CN106041938A - Manipulator having imitating and repeating functions and control method of manipulator - Google Patents
Manipulator having imitating and repeating functions and control method of manipulator Download PDFInfo
- Publication number
- CN106041938A CN106041938A CN201610677788.9A CN201610677788A CN106041938A CN 106041938 A CN106041938 A CN 106041938A CN 201610677788 A CN201610677788 A CN 201610677788A CN 106041938 A CN106041938 A CN 106041938A
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- China
- Prior art keywords
- mechanical hand
- rotation
- pivoted arm
- anglec
- manipulator
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application of the invention discloses a manipulator having imitating and repeating functions and a control method of the manipulator. The manipulator mainly comprises an angle sensor, a processor and a motor, wherein the angle sensor is used for outputting an angle signal corresponding to a preset position to which a rotating arm is rotated when the rotating arm of the manipulator is manually controlled to rotate to the preset position, so that the processor calculates and records a rotation angle formed by that the rotating arm is rotated to the preset position according to the angle signal, and the motor of the manipulator repeats the rotation action of the rotating arm based on the rotating angle. Compared with the prior art, the manipulator disclosed by the invention can automatically imitate performing of the manual operation after an operator performs right manual operation once. In the performing process, adjustment can be performed based on working conditions, so that the working efficiency of the manipulator is improved.
Description
Technical field
The application relates to electric power infrastructure device and manufactures field, more particularly, it relates to one has imitation and repeat function
Mechanical hand and method for controlling robot.
Background technology
Along with making rapid progress of science and technology, automaticity requires more and more higher, in Market competition, cost of labor
Rising, conventional manually-operated carrying and fixed conveyer belt are main traditional Articles transfer mode, not only take up room and also do not allow
The most more becoming production line structure, add and need manpower monitor operation, more increasing production cost, original production feeding device is far from
The needs of present level automatization can be met.Reduce labor intensity, ensure reliability, the safety produced, reduce production cost,
Reducing environmental pollution, the quality improving product and economic benefit is that enterprise generates the significant problem that must face.
Mechanical hand the most on the market, many employing single-chip microcomputers or dsp chip realize closed loop control, by its programming realization
Required function, for it is frequently necessary to change the operating mode of material, during owing to carrying different materials, the anglec of rotation of mechanical hand may
Difference, thus require that on-the-spot operator need, according to the difference of operating mode, mechanical hand is re-started programming, cause mechanical hand
Work efficiency relatively low.
Summary of the invention
In view of this, the application provides a kind of and has imitation and the mechanical hand of repeat function and method for controlling robot, with
Improve the work efficiency of mechanical hand.
To achieve these goals, it is proposed that scheme as follows:
A kind of have imitation and the mechanical hand of repeat function, including:
Angular transducer, for when the pivoted arm of mechanical hand described in Non-follow control rotates to predeterminated position, exporting described pre-
If the angle signal that position is corresponding；
The processor being connected with angular transducer, for calculating and record turning of described mechanical hand according to described angle signal
Arm rotates to anglec of rotation during described predeterminated position；
The motor being connected with described processor, performs described machine for the described anglec of rotation exported based on described processor
The rotational action of the pivoted arm of tool hands.
Preferably, described processor is Arduino single-chip microcomputer.
Preferably, described angular transducer is potentiometer.
Preferably, described motor is 180 ° of steering wheels.
A kind of have imitation and the method for controlling robot of repeat function, including:
The pivoted arm of mechanical hand described in Non-follow control rotates to predeterminated position；
Obtaining the angle signal of angular transducer output, wherein, described sensor is positioned on the pivoted arm of described mechanical hand；
The pivoted arm calculating and recording described mechanical hand according to described angle signal rotates to rotation during described predeterminated position
Angle；
The rotational action of the pivoted arm of described mechanical hand is performed based on the described anglec of rotation.
Preferably, the described pivoted arm rotation extremely described default position calculating and recording described mechanical hand according to described angle signal
Anglec of rotation when putting, including:
The pivoted arm using map function to calculate described mechanical hand rotates to anglec of rotation during described predeterminated position.
Preferably, the rotational action of the described pivoted arm performing described mechanical hand based on the described anglec of rotation, including:
The rotation step number of the motor of described mechanical hand is calculated according to the described anglec of rotation；
The electric machine rotation of described mechanical hand is controlled, to perform the rotation of the pivoted arm of described mechanical hand according to described rotation step number
Action.
