CN107717955A - A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method - Google Patents
A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method Download PDFInfo
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- CN107717955A CN107717955A CN201710908739.6A CN201710908739A CN107717955A CN 107717955 A CN107717955 A CN 107717955A CN 201710908739 A CN201710908739 A CN 201710908739A CN 107717955 A CN107717955 A CN 107717955A
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- 238000007689 inspection Methods 0.000 title claims abstract description 125
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The present invention relates to a kind of four-degree-of-freedom inspection mechanical arm and its control system, control method, the inspection mechanical arm is arranged on load center framework top；Including image collecting device, telescopic arm, the first cradle head, the second cradle head and linear drives arm, telescopic arm is horizontally disposed and its one end is rotatably connected on load center framework top by the first cradle head, and the other end of telescopic arm is rotatablely connected by the way that the second cradle head is vertical with the upper end of linear drives arm；Image collecting device is slidably connected on linear drives arm and moved up and down under the driving of linear drives arm.Four-degree-of-freedom inspection mechanical arm provided by the invention and its control system, control method, it will circumferentially rotate and combine with linear running, inspection space traversal can be realized without dead angle, and it is allowed to fast and accurately reach predeterminated position in its working range, and what can be stablized is maintained at target location, then the image collecting device carried by end is taken pictures or recorded a video.
Description
Technical field
The present invention relates to robot for space control field, and in particular to a kind of four-degree-of-freedom inspection mechanical arm and its control system
System, control method.
Background technology
With the fast development of China's aerospace industry, the demand of space manipulator is on the increase.According to installation site
Difference, space manipulator can be divided into in cabin mechanical arm and the out of my cabin class of mechanical arm two.Mechanical arm serves spacecraft mostly in cabin
The tasks such as crawl, maintenance and the replacing of internal equipment, working range and feature dimension are all smaller, and operation is flexible.It is mechanical out of my cabin
Arm is mainly used in the assembling, maintenance and fuel make up of spacecraft, and the work such as space exploration and Space Experiments, according to effect pair
As the difference with mission requirements, its configuration also has larger difference, number of degrees of freedom, from five, six to dozens of, brachium across
More several meters to more than ten meters.
Space manipulator is to be related to multiple subjects, the complication system of multiple technologies, in service behaviours such as its reliability, life-spans
The requirement more and more higher of aspect, according to experiment purpose difference, it is necessary to control accuracy also improve day by day.Space manipulator is in work
, it is necessary to which the plenty of time suppresses to vibrate during work, particularly under the conditions of space, no air damping, the disturbance of its structure is difficult
With control.Therefore, the problem of exact position in each joint of space manipulator and Torque Control are one challenging.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of four-degree-of-freedom inspection machinery
Arm and its control system, control method.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of four-degree-of-freedom inspection mechanical arm, installed in load
Lotus central frame top；Including image collecting device, telescopic arm, the first cradle head, the second cradle head and linear drives arm,
The telescopic arm is horizontally disposed and its one end is rotatably connected on the load center framework top by the first cradle head, described
The other end of telescopic arm is rotatablely connected by the way that the second cradle head is vertical with the upper end of the linear drives arm；Described image gathers
Device is slidably connected on the linear drives arm and moved up and down under the driving of the linear drives arm.
The beneficial effects of the invention are as follows：The cruise mechanical arm of the present invention, combines circumferentially rotating with linear running, can
To realize inspection space traversal without dead angle, and it is allowed to fast and accurately reach predeterminated position, and energy in its working range
Enough stable is maintained at target location, then the image collecting device carried by end is taken pictures or recorded a video.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, first cradle head includes the first motor, decelerator, transfer panel and record decelerator tip speed
With the first disk light beam encoder of position, first motor is fixedly mounted on the load center framework top, and described first
The motor shaft of motor is fixedly and coaxially connected with the decelerator, and coaxially fixation connects the output shaft of the decelerator with the transfer panel
Connect, first disk light beam encoder is fixed on the lower end of the transfer panel.
It is using the above-mentioned further beneficial effect of scheme：Transfer panel speed and position can be realized by disk light beam encoder
Feedback, the structure coordinated using motor and decelerator, can improve running accuracy and increase output torque.
Further, first cradle head also includes shell and pedestal, and the base level is set in first electricity
Above machine and the load center framework top is fixed on, the motor shaft of first motor passes above the pedestal；Institute
State shell to be cylindrical in shape and be coaxially set in outside the decelerator, the lower end of the shell is fixed on the pedestal, the shell
Upper end forms a step for being used to accommodate the transfer panel；The Circular gratings chi of first disk light beam encoder is fixed on described turn
The lower end of disk is connect, its grating reading head is fixed on the step.
It is using the above-mentioned further beneficial effect of scheme：By setting shell and pedestal, make the company of decelerator and motor
Connect even closer stabilization.
Further, first cradle head also includes clutch shaft bearing, and the outer ring of the clutch shaft bearing is coaxially fixed on institute
State on the inwall in shell, the inner ring of the clutch shaft bearing is coaxially fixed on the output shaft of the decelerator；The decelerator
Output shaft rotated coaxially and be connected with the shell by the clutch shaft bearing.
It is using the above-mentioned further beneficial effect of scheme：By setting clutch shaft bearing, decelerator output can be effectively improved
The stability of Axial and radial.
Further, the center of the transfer panel offers a through hole, and the inwall of the through hole extends inwardly to form an annular
Boss, adaptation is located in the through hole and is fixed on the annular boss by alignment pin the output shaft of the decelerator upwards
Lower surface on.
It is using the above-mentioned further beneficial effect of scheme：By opening up a through hole in switching disk center, and in through hole
Wall forms an annular boss, can effectively ensure that the concentricity of transfer panel and reducer output shaft.
Further, the decelerator is harmonic wave drive speed reducer.
Further, the telescopic arm includes drive section, mobile section and records the mobile section moves horizontally displacement first
Linear grating encoder, the drive section are fixed on the transfer panel, and the mobile section is coaxially set in the drive section
And can be moved linearly under the driving of the drive section, the one end of the mobile section away from the drive section rotates with described second
Joint outer wall is fixedly connected；Moving direction of the linear grating chi of the first straight line grating encoder along the mobile section is attached to
On the mobile section, its grating reading head is fixed in the drive section.
It is using the above-mentioned further beneficial effect of scheme：Telescopic arm by the way of drive section and mobile section are combined,
The rectilinear movement in horizontal direction can be achieved, and drive section and the length of mobile section can be adjusted as needed, any need can be met
The operating position to be reached.
Further, the drive section includes the second motor, the first leading screw and positioning housing, the output shaft of second motor
It is fixedly connected with one end of first leading screw, second motor is fixed on one end of the positioning housing；
The mobile section includes the first feed screw nut and sleeve, and first feed screw nut is threaded in described first
On thick stick, the one end of first feed screw nut away from second motor is fixedly connected with one end of the sleeve, the sleeve
It is set on first leading screw and positioned at the inner side of the positioning housing；
First leading screw is rotated by the second motor, and drives first feed screw nut to promote the sleeve
Moved linearly along the positioning housing.
