarding machine, essence
Close bearing is constituted, and rotating shaft 4,5,6 is made up of motor, accurate retarding machine, drive mechanism.
Mechanical arm the most according to claim 2, it is characterised in that: carpal joint rotating shaft 6 connects a magnechuck interface 7.
Robot the most according to claim 1, it is characterised in that: the motion controller that inserted computer is constituted controls mechanical arm six
Axle links, and runs by the speed stabilizing of instruction regulation, realizes pivot, linear motion, circular motion by interpolation calculation.
Robot the most according to claim 1, it is characterised in that: robot can connect multiple outside by extension movement controller
Axle, outside axle may be constructed and the multiaxis deflection machine of mechanical arm linkage.
Robot the most according to claim 1, it is characterised in that: robot control system includes robot message handler, number
According to bus, human-machine operation controller, motion controller, running status display, power driving circuit.
Control system the most according to claim 6, it is characterised in that: use a kind of real-time distributed control system (DCS), control
System is made up of message handler, each functional part processor and data/address bus, and each functional parts moduleization designs so that each
Parts are separate, stable and reliable for performance.
Robot the most according to claim 1, it is characterised in that: hand-hold programmer includes human-machine operation controller and information processing
Device, hand-hold programmer sends control instruction, receives and show the various data messages of robot, and mechanical arm is grasped by rocking bar 12,13
Making, and have keyboard 14, press button to realize repertoire, teaching programming process is managed by message handler, and by teaching information
It is stored as data file, it is possible to the data file reading off-line programing drives mechanical arm work.
Hand-hold programmer the most according to claim 8, it is characterised in that: human-machine operation controller include controller, keyboard 14,
Three-dimensional rocker 12,13.
11. hand-hold programmers according to claim 8, by function switching push button 15,16, rocking bar can manipulate mechanical arm and do
Pivot or linear motion, movement velocity is proportional to rocking bar controlled quentity controlled variable.
12. hand-hold programmers according to claim 8, it is characterised in that: message handler include processor, SD card memory,
LCD display 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410840416.4A CN105881533A (en) | 2014-12-30 | 2014-12-30 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410840416.4A CN105881533A (en) | 2014-12-30 | 2014-12-30 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105881533A true CN105881533A (en) | 2016-08-24 |
Family
ID=56700763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410840416.4A Pending CN105881533A (en) | 2014-12-30 | 2014-12-30 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105881533A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272445A (en) * | 2016-10-11 | 2017-01-04 | 南京信息职业技术学院 | A kind of learning-oriented multi-degree-of-freemechanical mechanical arm and its control method |
| CN107053181A (en) * | 2017-06-09 | 2017-08-18 | 西华大学 | One kind turns to support robot welding control system |
| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202862218U (en) * | 2012-10-24 | 2013-04-10 | 温岭市天工工量刃具科技服务中心有限公司 | Control system of mechanical arm |
-
2014
- 2014-12-30 CN CN201410840416.4A patent/CN105881533A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202862218U (en) * | 2012-10-24 | 2013-04-10 | 温岭市天工工量刃具科技服务中心有限公司 | Control system of mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272445A (en) * | 2016-10-11 | 2017-01-04 | 南京信息职业技术学院 | A kind of learning-oriented multi-degree-of-freemechanical mechanical arm and its control method |
| CN107053181A (en) * | 2017-06-09 | 2017-08-18 | 西华大学 | One kind turns to support robot welding control system |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101564841B (en) | Soft manipulator based on pneumatic artificial muscles | |
| Bhargava et al. | Arduino controlled robotic arm | |
| CN103085054A (en) | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN105033996A (en) | Control system based on hand-push teaching type five-shaft horizontal joint robot | |
| CN105881533A (en) | Industrial robot | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN203460179U (en) | Mechanical arm | |
| Mathew et al. | Robotic arm control through human arm movement detection using potentiometers | |
| CN203038038U (en) | Intelligent electric actuating mechanism control system | |
| Karmoker et al. | Design of a low cost PC interface Six DOF robotic arm utilizing recycled materials | |
| Shakhatreh | The basics of robotics | |
| Park et al. | Design of a human-robot cooperative robot manipulator using SMART actuators | |
| CN203228237U (en) | Learning-memorizing type manipulator system | |
| CN207264136U (en) | A kind of electric control system of multiaxial motion industrial robot | |
| Wang et al. | Design of a underactuated robotic hand with three articulated fingers | |
| CN202720820U (en) | Electromechanical integration system | |
| CN112548996A (en) | Open industrial robot control system and open industrial robot | |
| CN205497463U (en) | Disconnect -type robot drags teaching handle | |
| CN201804458U (en) | Modular multi-control rectangular coordinate robot | |
| CN216067464U (en) | Electrical control system of multi-axis motion industrial robot | |
| Sowmiya Bharani | Arduino based voice controlled robotic arm and wheels | |
| Ovy et al. | A novel design of an ATmega32L microcontroller based controller circuit for the motion control of a robot arm actuated by DC Motors | |
| Hongxia et al. | Design of A Three-DOF Redundantly Driven Parallel Robot Control System | |
| Limaye et al. | 5 degrees of freedom robotic arm controlled using ps/2 mouse |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180117 Address after: Pukou District of Nanjing City, Jiangsu province 210000 Pu No. 88, headquarters building, B606 branch Applicant after: Nanjing seed Intelligent Technology Co., Ltd. Address before: 250014 Ji'nan, Shandong Province, No. 17513, No. ten, 7-2-201 Applicant before: Zhao Nan Applicant before: Yang Wenguang Applicant before: Yang Lei |
|
| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160824 |
|
| WD01 | Invention patent application deemed withdrawn after publication |