CN108247639A - A kind of Two Links Flexible Manipulator - Google Patents
A kind of Two Links Flexible Manipulator Download PDFInfo
- Publication number
- CN108247639A CN108247639A CN201810103203.1A CN201810103203A CN108247639A CN 108247639 A CN108247639 A CN 108247639A CN 201810103203 A CN201810103203 A CN 201810103203A CN 108247639 A CN108247639 A CN 108247639A
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- CN
- China
- Prior art keywords
- mechanical arm
- control system
- rotary electric
- electric machine
- piezoelectric ceramics
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- 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
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Two Links Flexible Manipulators to include platform, mechanical arm engine base and control system are equipped in platform, shaft is equipped at the top of mechanical arm engine base, it is rotation connection between shaft and mechanical arm engine base, shaft side is equipped with balance attachment, wherein, side of the shaft far from balance attachment is equipped with flexible mechanical arm, flexible mechanical arm side is equipped with vibration suppression control unit, vibration suppression control unit is electrically connected to control system, and different electric signal inhibition flexible mechanical arm generation vibrations is exported to receive control Signal Regulation vibration suppression control unit；Using the technical program, the residual oscillation of mechanical arm is not only reduced, while does not influence mechanical arm normal rotation during the work time, improves the antidamping of mechanical arm, ensures the safety in utilization of mechanical arm, improves working efficiency.
Description
Technical field
The invention belongs to field in intelligent robotics, are related to a kind of mechanical arm, and in particular to a kind of Two Links Flexible Manipulator.
Background technology
With socio-economic development, living standard is continuously improved, and intelligent robot is applied to more and more fields,
During the motion, parts can generate vibration for robot, so as to influence the work of robot and performance, in large size
In industrial production, the intelligent robot of utilization can generate larger vibration due to the flexible piece of material, influence production efficiency and work
Make the safe operation of personnel；Therefore, inhibit the vibration or residual oscillation that robot generates during the motion, be hoisting machine people
The key of performance.
Invention content
According to more than the deficiencies in the prior art, the technical problems to be solved by the invention are to propose a kind of double link flexible machine
Tool arm can automatically be mixed according to the material of proportioning addition different content that people set by the device, that is, alleviate people
The burden of work also reduces the error of mixing.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of Two Links Flexible Manipulator, the Two Links Flexible Manipulator include being arranged on mechanical arm pedestal on platform and
Control system, mechanical arm base interior are equipped with rotary electric machine, and rotary electric machine is equipped with harmonic speed reducer, and harmonic speed reducer is equipped with
Shaft (5), harmonic speed reducer are fixed on the upper end of mechanical arm pedestal, and lower end and the harmonic speed reducer of shaft are rotatablely connected, shaft
Upper end be equipped with flexible mechanical arm body；Rotary electric machine bottom is additionally provided with the first photoelectric encoder, the output terminal of control system with
Rotary electric machine is connected by conducting wire, and control system exports different electric signal control rotary electric machine rotations；Rotary electric machine bottom is set
There is the first photoelectric encoder, the first photoelectric encoder, which receives the motor message of rotary electric machine and is converted into electric signal, is transmitted to control
System；First photoelectric encoder by sensing rotating speed and the position of rotary electric machine, receive the signal feedback of rotary electric machine movement in
Control system, then the different electric signals exported by control system, the elaborate position of control rotary electric machine movement and rotation electricity
Machine rotating speed；The Two Links Flexible Manipulator further includes the vibration suppression control unit being connect with control system by conducting wire；Inhibit vibration
Portion includes two damping blocks, the second piezoelectric ceramics being arranged on damping block and the piezoelectric ceramics power supply being arranged on platform driving
Device.