It is using the above-mentioned further beneficial effect of scheme：The mode coordinated by using leading screw and feed screw nut is realized directly
The change of displacement of the lines, simple in construction, stroke is easily controlled.
Further, the one end of the positioning housing away from second motor is fixed with guide and limit part, the sleeve
Both ends are respectively fixed with a limited block, and the first straight line guide rail arranged along its length is fixed with the sleeve；It is described to lead
It is slidably connected to locating part on the first straight line guide rail.
It is using the above-mentioned further beneficial effect of scheme：By setting guide and limit part, limited block and first straight line
Guide rail, prevent sleeve from skidding off effective range on first straight line guide rail.
Further, dust cap is fixed with second motor, the dust cap is set in first leading screw close to institute
One section of upper and its inwall for stating the second motor passes through second bearing and first leading screw rotation connection.
It is using the above-mentioned further beneficial effect of scheme：By setting dust cap, and the second axle is set in dust cap
Hold, make the circumferential movement of the first leading screw more flexible and convenient.
Further, the one end of first leading screw away from second motor is arranged with ball, the roller bearing axle sleeve
Roll and connect with the inwall of the sleeve.
It is using the above-mentioned further beneficial effect of scheme：By being arranged rolling in the one end of the first leading screw away from the second motor
Pearl axle sleeve, ball coordinate with outer sleeve, the first leading screw end can both be played a supporting role, and can make first again
Thick stick is realized carries out rotation and the axially relative motion of two frees degree in sleeve.
Further, second cradle head include arrange vertically turbine, be meshed with the turbine external tooth worm screw,
Casing, the 3rd motor and record secondary speed and the second disk light beam encoder of position；The casing lateral wall is fixed on institute
State on the one end of telescopic arm away from first cradle head, the 3rd motor is fixed on the housing, the 3rd electricity
The motor shaft of machine is fixedly and coaxially connected with the worm screw, the turbine outer wall close to the position of lower end by axial loading bearing with
The casing inner wall rotation connection；The Circular gratings chi of second disk light beam encoder is coaxially fixed on the turbine the week side of boss outer wall
On, its grating reading head is fixed on the inwall of the casing；The lower end of the turbine and the upper end of the linear drives arm are consolidated
Fixed connection.
It is using the above-mentioned further beneficial effect of scheme：The mode combined by using turbine and worm carries out circumferential biography
Dynamic, structure is more flexible, and transmission is more convenient and reliable.
Further, the linear drives arm includes the 4th motor, shell, the second leading screw, the second feed screw nut, second straight line
Guide rail and the second straight line grating encoder for recording image collector seated position, the upper end of the shell and the turbine lower end
It is fixedly connected, the 4th motor is fixed on the upper end of the shell and in the turbine；The second straight line guide rail is consolidated
It is scheduled on the outer casing inner wall and arranges vertically, second leading screw is arranged vertically in the shell and its upper end and described the
The output shaft of four motors is fixedly and coaxially connected, and second feed screw nut is threaded on second leading screw and is slidably connected
On the second straight line guide rail；Described image harvester is fixed on the feed screw nut away from the second straight line guide rail
In one side wall.
It is using the above-mentioned further beneficial effect of scheme：The mode coordinated by using leading screw and feed screw nut is to image
Harvester carries out the transmission of vertical direction position, and type of drive is flexible, easily realizes.
Further, the through hole of up/down perforation is offered on the turbine, the 4th motor is located in the through hole and it
Output shaft stretches out from the lower end of the through hole and is fixedly connected with the upper end of second leading screw.
It is using the above-mentioned further beneficial effect of scheme：Turbine uses hollow design, makes the 4th electricity of linear drives arm
Machine can be connected directly through turbine with the second leading screw, save the second cradle head and linear drives arm institute to the full extent
The space of occupancy.
Further, a lid and a positioning block, second leading screw are respectively fixed with the inside of the shell upper and lower ends
Both ends pass through the inwall of two-way loading bearing and radial bearing and the lid respectively and the locating piece is rotatablely connected.
It is using the above-mentioned further beneficial effect of scheme：Divide by setting lid and locating piece, and by the both ends of leading screw
It is not connected to by two-way loading bearing and radial bearing on lid and locating piece, improves the radial positioning effect at leading screw both ends
Fruit.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of control system of four-degree-of-freedom inspection mechanical arm, for controlling the inspection mechanical arm in above-mentioned technical proposal,
The control system includes：Processing unit, converting unit, encoder interfaces unit, Hall interface unit, rotation become interface unit,
Current acquisition unit and electric-motor drive unit, wherein：
The encoder interfaces unit is connected with the inspection mechanical arm, and the position for gathering the inspection mechanical arm is believed
Breath；
The Hall interface unit and the rotation become motor of the interface unit respectively with the control inspection manipulator motion
Connection, for gathering the velocity information of the motor；
The current acquisition unit and the motor connection, for gathering the current information of the motor output；
The converting unit becomes interface list with the encoder interfaces unit, the Hall interface unit, the rotation respectively
It is first to be connected with the current acquisition unit, for carrying out lattice to the positional information, the velocity information and the current information
Formula is changed；
The processing unit is connected with host computer and the converting unit respectively, for being communicated with the host computer,
And the positional information, the velocity information and the current information after being changed according to form obtain being used to control the inspection
The controlled quentity controlled variable of manipulator motion；
The converting unit is also connected with the electric-motor drive unit, for being sent to after the controlled quentity controlled variable form is changed
The electric-motor drive unit；
The electric-motor drive unit and the motor connection, for described in the controlled quentity controlled variable control after being changed according to form
Motor, make the inspection manipulator motion.
The beneficial effects of the invention are as follows：A kind of control system of four-degree-of-freedom inspection mechanical arm provided by the invention, passes through
Encoder interfaces unit, Hall interface unit, rotation becomes interface unit and current acquisition unit distinguishes the position of acquisition control system
Information, velocity information and current information, and calculate the controlled quentity controlled variable for controlling the inspection manipulator motion accordingly, according to obtaining
Controlled quentity controlled variable controlled motor, make the inspection manipulator motion, it is possible to achieve the flexible control to inspection mechanical arm, response are real-time
And dynamic property is good, DC brushless motor and permagnetic synchronous motor, the scope of application compatible can be controlled wider.
This control system offers multiple interfaces unit, have integrated level is high, size is small, power density is high, control is flexible,
Rich interface, feature vdiverse in function and intelligentized, considerably improve power density, the integrated level of inspection mechanical arm driver
And reliability.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the control system also includes：At least one be connected between the processing unit and the host computer
Individual isolated serial port unit, for making the processing unit carry out serial communication with the host computer.
It is using the above-mentioned further beneficial effect of scheme：Serial communication is carried out by isolated serial port unit and host computer,
Can electromagnetism interference, improve the stability of system.And serial ports is carried out by least one isolated serial port unit and host computer
Communication, can be in time by other isolated serial port units with being gone here and there when isolated serial port unit breaks down with host computer
Port communications, it is possible to increase the stability of system.