Through as shown from the above technical solution, disclosure is a kind of has imitation and the mechanical hand of repeat function and mechanical hand
Control method.This mechanical hand specifically includes that angular transducer, processor and motor.Wherein, angular transducer is used for angle sensor
Device, for when the pivoted arm of mechanical hand described in Non-follow control rotates to predeterminated position, output pivoted arm rotates to predeterminated position corresponding
Angle signal, and then processor according to this angle signal calculate and record described mechanical hand pivoted arm rotate to predeterminated position time
The anglec of rotation, in order to the motor of mechanical hand repeats the spinning movement of pivoted arm based on this anglec of rotation.With prior art phase
Ratio, mechanical hand disclosed by the invention, after operator carries out the most correct manual operation, this hands can be performed by automatic imitation
Dynamic operation, can be adjusted based on operating mode in the process of implementation, improve the work efficiency of mechanical hand.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 shows that disclosed in one embodiment of the invention, the structure of a kind of mechanical hand with simulation and repeat function is shown
It is intended to；
Fig. 2 shows the control of a kind of mechanical hand with imitation and repeat function disclosed in another embodiment of the present invention
The schematic flow sheet of method.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
See Fig. 1 and show the knot of a kind of mechanical hand with simulation and repeat function disclosed in one embodiment of the invention
Structure schematic diagram.
As shown in Figure 1, the mechanical hand of the disclosure includes: angular transducer 1, processor 2 and motor 3.
Wherein, angular transducer 1, it is used under teaching pattern when the pivoted arm of mechanical hand described in Non-follow control rotates to presetting
During position, export the angle signal that described predeterminated position is corresponding.Wherein said teaching pattern is the learning model of mechanical hand.
The concrete operations of described teaching model are: pivoted arm, by operative employee's manual operation, completes one action circulation, to gather
Pivoted arm angle change in cycle of operation.Sensor can be carbon-film potentiometer, wound potentiometer.
Then, the processor being connected with angular transducer, for calculating and record described machinery according to described angle signal
The pivoted arm of hands rotates to anglec of rotation during described predeterminated position.Optionally, this processor can be Arduino single-chip microcomputer, and this is single
The angle signal that angular transducer exports, based on map function, is converted to the anglec of rotation by sheet machine.
The motor being connected with described processor, repeats institute for the described anglec of rotation exported based on described processor
State the rotational action of the pivoted arm of mechanical hand.Optionally, this motor is 180 ° of steering wheels
Concrete, mechanical hand is converted to repeat pattern, now angular transducer no longer transmission of angle signal, operative
Pivoted arm does not interferes with auto-action, and processor calculates, according to the anglec of rotation, the rotation step number that motor needs, and motor is according to this rotation
Step number rotates, thus repeats the rotational action of the pivoted arm of mechanical hand.Wherein repeat pattern is the mode of operation of mechanical hand.
As seen from the above embodiment, disclosure is a kind of has imitation and the mechanical hand of repeat function.This mechanical hand master
Including: angular transducer, processor and motor.Wherein, angular transducer is used for angular transducer, for when Non-follow control institute
Stating the pivoted arm of mechanical hand when rotating to predeterminated position, output pivoted arm rotates to angle signal corresponding to predeterminated position, and then processes
The pivoted arm that device calculated and recorded described mechanical hand according to this angle signal rotates to anglec of rotation during predeterminated position, in order to machinery
The motor of hands repeats the spinning movement of pivoted arm based on this anglec of rotation.Compared with prior art, machinery disclosed by the invention
Hands, after operator carries out the most correct manual operation, can perform this manual operation, in the process of implementation by automatic imitation
Can be adjusted based on operating mode, improve the work efficiency of mechanical hand.
See Fig. 2 and show a kind of mechanical hand with imitation and repeat function disclosed in another embodiment of the present invention
The schematic flow sheet of control method.
As shown in Figure 2, the method includes:
The pivoted arm of S201: mechanical hand described in Non-follow control rotates to predeterminated position.
Under the teaching pattern of mechanical hand, the pivoted arm of Non-follow control machinery hands rotates to predeterminated position.
S202: obtain the angle signal that the angular transducer on the pivoted arm of mechanical hand exports.
The application sets certain time interval, segmentation at a certain time interval can obtain and process data, and
Prevent the erroneous judgement that mechanical vibration cause.
S203: according to described angle signal calculate and record described mechanical hand pivoted arm rotate to described predeterminated position time
The anglec of rotation；
Specifically, sensor used in this application is potentiometer, exports the electricity that variable is 0-5V (3.6V) of single-chip microcomputer
Pressure changing value, exists and increases the relativity reduced, and then processor is when receiving sensor and sending voltage change, passes through
Map function geometric ratio is scaled angle value, and exports to the motor of performance element.
S204: repeat the rotational action of the pivoted arm of described mechanical hand based on the described anglec of rotation.
Concrete, processor calculates the rotation step number of the motor of described mechanical hand according to the described anglec of rotation.
And then, control the electric machine rotation of described mechanical hand according to described rotation step number, to perform the pivoted arm of described mechanical hand
Rotational action.
It should be noted that said apparatus embodiment is corresponding with embodiment of the method, it performs process and performs principle phase
With, therefore not to repeat here.
Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant meaning
Containing comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that
A little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article or
The key element that equipment is intrinsic.In the case of there is no more restriction, statement " including ... " key element limited, do not arrange
Except there is also other identical element in including the process of described key element, method, article or equipment.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (7)
1. one kind has imitation and the mechanical hand of repeat function, it is characterised in that including:
Angular transducer, for when the pivoted arm of mechanical hand described in Non-follow control rotates to predeterminated position, exporting described default position
Put the angle signal of correspondence；
The processor being connected with angular transducer, for calculating according to described angle signal and record the pivoted arm rotation of described mechanical hand
Go to anglec of rotation during described predeterminated position；
The motor being connected with described processor, repeats described machine for the described anglec of rotation exported based on described processor
The rotational action of the pivoted arm of tool hands.
Mechanical hand the most according to claim 1, it is characterised in that described processor is Arduino single-chip microcomputer.
Mechanical hand the most according to claim 1, it is characterised in that described angular transducer is carbon-film potentiometer or coiling electricity
Position device.
Mechanical hand the most according to claim 1, it is characterised in that described motor is 180 ° of steering wheels.
5. one kind has imitation and the method for controlling robot of repeat function, it is characterised in that including:
The pivoted arm of mechanical hand described in Non-follow control rotates to predeterminated position；
Obtaining the angle signal of angular transducer output, wherein, described sensor is positioned on the pivoted arm of described mechanical hand；
The pivoted arm calculating and recording described mechanical hand according to described angle signal rotates to anglec of rotation during described predeterminated position；
The rotational action of the pivoted arm of described mechanical hand is repeated based on the described anglec of rotation.
Method the most according to claim 5, it is characterised in that described calculate and record described machine according to described angle signal
The pivoted arm of tool hands rotates to anglec of rotation during described predeterminated position, including:
The pivoted arm using map function to calculate described mechanical hand rotates to anglec of rotation during described predeterminated position.
Method the most according to claim 5, it is characterised in that described based on the described anglec of rotation described mechanical hand of execution
The rotational action of pivoted arm, including:
The rotation step number of the motor of described mechanical hand is calculated according to the described anglec of rotation；
The electric machine rotation of described mechanical hand is controlled according to described rotation step number, dynamic to perform the rotation of the pivoted arm of described mechanical hand
Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610677788.9A CN106041938A (en) | 2016-08-16 | 2016-08-16 | Manipulator having imitating and repeating functions and control method of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610677788.9A CN106041938A (en) | 2016-08-16 | 2016-08-16 | Manipulator having imitating and repeating functions and control method of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106041938A true CN106041938A (en) | 2016-10-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610677788.9A Pending CN106041938A (en) | 2016-08-16 | 2016-08-16 | Manipulator having imitating and repeating functions and control method of manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643585A (en) * | 2022-05-20 | 2022-06-21 | 深圳市帝迈生物技术有限公司 | Mechanical arm position debugging method and device, equipment and storage medium |
Citations (6)
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| US6222338B1 (en) * | 1997-05-22 | 2001-04-24 | Eshed Robotec | Method and apparatus for the direct teaching of automatic machines |
| JP2008134903A (en) * | 2006-11-29 | 2008-06-12 | Yaskawa Electric Corp | Reproduction device for robot teaching |
| CN203460180U (en) * | 2013-08-12 | 2014-03-05 | 刘达 | Robot capable of directly dragging and teaching |
| CN104552299A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Robot off-line teaching device and compensation teaching method |
| CN104959983A (en) * | 2015-05-26 | 2015-10-07 | 南京阿福机器人有限公司 | Robot handheld demonstration method |
| CN205184777U (en) * | 2015-12-17 | 2016-04-27 | 佛山市新鹏机器人技术有限公司 | Connect in parallel and pull teaching machine people |
-
2016
- 2016-08-16 CN CN201610677788.9A patent/CN106041938A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6222338B1 (en) * | 1997-05-22 | 2001-04-24 | Eshed Robotec | Method and apparatus for the direct teaching of automatic machines |
| JP2008134903A (en) * | 2006-11-29 | 2008-06-12 | Yaskawa Electric Corp | Reproduction device for robot teaching |
| CN203460180U (en) * | 2013-08-12 | 2014-03-05 | 刘达 | Robot capable of directly dragging and teaching |
| CN104552299A (en) * | 2014-12-26 | 2015-04-29 | 佛山市新鹏机器人技术有限公司 | Robot off-line teaching device and compensation teaching method |
| CN104959983A (en) * | 2015-05-26 | 2015-10-07 | 南京阿福机器人有限公司 | Robot handheld demonstration method |
| CN205184777U (en) * | 2015-12-17 | 2016-04-27 | 佛山市新鹏机器人技术有限公司 | Connect in parallel and pull teaching machine people |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643585A (en) * | 2022-05-20 | 2022-06-21 | 深圳市帝迈生物技术有限公司 | Mechanical arm position debugging method and device, equipment and storage medium |
| CN114643585B (en) * | 2022-05-20 | 2022-09-30 | 深圳市帝迈生物技术有限公司 | Mechanical arm position debugging method and device, equipment and storage medium |
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| PB01 | Publication | ||
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Application publication date: 20161026 |