The flexible mechanical arm body includes first mechanical arm, second mechanical arm and connection first mechanical arm and the second machinery
The driving motor of arm.The driving motor is fixedly connected with first mechanical arm, and driving motor is rotatablely connected with second mechanical arm, is driven
Dynamic motor bottom is equipped with the second photoelectric encoder, and the second photoelectric encoder is connect with control system by conducting wire, and the second photoelectricity is compiled
Code device is fixed on driving motor is transmitted to control system for receiving the motor message of driving motor and being converted into electric signal.Two
A damping block is respectively provided at the surface of first mechanical arm and second mechanical arm, and the second piezoelectric ceramics is located at damping block away from mechanical arm
One side, the second piezoelectric ceramics connect with the output terminal of piezoelectric ceramics power supply driver by conducting wire, piezoelectric ceramics power supply driving
The input terminal of device is connect with control system by conducting wire.Induction part, induction part packet are additionally provided on the Two Links Flexible Manipulator
It includes two and is separately positioned on the first piezoelectric ceramics in first mechanical arm and second mechanical arm, data acquisition board is additionally provided on platform.
First piezoelectric ceramics is connect by conducting wire with data acquisition board, and the input terminal of data acquisition board and control system passes through conducting wire
Connection, the first piezoelectric ceramics, which receives the motor message of flexible mechanical arm and is converted into electric signal, passes to control system, two the
One piezoelectric ceramics is separately fixed at the surface of first mechanical arm and second mechanical arm.
The beneficial effects of the invention are as follows：Artificial burden is alleviated, also reduces the error of mixing.
Description of the drawings
The content expressed by this specification attached drawing and the label in figure are briefly described below：
Fig. 1 is the structure chart of the specific embodiment Two Links Flexible Manipulator of the present invention；
Fig. 2 is the partial enlarged view of the specific embodiment Two Links Flexible Manipulator of the present invention；
Fig. 3 is the control block diagram of the control section of the specific embodiment Two Links Flexible Manipulator of the present invention.
Specific embodiment
Below by the description to embodiment, the shape of for example involved each component of specific embodiment of the invention, structure
It makes, the mutual alignment between each section and connection relation, the effect of each section and operation principle, manufacturing process and the side of operating with
Method etc., is described in further detail, completeer those skilled in the art to be helped to have inventive concept of the invention, technical solution
Whole, accurate and deep understanding.
A kind of Two Links Flexible Manipulator, the Two Links Flexible Manipulator include the mechanical arm pedestal of setting on platform 11
1 and control system, mechanical arm pedestal 1 is internally provided with rotary electric machine 3, and rotary electric machine 3 is equipped with harmonic speed reducer 4, harmonic reduction
Device 4 is equipped with shaft 5, and harmonic speed reducer is fixed on the upper end of mechanical arm pedestal 1, and lower end and the harmonic speed reducer 4 of shaft 5 rotate
Connection, the upper end of shaft 5 are equipped with flexible mechanical arm body.Rotary electric machine 3 controls shaft 5 by harmonic speed reducer 4.Rotary electric machine
3 bottoms are additionally provided with the first photoelectric encoder 2.The output terminal of control system is connect with rotary electric machine 3 by conducting wire, and control system is defeated
Go out different electric signal control rotary electric machines 3 to rotate.3 bottom of rotary electric machine is equipped with the first photoelectric encoder 2, wherein, the first light
Photoelectric coder 2 is fixed in rotary electric machine 3, the first photoelectric encoder 2.It receives the motor message of rotary electric machine 3 and is converted into telecommunications
Number it is transmitted to control system；First photoelectric encoder 2 receives rotary electric machine 3 and transports by sensing rotating speed and the position of rotary electric machine 3
Dynamic signal is fed back in control system, then the different electric signals exported by control system, the essence that control rotary electric machine 3 moves
Level is put and 3 rotating speed of rotary electric machine.The flexible mechanical arm body includes first mechanical arm 7, second mechanical arm 10 and connection the
One mechanical arm 7 and the driving motor 9 of second mechanical arm 10.Driving motor 9 is fixedly connected with first mechanical arm 7, driving motor 9 with
Second mechanical arm 10 is rotatablely connected, and 9 bottom of driving motor is equipped with the second photoelectric encoder 8, and the second photoelectric encoder 8 is with control
System is connected by conducting wire, and the second photoelectric encoder 8 is fixed on driving motor 9 to receive the motor message of driving motor 9 simultaneously
It is converted into electric signal and is transmitted to control system.