Further, the control system also includes：The temperature collecting cell being connected with the processing unit, for gathering
The temperature information of control system is stated, and when the temperature information exceedes preset temperature, disconnects the power supply of the control system.
It is using the above-mentioned further beneficial effect of scheme：Believed by the temperature of temperature collecting cell acquisition control system
Breath, can when the temperature of control system is too high, in time disconnect control system power supply, improve control system security and can
By property.
Further, the control system also includes：The memory cell being connected with the processing unit, the rheme for storing
Confidence breath, the velocity information and the current information.
It is using the above-mentioned further beneficial effect of scheme：Pass through memory cell timing acquiring positional information, velocity information
With current information and store, can survey and authentic data be provided for Artificial Diagnosis and equipment self-inspection.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of control method of four-degree-of-freedom inspection mechanical arm, for controlling the inspection mechanical arm in above-mentioned technical proposal,
The control method includes：
Obtain the positional information of inspection mechanical arm, and the velocity information and electric current of the motor of the control inspection mechanical arm
Information；
Enter row format conversion to the positional information, the velocity information and the current information；
The positional information, the velocity information and the current information after being changed according to form, judge the motor
Whether stall or operation irregularity；
If so, then stop the motor operating；If it is not, pre-set control algorithm is then called, described in after being changed according to form
Positional information, the velocity information and the current information calculate the controlled quentity controlled variable for controlling the inspection manipulator motion；
Enter row format conversion to the controlled quentity controlled variable, the controlled quentity controlled variable after being changed according to form controls the motor, makes institute
State inspection manipulator motion.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the positional information for obtaining inspection mechanical arm, and the speed of the motor of the control inspection mechanical arm
Information and current information are spent, is specifically included：
Receive the control instruction that host computer is sent；
The positional information of inspection mechanical arm, and the motor of the control inspection mechanical arm are obtained according to the control instruction
Velocity information and current information.
Further, the positional information, the velocity information and the current information according to after processing calculates control
The controlled quentity controlled variable of the inspection manipulator motion is made, is specifically included：
Electric current loop calculating is carried out according to the current information after processing, obtains electric current loop result of calculation；
Speed ring calculating is carried out according to the velocity information after processing, obtains speed ring result of calculation；
Position ring calculating is carried out according to the positional information after processing, obtains position ring result of calculation；
Controlled according to the electric current loop result of calculation, the speed ring result of calculation and the position ring result of calculation
The controlled quentity controlled variable of the inspection manipulator motion.
Further, the control method also includes：The temperature value of the control system of inspection mechanical arm described in acquisition control, when
When the temperature value is more than preset temperature value, the power supply of the control system is disconnected.
Further, the control method also includes：The positional information, the speed are obtained every default time interval
Information and the current information simultaneously store.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the four-degree-of-freedom inspection mechanical arm of the present invention；
Fig. 2 is the sectional view of the first cradle head of the present invention；
Fig. 3 is the sectional view of the telescopic arm of the present invention；
Fig. 4 is the sectional view of the second cradle head of the present invention；
Fig. 5 is the dimensional structure diagram of the linear drives arm of the present invention；
Fig. 6 is the overlooking the structure diagram of the linear drives arm of the present invention；
Fig. 7 is Fig. 6 A-A diagrams；
Fig. 8 is the dimensional structure diagram of the first leading screw with ball of the present invention；
Fig. 9 is the structural framing figure of the control system of the four-degree-of-freedom inspection mechanical arm of the present invention；
Figure 10 is the structural representation of the control system of the four-degree-of-freedom inspection mechanical arm of the present invention；
Figure 11 is the schematic flow sheet of the control method of the four-degree-of-freedom inspection mechanical arm of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
100th, the first cradle head；101st, the first motor；102nd, decelerator；103rd, output shaft；104th, transfer panel；114th, lead to
Hole；124th, step；134th, annular boss；105th, the first disk light beam encoder；106th, shell；107th, pedestal；108th, clutch shaft bearing；
200th, telescopic arm；201st, the second motor；202nd, mobile section；203rd, drive section；204th, first straight line grating encoder；
205th, the first leading screw；206th, positioning housing；207th, the first feed screw nut；208th, sleeve；209th, guide and limit part；210th, it is spacing
Block；211st, first straight line guide rail；212nd, dust cap；213rd, second bearing；214th, ball；
300th, the second cradle head；301st, the 3rd motor；302nd, turbine；303rd, worm screw；304th, casing；305th, the second circle light
Grid encoder；306th, axial loading bearing；307th, locking mechanism；308th, through hole；
400th, linear drives arm；401st, the 4th motor；402nd, shell；403rd, the second leading screw；404th, the second feed screw nut；
405th, second straight line guide rail；406th, lid；407th, locating piece；408th, two-way loading bearing；409th, radial bearing；410th, second is straight
Line grating encoder；
500th, image collecting device；501st, pedestal；502nd, camera lens；503rd, CCD modules；504th, light source；505th, piezoelectric actuating
Device；
600th, control system；601st, processing unit；602nd, converting unit；603rd, encoder interfaces unit；604th, Hall connects
Mouth unit；605th, rotation becomes interface unit；606th, current acquisition unit；607th, electric-motor drive unit；608th, isolated serial port unit；
609th, temperature collecting cell；610th, memory cell.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As Figure 1-Figure 5, a kind of four-degree-of-freedom inspection mechanical arm of the present embodiment, installed in load center framework top
End；Including image collecting device 500, telescopic arm 200, the first cradle head 100, the second cradle head 300 and linear drives arm
400, the telescopic arm 200 is horizontally disposed and its one end is rotatably connected on the load center frame by the first cradle head 100
Frame top, the other end of the telescopic arm 200 are vertical with the upper end of the linear drives arm 400 by the second cradle head 300
Rotation connection；Described image harvester 500 is slidably connected on the linear drives arm 400 and in the linear drives arm
Moved up and down under 400 driving.The cruise mechanical arm of the present embodiment, combines circumferentially rotating, Ke Yishi with linear running
Existing inspection space traversal is allowed to fast and accurately reach predeterminated position in its working range without dead angle, and can be steady
Fixed is maintained at target location, then the image collecting device carried by end is taken pictures or recorded a video.
As shown in Fig. 2 first cradle head 100 of the present embodiment includes the first motor 101, decelerator 102, switching
Disk 104 and the first disk light beam encoder 105 of the record tip speed of decelerator 102 and position, first motor 101 fix peace
Mounted in the load center framework top, the motor shaft of first motor 101 is fixedly and coaxially connected with the decelerator 102,
The output shaft 103 of the decelerator 102 is fixedly and coaxially connected with the transfer panel 104, and first disk light beam encoder 105 is solid
It is scheduled on the lower end of the transfer panel 104.Transfer panel speed and position feedback can be realized by disk light beam encoder, using motor and
The structure that decelerator coordinates, can improve running accuracy and increase output torque.
As shown in Fig. 2 first cradle head 100 of the present embodiment also includes shell 106 and pedestal 107, the base
107 levels of seat are set in the top of the first motor 101 and are fixed on the load center framework top, first motor
101 motor shaft passes above the pedestal 107；The shell 106 is cylindrical in shape and is coaxially set in the decelerator 102
Outside, the lower end of the shell 106 is fixed on the pedestal 107, and the upper end of shell 106 forms one and is used to accommodate the switching
The step 124 of disk 104；The Circular gratings chi of first disk light beam encoder 105 is fixed on the lower end of the transfer panel 104, its
Grating reading head is fixed on the step 124.By setting shell and pedestal, make the connection of decelerator and motor even closer
It is stable.
As shown in Fig. 2 first cradle head 100 of the present embodiment also includes clutch shaft bearing 108, the clutch shaft bearing
108 outer ring is coaxially fixed on the inwall in the shell 106, and the inner ring of the clutch shaft bearing 108 is coaxially fixed on described
On the output shaft 103 of decelerator 102；The output shaft 103 of the decelerator 102 passes through the clutch shaft bearing 108 and the shell
106 rotate coaxially connection.By setting clutch shaft bearing, the stability of reducer output shaft radial direction can be effectively improved.
As shown in Fig. 2 the center of the transfer panel 104 of the present embodiment offers a through hole 114, the through hole 114
Inwall extends inwardly to form an annular boss 134, and adaptation is located in the through hole to the output shaft 103 of the decelerator 102 upwards
It is fixed in 114 and by alignment pin on the lower surface of the annular boss 134.By opening up a through hole in switching disk center,
And an annular boss is formed in through-hole wall, it can effectively ensure that the concentricity of transfer panel and reducer output shaft.
Specifically, the decelerator 102 of the present embodiment is harmonic wave drive speed reducer, first motor 101 of the present embodiment
For DC brushless motor, the motor shaft of DC brushless motor and the key connection of decelerator 102, power transmission precision are higher.Separately
Outside, the clutch shaft bearing 108 of the present embodiment uses double-row angular contact bal bearing, i.e. the output shaft 103 of decelerator 102 passes through biserial angle
Contact ball bearing is rotatablely connected with shell 106, can effectively improve the stability of reducer output shaft diametrically.
As shown in figure 3, the telescopic arm 200 of the present embodiment includes drive section 203, mobile section 202 and records the shifting
Dynamic section 202 moves horizontally the first straight line grating encoder 204 of displacement, and the drive section 203 is fixed on the transfer panel 104
On, the mobile section 202 is coaxially set in the drive section 203 and can moved linearly under the driving of the drive section 203,
The one end of the mobile section 202 away from the drive section 203 is fixedly connected with the outer wall of the second cradle head 300；Described
Moving direction of the linear grating chi of one linear grating encoder 204 along the mobile section 202 is attached on the mobile section 202,
Its grating reading head is fixed in the drive section 203.Telescopic arm can be achieved by the way of drive section and mobile section are combined
Rectilinear movement in horizontal direction, and drive section and the length of mobile section can be adjusted as needed, any required arrival can be met
Operating position.
As shown in figure 3, the drive section 203 of the present embodiment includes the second motor 201, the first leading screw 205 and positioning shell
Body 206, the output shaft of second motor 201 are fixedly connected with one end of first leading screw 205, second motor 201
It is fixed on one end of the positioning housing 206；The mobile section 202 includes the first feed screw nut 207 and sleeve 208, and described
One feed screw nut 207 is threaded on first leading screw 205, and first feed screw nut 207 is away from second motor
201 one end is fixedly connected with one end of the sleeve 208, and the sleeve 208 is set on first leading screw 205 and is located at
The inner side of the positioning housing 206；First leading screw 205 is rotated by the second motor 201, and drives described first
Feed screw nut 207 promotes the sleeve 208 to be moved linearly along the positioning housing 206.Match somebody with somebody by using leading screw and feed screw nut
The mode of conjunction realizes the change of straight-line displacement, and simple in construction, stroke is easily controlled.
As shown in figure 3, the one end of the positioning housing 206 of the present embodiment away from second motor 201 is fixed with and led
To locating part 209, the both ends of the sleeve 208 are respectively fixed with a limited block 210, are fixed with the sleeve 208 along its length
Spend the first straight line guide rail 211 of direction arrangement；The guide and limit part 209 is slidably connected on the first straight line guide rail 211.
By setting guide and limit part, limited block and first straight line guide rail, prevent sleeve from skidding off effective model on first straight line guide rail
Enclose.
As shown in figure 3, dust cap 212 is fixed with second motor 201 of the present embodiment, 212 sets of the dust cap
It is located at first leading screw 205 and passes through second bearing 213 and described the close to one section of second motor 201 upper and its inwall
One leading screw 205 is rotatablely connected.By setting dust cap, and second bearing is set in dust cap, makes the circumferential fortune of the first leading screw
It is dynamic more flexible and convenient.
As shown in figures 3 and 8, the one end of first leading screw 205 of the present embodiment away from second motor 201 is arranged
There is ball 214, the inwall of the roller bearing axle sleeve 214 and the sleeve 208 rolls connection.By in the first leading screw away from
One end of two motors is arranged ball, and ball coordinates with outer sleeve, both can play support to the first leading screw end
Effect, the first leading screw can again realized rotation and the axially relative motion of two frees degree are carried out in sleeve.
Wherein, described one end of first leading screw 205 is connected by the motor shaft of key and the second motor 201, second bearing 213
For angular contact ball bearing；Protected in the first leading screw 205 close to one end of the second motor 201 by two back-to-back angular contact ball bearings
Card is concentric.The linear grating chi of the first straight line grating encoder 204 is attached to the lower section of sleeve, and its grating reading head is arranged on
In guide and limit part 209.
As shown in figure 4, second cradle head 300 of the present embodiment includes the turbine 302 arranged vertically and the whirlpool
Take turns the second circle of worm screw 303, casing 304, the 3rd motor 301 and the record rotating speed of turbine 302 that 302 external tooths are meshed and position
Grating encoder 305；The lateral wall of casing 304 is fixed on one of the telescopic arm 200 away from first cradle head 100
On end, the 3rd motor 301 is fixed on the casing 304, motor shaft and the worm screw 303 of the 3rd motor 301
It is fixedly and coaxially connected, the outer wall of turbine 302 passes through in axial loading bearing 306 and the casing 304 close to the position of lower end
Wall is rotatablely connected；The Circular gratings chi of second disk light beam encoder 305 is coaxially fixed on the week side of boss outer wall of turbine 302,
Its grating reading head is fixed on the inwall of the casing 304；The lower end of the turbine 302 and the linear drives arm 400
Upper end is fixedly connected.The mode combined by using turbine and worm carries out circumferential transmission, and structure is more flexible, and transmission is more convenient
Reliably.