The Two Links Flexible Manipulator further includes the vibration suppression control unit being connect with control system by conducting wire.Inhibit vibration
Portion includes two damping blocks 18 being separately positioned in first mechanical arm 7 and second mechanical arm 10, is arranged on damping block 18
The piezoelectric ceramics power supply driver 12 of second piezoelectric ceramics 17 and setting on platform 11, two damping blocks 18 are respectively provided at first
The surface of mechanical arm 7 and second mechanical arm 10, the second piezoelectric ceramics 17 are located at the one side that damping block 18 deviates from mechanical arm, the second pressure
Electroceramics 17 is connect with the output terminal of piezoelectric ceramics power supply driver 12 by conducting wire, the input of piezoelectric ceramics power supply driver 12
End is connect with control system by conducting wire.Vibration suppression control unit receives the control signal that control system is sent out, and then makes action suppression
Flexible mechanical arm processed generates vibration.
Induction part is additionally provided on the Two Links Flexible Manipulator, induction part is separately positioned on first mechanical arm including two
7 and second mechanical arm 10 on the first piezoelectric ceramics 6, be additionally provided with data acquisition board 13 on platform 11.First piezoelectric ceramics 6 is by leading
Line is connect with data acquisition board 13, and data acquisition board 13 is connect with the input terminal of control system by conducting wire, the first piezoelectric ceramics 6
It receives the motor message of flexible mechanical arm and is converted into electric signal and pass to control system, two the first piezoelectric ceramics 6 are solid respectively
It is scheduled on the surface of first mechanical arm 7 and second mechanical arm 10.
The control system control module is equipped with motor driver 16, upper computer control system 14 and motion controller 15,
For the included PID/feedback system in 16 inside of motor driver to ensure the precise positioning of motor, the output terminal of motor driver 16 is electric
It is connected on motor, controls motor movement.There are vibration control algorithm and motor movement program inside upper computer control system 14, electricity
Motion controller 15 is written in machine motor program, and motion controller 15 runs program and outputs signal to motor driver 16, moves
16 driving motor of controller is moved according to motor program.Vibration control algorithm optimal control signal, the control signal of output,
Piezoelectric ceramics power supply driver 12 is sent to, piezoelectric ceramics power supply driver 12 controls 17 output torque of the second piezoelectric ceramics to inhibit
The vibration of flexible arm.
Using the technical program, by the use of piezoelectric ceramics and damping block as the control piece for inhibiting vibration, pass through control system
Accurate transfer deformation quantity offsets the vibration deformation that mechanical arm generates during exercise, improves the antidamping of mechanical arm, meanwhile, it adopts
By the use of another piezoelectric ceramics as sensor, to receive the deformation signal that mechanical arm generates during the motion, and it is converted into telecommunications
Number central control system is inputed to, in order to which central control system is for further processing, so as to export the suppression of the vibration for adjusting mechanical arm
Shake signal, and this control mode not only reduces the residual oscillation of mechanical arm, while it is normal during the work time not influence mechanical arm
Rotation is conducive to ensure the service life of mechanical arm, improves the job security of operating personnel, saves production cost, improves work
Make efficiency.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that present invention specific implementation is not by aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various unsubstantialities improvement or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.This hair
Bright protection domain should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of Two Links Flexible Manipulator, it is characterised in that：The Two Links Flexible Manipulator includes being arranged on platform (11)
Mechanical arm pedestal (1) and control system, mechanical arm pedestal (1) be internally provided with rotary electric machine (3), rotary electric machine (3) is equipped with
Harmonic speed reducer (4), harmonic speed reducer (4) are equipped with shaft (5), and harmonic speed reducer is fixed on the upper end of mechanical arm pedestal (1),
The lower end of shaft (5) is rotatablely connected with harmonic speed reducer (4), and the upper end of shaft (5) is equipped with flexible mechanical arm body；Rotary electric machine
(3) bottom is additionally provided with the first photoelectric encoder (2), and the output terminal of control system is connect with rotary electric machine (3) by conducting wire, control
System exports different electric signal control rotary electric machines (3) and rotates；Rotary electric machine (3) bottom is equipped with the first photoelectric encoder (2),
First photoelectric encoder (2), which receives the motor message of rotary electric machine (3) and is converted into electric signal, is transmitted to control system；First light
Photoelectric coder (2) receives the signal that rotary electric machine (3) moves and feeds back in control by sensing rotating speed and the position of rotary electric machine (3)
System processed, then the different electric signals exported by control system, the elaborate position and rotation electricity that control rotary electric machine (3) moves
Machine (3) rotating speed；The Two Links Flexible Manipulator further includes the vibration suppression control unit being connect with control system by conducting wire；Inhibition is shaken
Dynamic portion includes two damping blocks (18), the second piezoelectric ceramics (17) being arranged on damping block (18) and is arranged on platform (11)
Piezoelectric ceramics power supply driver (12).