As shown in figure 5 and figure 7, the linear drives arm 400 of the present embodiment includes the 4th motor 401, shell 402, the
Two leading screws 403, the second feed screw nut 404, second straight line guide rail 405 and the second straight line light for recording image collector seated position
Grid encoder 410, the upper end of the shell 402 are fixedly connected with the lower end of turbine 302, and the 4th motor 401 is fixed on
The upper end of the shell 402 is simultaneously located in the turbine 302；The second straight line guide rail 405 is fixed on the inwall of shell 402
Arrange above and vertically, second leading screw 403 is arranged vertically in the shell 402 and its upper end and the 4th motor 401
Motor shaft be fixedly and coaxially connected, second feed screw nut 404 is threaded on second leading screw 403 and is slidably connected
On the second straight line guide rail 405；Described image harvester 500 is fixed on second feed screw nut 404 away from described
In one side wall of second straight line guide rail 405.The mode coordinated by using leading screw and feed screw nut is carried out to image collecting device
The transmission of vertical direction position, type of drive is flexible, easily realizes.
As shown in Fig. 4, Fig. 6 and Fig. 7, the through hole 308 of up/down perforation is offered on the turbine of the present embodiment, described
Four motors 401 are located in the through hole 308 and its output shaft stretches out from the lower end of the through hole 308 and with second leading screw
403 upper end is fixedly connected.Because the central axis of turbine is also to arrange vertically, thus the through hole on turbine actually with whirlpool
Wheel is coaxial to be laid, and turbine uses hollow design, allows the 4th motor of linear drives arm directly through turbine and the second leading screw
It is connected, saves the second cradle head and the space shared by linear drives arm to the full extent.
As shown in figure 5, a lid 406 and one is respectively fixed with the inside of the upper and lower ends of the shell 402 of the present embodiment
Locating piece 407, the both ends of second leading screw 403 pass through two-way loading bearing 408 and radial bearing 409 and the lid respectively
406 inwall and the locating piece 407 are rotatablely connected.Pass through respectively by setting lid and locating piece, and by the both ends of leading screw
Two-way loading bearing and radial bearing are connected on lid and locating piece, improve the radial positioning effect at leading screw both ends.
As shown in figure 5, the image collecting device 500 of the present embodiment includes pedestal 501, camera lens 502, CCD modules 503, light
Source 504 and piezoelectric actuator 505, the pedestal 501 are fixed on second feed screw nut 404, and the CCD modules 503 are pacified
Mounted in the side of the pedestal 501, the camera lens 502 is arranged on the opposite side of the pedestal 501, the light source 504 and described
Piezoelectric actuator 505 is arranged on the camera lens 502.
The four-degree-of-freedom inspection mechanical arm of the present embodiment, can be with by way of it will circumferentially rotate and move along a straight line and combine
Realize loading device in ground or space application inspection observation, the mechanical arm inspection space is arbitrarily reachable, it is simple in construction but
Control accuracy is high.
As shown in figure 9, the structural framing figure of the control system 600 for the four-degree-of-freedom inspection mechanical arm of the present invention, the control
System 600 processed is used to control the inspection mechanical arm in above-mentioned technical proposal, and control system 600 includes：Processing unit 601, conversion
Unit 602, encoder interfaces unit 603, Hall interface unit 604, rotation become interface unit 605, current acquisition unit 606 and electricity
Machine driver element 607, processing unit 601 can use DSP (Digital Signal Process, Digital Signal Processing) core
Piece, it is mainly used in being communicated with host computer, and all kinds of feedback informations sent to converting unit 602 are handled, to inspection
Mechanical arm is controlled, and converting unit 602 can use FPGA, and (Field-Programmable Gate Array, scene can
Program gate array) chip, it is possible to achieve encoder interfaces unit 603, rotation become interface unit 605, the association of Hall interface unit 604
View conversion, by the set form protocol conversion of sensor output into useful positional information, velocity information and current information, send
Computing is controlled to dsp chip, while the motor control amount that dsp chip sends over is converted into PWM information, and is driven
Dynamic control.
Each unit is described in detail below.
Encoder interfaces unit 603 is connected with inspection mechanical arm, for gathering the positional information of inspection mechanical arm.For example,
Each cradle head of inspection mechanical arm, telescopic arm, the isostructural positional information of actuating arm can be acquired, can be by patrolling
Image collecting device on mechanical arm etc. is examined to determine the positional information of inspection mechanical arm structure and collection.
Positional information can include the angle information in each joint and the positional information of each arm of inspection mechanical arm, these information
The controlling value computing of participant position ring.
Hall interface unit 604 and rotation become motor connection of the interface unit 605 respectively with control inspection manipulator motion, use
In the velocity information of collection motor, the velocity information of motor participates in the control computing of speed ring, wherein, Hall interface unit 604
It is the interface of auxiliary, the security of system can be improved.
Current acquisition unit 606 and motor connection, for gathering the current information of motor output, current information participates in electric current
The control computing of ring, electric current loop use control exciting current for zero vector control mode.
That is, a kind of control system 600 that this implementation provides, by using position, speed, the closed loop series of electric current three
Control structure, three closed loops use traditional PID control method, and the control parameter of three rings can be with separately adjustable, three close-loop control
Frequency is successively decreased from the inside to the outside, is specifically described below.
Innermost ring of the electric current loop as system, the tracking to exciting current and torque current is realized, and it is anti-electronic to motor
Inhibitory action is played in the interference such as gesture effect, busbar voltage fluctuation.The expectation of excitation current component is always zero, torque current component
Expectation input given by the output of speed ring.Current feedback is acquired by current sensor.By current sample speed, inverse
Become the restriction of device switching frequency and controller calculating speed, the current loop control frequency designed in the system is 10kHz.
Speed ring is the middle ring of system, realizes the quick tracking to speed, and suppresses load change and disturbing moment pair
The influence of control system 600.The desired value of speed is given by the output of position ring, and value of feedback then passes through the rotation on motor
It is calculated after turning encoder decoding.The frequency of speed ring is limited by motor response speed and tachometric survey precision, this
It is 1kHz that the speed ring designed in system, which controls frequency,.
Position ring is the most outer shroud of system, realizes the accurate control to position.The expectation of position is directly inputted by master control, instead
Feedback is drawn by the position coder detection of end.The frequency that controls of position ring is 1kHz.
Converting unit 602 respectively with encoder interfaces unit 603, Hall interface unit 604, rotation become interface unit 605 and
Current acquisition unit 606 connects, for entering row format conversion to positional information, velocity information and current information.
Processing unit 601 is connected with host computer and converting unit 602 respectively, for being communicated with host computer, and according to
Positional information, velocity information and current information after form conversion obtain the controlled quentity controlled variable for controlling inspection manipulator motion.Place
Reason unit 601 is after the positional information after receiving form conversion, velocity information and current information, first to each position information, speed
Degree information and current information are modified and standardized, and then carry out the processing of next step again.
It should be noted that prestoring control algolithm in processing unit 601, control algolithm is in the outside of processing unit 601
Completed in interrupt service routine, external interrupt is produced by converting unit 602, after external interrupt produces, is sent by converting unit 602
To processing unit 601, processing unit 601, to after external interrupt, it is treated to read converting unit 602 by bus first after section
Positional information, velocity information and current information, and be modified and standardization, then believed according to positional information, speed
Breath and current information judge motor whether stall or operation irregularity, if motor rotation blockage or operation irregularity, stop motor operate；
If it is not, continuing the control calculating of position ring, speed ring, controlled quentity controlled variable is obtained, then interrupt and exit.
Processing unit 601 also has the functions such as status monitoring, fault self-checking.
Converting unit 602 is also connected with electric-motor drive unit 607, single for being sent to motor driving after controlled quentity controlled variable is handled
Member 607.
For example, controlled quentity controlled variable can be converted to PWM information.
Electric-motor drive unit 607 and motor connection, for according to controlled quentity controlled variable controlled motor, making inspection manipulator motion.
It should be noted that the controlled quentity controlled variable that electric-motor drive unit 607 receives is the control after the conversion of converting unit 602
Amount, for example, can be PWM information, then according to PWM information-driven motors, it is possible to realize each joint to inspection mechanical arm
With controlling for arm.
A kind of control system 600 for four-degree-of-freedom inspection mechanical arm that the present embodiment provides, passes through encoder interfaces unit
603rd, Hall interface unit 604, rotation change interface unit 605 and current acquisition unit 606 distinguish the position of acquisition control system 600
Information, velocity information and current information, and the controlled quentity controlled variable for controlling inspection manipulator motion is calculated accordingly, according to obtained control
Quality management motor, make inspection manipulator motion, it is possible to achieve the flexible control to inspection mechanical arm, respond real-time and dynamic
Can be good, DC brushless motor and permagnetic synchronous motor, the scope of application compatible can be controlled wider.
The control system 600 provides multiple interfaces unit, has integrated level height, size is small, power density is high, control is clever
Work, rich interface, feature vdiverse in function and intelligentized, considerably improve power density, the collection of inspection mechanical arm driver
Cheng Du and reliability.
As shown in Figure 10, for the present invention four-degree-of-freedom inspection mechanical arm control system 600 structural representation, the control
System 600 processed is used to control the inspection mechanical arm in above-mentioned technical proposal, including：Processing unit 601, converting unit 602, coding
Device interface unit 603, Hall interface unit 604, rotation become interface unit 605, current acquisition unit 606, electric-motor drive unit
607th, isolated serial port unit 608, temperature collecting cell 609 and memory cell 610, are specifically described below.
Encoder interfaces unit 603 is connected with inspection mechanical arm, for gathering the positional information of inspection mechanical arm.
Hall interface unit 604 and rotation become motor connection of the interface unit 605 respectively with control inspection manipulator motion, use
In the velocity information of collection motor.
Current acquisition unit 606 and motor connection, for gathering the current information of motor output.
Converting unit 602 respectively with encoder interfaces unit 603, Hall interface unit 604, rotation become interface unit 605 and
Current acquisition unit 606 connects, for entering row format conversion to positional information, velocity information and current information.
Processing unit 601 is connected with host computer and converting unit 602 respectively, for being communicated with host computer, and according to
Positional information, velocity information and current information after form conversion obtain the controlled quentity controlled variable for controlling inspection manipulator motion.
Converting unit 602 is also connected with electric-motor drive unit 607, is driven for being sent to motor after controlled quentity controlled variable form is changed
Moving cell 607.
Electric-motor drive unit 607 and motor connection, for the controlled quentity controlled variable controlled motor after being changed according to form, make survey monitor
Tool arm moves.
Isolated serial port unit 608 is connected between processing unit 601 and host computer, and isolated serial port unit 608 is at least one
It is individual, for making processing unit 601 carry out serial communication with host computer.Serial ports is carried out by isolated serial port unit 608 and host computer
Communication, can electromagnetism interference, improve the stability of system.
For example, isolated serial port unit 608 can be 2, in actual use, can there was only 1 isolated serial port list
Member 608 work, another is used as backup, by least one isolated serial port unit 608 and host computer progress serial communication, every
When being broken down from serial port unit 608, it can be led in time by other isolated serial port units 608 with carrying out serial ports with host computer
Letter, it is possible to increase the stability of system.
Temperature collecting cell 609 is connected with processing unit 601, for the temperature information of acquisition control system 600, and temperature
When information exceedes preset temperature, the power supply of control system 600 is disconnected.
For example, can be in control system 600, the temperature of the circuit board where processing unit 601 and converting unit 602 be entered
Row monitoring., can be in the temperature mistake of control system 600 by the temperature information of the acquisition control system 600 of temperature collecting cell 609
Gao Shi, the power supply of control system 600 is disconnected in time, improve the safety and reliability of control system 600.
Memory cell 610 is connected with processing unit 601, for storage location information, velocity information, current information and temperature
Information.By the timing acquiring positional information of memory cell 610, velocity information, current information and temperature information and store, Ke Yiwei
Artificial Diagnosis and equipment self-inspection, which are surveyed, provides authentic data.
Preferably, control system 600 can also include power conversion unit 611, for by the voltage conversion of power input
For other unit required voltages, there is provided power supply is supported.
A kind of control system 600 for four-degree-of-freedom inspection mechanical arm that the present embodiment provides, passes through encoder interfaces unit
603rd, Hall interface unit 604, rotation change interface unit 605 and current acquisition unit 606 distinguish the position of acquisition control system 600
Information, velocity information and current information, and the controlled quentity controlled variable for controlling inspection manipulator motion is calculated accordingly, according to obtained control
Quality management motor, make inspection manipulator motion, it is possible to achieve the flexible control to inspection mechanical arm, respond real-time and dynamic
Can be good, DC brushless motor and permagnetic synchronous motor, the scope of application compatible can be controlled wider.
Communicated by isolated serial port with host computer, the safety and stability of communication can be improved.And pass through temperature
Degree collecting unit 609 is monitored to the temperature of control system 600, can be disconnected in time when the temperature of control system 600 is too high
The power supply of control system 600 is opened, improves the safety and reliability of control system 600.And stored by memory cell 610 all kinds of
Information, can be in order to being subsequently monitored to the working condition of control system 600.
The control system 600 provides multiple interfaces unit, has integrated level height, size is small, power density is high, control is clever
Work, rich interface, feature vdiverse in function and intelligentized, considerably improve power density, the collection of inspection mechanical arm driver
Cheng Du and reliability.
As shown in figure 11, for the present invention four-degree-of-freedom inspection mechanical arm control method schematic flow sheet, this method
Comprise the following steps：
S1, the positional information of inspection mechanical arm is obtained by being arranged on sensor of the inspection mechanical arm respectively in shutdown and arm,
And the speed for becoming the motor of interface unit and current acquisition unit acquisition control inspection mechanical arm by Hall interface unit, rotation is believed
Breath and current information.