2. Two Links Flexible Manipulator according to claim 1, it is characterised in that：The flexible mechanical arm body includes the
The driving motor (9) of one mechanical arm (7), second mechanical arm (10) and connection first mechanical arm (7) and second mechanical arm (10).
3. Two Links Flexible Manipulator according to claim 2, it is characterised in that：The driving motor (9) and the first machine
Tool arm (7) is fixedly connected, and driving motor (9) is rotatablely connected with second mechanical arm (10), and driving motor (9) bottom is equipped with the second light
Photoelectric coder (8), the second photoelectric encoder (8) are connect with control system by conducting wire, and the second photoelectric encoder (8) is fixed on drive
On dynamic motor (9) control system is transmitted to for receiving the motor message of driving motor (9) and being converted into electric signal.
4. Two Links Flexible Manipulator according to claim 2, it is characterised in that：Two damping blocks (18) are respectively provided at
The surface of one mechanical arm (7) and second mechanical arm (10), the second piezoelectric ceramics (17) are located at damping block (18) away from mechanical arm
On one side, the second piezoelectric ceramics (17) is connect with the output terminal of piezoelectric ceramics power supply driver (12) by conducting wire, piezoelectric ceramics electricity
The input terminal of Source drive (12) is connect with control system by conducting wire.
5. Two Links Flexible Manipulator according to claim 2, it is characterised in that：On the Two Links Flexible Manipulator also
Equipped with induction part, induction part is separately positioned on the first piezoelectricity in first mechanical arm (7) and second mechanical arm (10) including two and makes pottery
Porcelain (6) is additionally provided with data acquisition board (13) on platform (11).
6. Two Links Flexible Manipulator according to claim 5, it is characterised in that：First piezoelectric ceramics (6) passes through
Conducting wire is connect with data acquisition board (13), and data acquisition board (13) is connect with the input terminal of control system by conducting wire, the first pressure
Electroceramics (6), which receives the motor message of flexible mechanical arm and is converted into electric signal, passes to control system, two the first piezoelectricity potteries
Porcelain (6) is separately fixed at the surface of first mechanical arm (7) and second mechanical arm (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103203.1A CN108247639A (en) | 2018-02-01 | 2018-02-01 | A kind of Two Links Flexible Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103203.1A CN108247639A (en) | 2018-02-01 | 2018-02-01 | A kind of Two Links Flexible Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108247639A true CN108247639A (en) | 2018-07-06 |
Family
ID=62743536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810103203.1A Pending CN108247639A (en) | 2018-02-01 | 2018-02-01 | A kind of Two Links Flexible Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247639A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818508A (en) * | 2018-07-18 | 2018-11-16 | 武汉市弘润创思机械有限公司 | A kind of flexible drive formula mechanical arm |
| CN109115476A (en) * | 2018-07-13 | 2019-01-01 | 哈尔滨工业大学（深圳） | A kind of test macro and its method of flexible mechanical arm |
| CN109590997A (en) * | 2019-01-15 | 2019-04-09 | 白城师范学院 | A kind of adjustable multi-angle robot arm of damping |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115476A (en) * | 2018-07-13 | 2019-01-01 | 哈尔滨工业大学（深圳） | A kind of test macro and its method of flexible mechanical arm |
| CN108818508A (en) * | 2018-07-18 | 2018-11-16 | 武汉市弘润创思机械有限公司 | A kind of flexible drive formula mechanical arm |
| CN109590997A (en) * | 2019-01-15 | 2019-04-09 | 白城师范学院 | A kind of adjustable multi-angle robot arm of damping |
| CN109590997B (en) * | 2019-01-15 | 2022-03-01 | 白城师范学院 | Damping-adjustable multi-angle robot arm |
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