S2, used converting unit enter row format conversion to positional information, velocity information and current information, realize that agreement turns
Change, each sensor and Hall interface unit, rotation are become to the set form protocol conversion of interface unit and the output of current acquisition unit
Into the available positional information of processing unit, velocity information and current information.
S3, the positional information, velocity information and current information that receive are modified processing unit and standardization,
And according to the positional information after processing, velocity information and current information, judge motor whether stall or operation irregularity, if so, then
Stop motor operating, if it is not, then performing next step.
S4, pre-set control algorithm is called, the positional information, velocity information and current information after being changed according to form, which calculate, to be used
In the controlled quentity controlled variable of control inspection manipulator motion.
S5, converting unit enter row format conversion to controlled quentity controlled variable, the available signal of motor are converted into, for example, can turn
Pwm signal is changed to, the controlled quentity controlled variable controlled motor after being changed according to form, control is driven, makes inspection manipulator motion.
Preferably, before step S1, can also comprise the following steps：
Receive the control instruction that host computer is sent.
The positional information of inspection mechanical arm, and the speed letter of the motor of control inspection mechanical arm are obtained according to control instruction
Breath and current information.
Preferably, in step S3, control survey monitor is calculated according to the positional information after processing, velocity information and current information
The controlled quentity controlled variable of tool arm motion, specifically includes following steps：
Electric current loop calculating is carried out according to the current information after processing, obtains electric current loop result of calculation.
Speed ring calculating is carried out according to the velocity information after processing, obtains speed ring result of calculation.
Position ring calculating is carried out according to the positional information after processing, obtains position ring result of calculation.
Obtained controlling inspection mechanical arm fortune according to electric current loop result of calculation, speed ring result of calculation and position ring result of calculation
Dynamic controlled quentity controlled variable.
It should be noted that electric current loop, which uses, controls exciting current as zero vector control mode, three closed loops use biography
The PID control method of system, the control parameter of three rings can be with separately adjustable, and three close-loop control frequency is successively decreased from the inside to the outside.
Preferably, can also comprise the following steps：
The temperature value of the control system of acquisition control inspection mechanical arm, when temperature value is more than preset temperature value, disconnect control
The power supply of system processed.Preset temperature value can be set according to the actual requirements.
Preferably, can also comprise the following steps：
Positional information, velocity information and current information are obtained every default time interval and is stored, and can periodically be led to
Cross isolated serial port unit and be sent to host computer, to be monitored to the working condition of control system.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (24)
- A kind of 1. four-degree-of-freedom inspection mechanical arm, installed in load center framework top；It is characterised in that it includes image collector Put, telescopic arm, the first cradle head, the second cradle head and linear drives arm, the telescopic arm is horizontally disposed and its one end is led to Cross the first cradle head and be rotatably connected on the load center framework top, the other end of the telescopic arm rotates by second to close Section is vertical with the upper end of the linear drives arm to be rotatablely connected；Described image harvester is slidably connected at the linear drives arm Move up and down above and under the driving of the linear drives arm.
- 2. a kind of four-degree-of-freedom inspection mechanical arm according to claim 1, it is characterised in that first cradle head includes First motor, decelerator, transfer panel and the first disk light beam encoder of record decelerator tip speed and position, first electricity Machine is fixedly mounted on the load center framework top, and the motor shaft and the decelerator of first motor are coaxially fixed to be connected Connect, the output shaft of the decelerator is fixedly and coaxially connected with the transfer panel, and first disk light beam encoder is fixed on described The lower end of transfer panel.
- 3. a kind of four-degree-of-freedom inspection mechanical arm according to claim 2, it is characterised in that first cradle head is also wrapped Shell and pedestal are included, the base level is set in above first motor and is fixed on the load center framework top, The motor shaft of first motor passes above the pedestal；The shell is cylindrical in shape and is coaxially set in the decelerator Outside, the lower end of the shell is fixed on the pedestal, and the shell upper end forms a step for being used to accommodate the transfer panel； The Circular gratings chi of first disk light beam encoder is fixed on the lower end of the transfer panel, and its grating reading head is fixed on described On rank.
- 4. a kind of four-degree-of-freedom inspection mechanical arm according to claim 3, it is characterised in that first cradle head is also wrapped Clutch shaft bearing is included, the outer ring of the clutch shaft bearing is coaxially fixed on the inwall in the shell, the inner ring of the clutch shaft bearing Coaxially it is fixed on the output shaft of the decelerator；The output shaft of the decelerator is same by the clutch shaft bearing and the shell Axle is rotatablely connected.
- 5. according to a kind of any one of claim 2 to 4 four-degree-of-freedom inspection mechanical arm, it is characterised in that the transfer panel Center offer a through hole, the inwall of the through hole extends inwardly to form an annular boss, the output axial direction of the decelerator Upper adaptation is located in the through hole and is fixed on by alignment pin on the lower surface of the annular boss.
- 6. according to a kind of any one of Claims 1-4 four-degree-of-freedom inspection mechanical arm, it is characterised in that the decelerator For harmonic wave drive speed reducer.
- 7. according to a kind of any one of claim 2 to 4 four-degree-of-freedom inspection mechanical arm, it is characterised in that the telescopic arm Including drive section, mobile section and record the first straight line grating encoder that the mobile section moves horizontally displacement, the drive section It is fixed on the transfer panel, the mobile section is coaxially set in the drive section and can be straight under the driving of the drive section Line is moved, and the one end of the mobile section away from the drive section is fixedly connected with the second cradle head outer wall；Described first Moving direction of the linear grating chi of linear grating encoder along the mobile section is attached on the mobile section, its grating reading head It is fixed in the drive section.
- 8. a kind of four-degree-of-freedom inspection mechanical arm according to claim 7, it is characterised in that the drive section includes the second electricity Machine, the first leading screw and positioning housing, the output shaft of second motor are fixedly connected with one end of first leading screw, and described Two motors are fixed on one end of the positioning housing；The mobile section includes the first feed screw nut and sleeve, and first feed screw nut is threaded in first leading screw On, the one end of first feed screw nut away from second motor is fixedly connected with one end of the sleeve, the set jacket casing It is located on first leading screw and positioned at the inner side of the positioning housing；First leading screw is rotated by the second motor, and drives first feed screw nut to promote the sleeve along institute State positioning housing rectilinear movement.
- 9. a kind of four-degree-of-freedom inspection mechanical arm according to claim 8, it is characterised in that the positioning housing is away from described One end of second motor is fixed with guide and limit part, and the both ends of the sleeve are respectively fixed with a limited block, consolidated on the sleeve Surely there is the first straight line guide rail arranged along its length；The guide and limit part is slidably connected at the first straight line guide rail On.
- 10. a kind of four-degree-of-freedom inspection mechanical arm according to claim 8 or claim 9, it is characterised in that solid on second motor Surely there is a dust cap, the dust cap is set in one section of upper and its inwall of first leading screw close to second motor by the Two bearings are rotatablely connected with first leading screw.
- 11. a kind of four-degree-of-freedom inspection mechanical arm according to claim 8 or claim 9, it is characterised in that first leading screw is remote One end of second motor is arranged with ball, and the inwall of the roller bearing axle sleeve and the sleeve rolls connection.
- 12. according to any one of Claims 1-4,8 to 9 a kind of four-degree-of-freedom inspection mechanical arm, it is characterised in that described Second cradle head includes the turbine arranged vertically, the worm screw, casing, the 3rd motor and the note that are meshed with the turbine external tooth Record secondary speed and the second disk light beam encoder of position；The casing lateral wall is fixed on the telescopic arm away from described first On one end of cradle head, the 3rd motor is fixed on the housing, motor shaft and the worm screw of the 3rd motor It is fixedly and coaxially connected, the turbine outer wall is rotated close to the position of lower end by axial loading bearing and the casing inner wall to be connected Connect；The Circular gratings chi of second disk light beam encoder is coaxially fixed on the turbine the week side of boss outer wall, and its grating reading head is consolidated It is scheduled on the inwall of the casing；The lower end of the turbine is fixedly connected with the upper end of the linear drives arm.
- 13. a kind of four-degree-of-freedom inspection mechanical arm according to claim 12, it is characterised in that the linear drives arm includes 4th motor, shell, the second leading screw, the second feed screw nut, the of second straight line guide rail and record image collector seated position Two linear grating encoders, the upper end of the shell are fixedly connected with the turbine lower end, and the 4th motor is fixed on described The upper end of shell；The second straight line guide rail is fixed on the outer casing inner wall and arranged vertically, the vertical cloth of the second leading screw Put in the shell and its upper end and the output shaft of the 4th motor are fixedly and coaxially connected, the second feed screw nut screw thread It is connected on second leading screw and is slidably connected on the second straight line guide rail；Described image harvester is fixed on described In a side wall of the feed screw nut away from the second straight line guide rail.
- 14. a kind of four-degree-of-freedom inspection mechanical arm according to claim 13, it is characterised in that offered on the turbine The through hole of lower insertion, the 4th motor is located in the through hole and its output shaft stretches out from the lower end of the through hole and with it is described The upper end of second leading screw is fixedly connected.
- 15. a kind of four-degree-of-freedom inspection mechanical arm according to claim 13, it is characterised in that characterized in that, described outer A lid and a positioning block are respectively fixed with the inside of shell upper and lower ends, the both ends of second leading screw pass through two-way carrying respectively Bearing and radial bearing are rotatablely connected with the inwall of the lid and the locating piece.
- 16. a kind of control system of four-degree-of-freedom inspection mechanical arm, it is characterised in that for controlling as in claim 1 to 15 Inspection mechanical arm described in any one, the control system include：Processing unit, converting unit, encoder interfaces unit, Hall Interface unit, rotation become interface unit, current acquisition unit and electric-motor drive unit, wherein：The encoder interfaces unit is connected with the inspection mechanical arm, for gathering the positional information of the inspection mechanical arm；The Hall interface unit and the rotation become motor connection of the interface unit respectively with the control inspection manipulator motion, For gathering the velocity information of the motor；The current acquisition unit and the motor connection, for gathering the current information of the motor output；The converting unit respectively with the encoder interfaces unit, the Hall interface unit, it is described rotation become interface unit and The current acquisition unit connection, turns for entering row format to the positional information, the velocity information and the current information Change；The processing unit is connected with host computer and the converting unit respectively, for being communicated with the host computer, and root The positional information, the velocity information and the current information after being changed according to form obtain being used to control the inspection machinery The controlled quentity controlled variable of arm motion；The converting unit is also connected with the electric-motor drive unit, described for being sent to after the controlled quentity controlled variable form is changed Electric-motor drive unit；The electric-motor drive unit and the motor connection, the electricity is controlled for the controlled quentity controlled variable after being changed according to form Machine, make the inspection manipulator motion.
- 17. a kind of control system of four-degree-of-freedom inspection mechanical arm according to claim 16, it is characterised in that also include： At least one isolated serial port unit being connected between the processing unit and the host computer, for make the processing unit with The host computer carries out serial communication.
- 18. a kind of control system of four-degree-of-freedom inspection mechanical arm according to claim 16, it is characterised in that also include： The temperature collecting cell being connected with the processing unit, for gathering the temperature information of the control system, and the temperature is believed When breath exceedes preset temperature, the power supply of the control system is disconnected.
- 19. according to a kind of claim 16 to 18 control system of four-degree-of-freedom inspection mechanical arm, it is characterised in that also wrap Include：The memory cell being connected with the processing unit, for storing the positional information, the velocity information and electric current letter Breath.
- 20. a kind of control method of four-degree-of-freedom inspection mechanical arm, it is characterised in that for controlling as in claim 1 to 15 Inspection mechanical arm described in any one, including：Obtain the positional information of inspection mechanical arm, and the velocity information of the motor of the control inspection mechanical arm and electric current letter Breath；Enter row format conversion to the positional information, the velocity information and the current information；Whether the positional information, the velocity information and the current information after being changed according to form, judge the motor Stall or operation irregularity；If so, then stop the motor operating；If it is not, pre-set control algorithm is then called, the position after being changed according to form Information, the velocity information and the current information calculate the controlled quentity controlled variable for controlling the inspection manipulator motion；Enter row format conversion to the controlled quentity controlled variable, the controlled quentity controlled variable after being changed according to form controls the motor, makes described patrol Examine manipulator motion.
- A kind of 21. control method of four-degree-of-freedom inspection mechanical arm according to claim 20, it is characterised in that the acquisition The positional information of inspection mechanical arm, and the velocity information and current information of the motor of the control inspection mechanical arm, specific bag Include：Receive the control instruction that host computer is sent；The positional information of inspection mechanical arm, and the speed of the motor of the control inspection mechanical arm are obtained according to the control instruction Spend information and current information.
- A kind of 22. control method of four-degree-of-freedom inspection mechanical arm according to claim 21, it is characterised in that the basis The positional information, the velocity information and the current information after processing calculate the control for controlling the inspection manipulator motion Amount processed, is specifically included：Electric current loop calculating is carried out according to the current information after processing, obtains electric current loop result of calculation；Speed ring calculating is carried out according to the velocity information after processing, obtains speed ring result of calculation；Position ring calculating is carried out according to the positional information after processing, obtains position ring result of calculation；According to the electric current loop result of calculation, the speed ring result of calculation and the position ring result of calculation obtain control The controlled quentity controlled variable of inspection manipulator motion.
- 23. according to a kind of any one of claim 20 to 22 control method of four-degree-of-freedom inspection mechanical arm, its feature exists In, in addition to：The temperature value of the control system of inspection mechanical arm described in acquisition control, when the temperature value is more than preset temperature value, break Open the power supply of the control system.
- 24. according to a kind of any one of claim 20 to 22 control method of four-degree-of-freedom inspection mechanical arm, its feature exists In, in addition to：Positional information, the velocity information and the current information are obtained every default time interval and are stored.
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