CN108724247A - High-precision telescopic arm for expanding robot operating range and its control method - Google Patents
High-precision telescopic arm for expanding robot operating range and its control method Download PDFInfo
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- CN108724247A CN108724247A CN201810722644.XA CN201810722644A CN108724247A CN 108724247 A CN108724247 A CN 108724247A CN 201810722644 A CN201810722644 A CN 201810722644A CN 108724247 A CN108724247 A CN 108724247A
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- lever arm
- arm
- angular displacement
- precision
- displacement detecting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention discloses a kind of high-precision telescopic arms and its control method for expanding robot operating range, are related to engineering machinery field.The high-precision telescopic arm includes hollow section fixed arm, Multi-section active arm, multigroup driving mechanism, multigroup transmission mechanism, multigroup guiding mechanism, according to sequence from outside to inside successively nested arrangement, transmission mechanism is connected with driving mechanism, guiding mechanism respectively for fixed arm, Multi-section active arm；Often section lever arm is respectively flexible by corresponding one group of driving mechanism, one group of transmission mechanism, one group of guiding mechanism control, often the outer wall of section lever arm is respectively connected with corresponding one group of transmission mechanism, and often the outer wall of section lever arm is respectively in contact with corresponding one group of guiding mechanism.The present invention can expand the actuating range of industrial robot, be engaged in the work in adverse circumstances instead of people, raise labour productivity, and ensure product quality, be particularly suitable for abrasive jet cleaning, spray painting, carrying, lathe loading and unloading industry.
Description
Technical field
The present invention relates to engineering machinery fields, and in particular to a kind of high-precision for expanding robot operating range is flexible
Arm and its control method.
Background technology
Currently, telescopic arm common hydraulic driving mode in engineering machinery, the structure type of telescopic oil cylinder and pulley installation,
Multi-stage telescopic arms are fitted together, height or length are changed with contraction by the stretching of telescopic arm, to change engineering machine
The radius of clean-up of tool.The advantages of which is that compact-sized, stable action, impact resistance, vibration resistance, explosion-proof are good, and disadvantage one is
The Hydraulic Elements of use require have the higher accuracy of manufacture and sealing performance, and otherwise oil leak will pollute environment；Disadvantage is second is that flexible
Contact or mated condition of the arm in telescopic process between sliding block and telescopic arm surface are poor, seriously affect the flexible operation of telescopic arm
Stationarity, cause telescopic arm to generate trembling in flexible operation, shake and excessive lateral bias placement, kinematic accuracy is poor.
Also a kind of telescopic arm uses pneumatic actuation mode, changes height or length with contraction by the stretching of telescopic arm
Degree, advantage are that air source is convenient, are swift in motion, are simple in structure, cost is relatively low, easy to maintenance.The disadvantage is that be difficult to carry out speed control,
Impact is big, and air pressure can not be too high, therefore load capacity is relatively low, and operation stability is poor, and therefore, existing hydraulic-driven telescopic arm is gentle
Dynamic driving telescopic arm is only suitable for the not high place of required precision.
With the development of modern science and technology, in today that industrial production increasingly modernizes, the use of industrial robot becomes
It obtains more and more universal.However the actuating range of industrial robot is limited, only expands the actuating range of industrial robot, ability
It is enough to be competent at large-scale high-precision automatic operation completely.
Invention content
The purpose of the invention is to overcome the shortcomings of above-mentioned background technology, provide a kind of for expanding robot motion model
The high-precision telescopic arm and its control method enclosed, the high-precision telescopic arm can expand the actuating range of industrial robot, instead of
People is engaged in the work in adverse circumstances, raises labour productivity, and ensures product quality；It is particularly suitable for abrasive jet cleaning, paints, remove
Fortune, lathe loading and unloading industry.
The present invention provides a kind of high-precision telescopic arm expanding robot operating range, which includes hollow
One section fixed arm, Multi-section active arm, the fixed arm, Multi-section active arm are according to sequence from outside to inside successively nested arrangement；
The high-precision telescopic arm further includes multigroup driving mechanism, multigroup transmission mechanism, multigroup guiding mechanism, the transmission mechanism respectively with
Driving mechanism, guiding mechanism are connected；Often section lever arm is respectively led by corresponding one group of driving mechanism, one group of transmission mechanism, one group
Flexible to mechanism controls, the outer wall for often saving lever arm is respectively connected with corresponding one group of transmission mechanism, and often saves lever arm
Outer wall is respectively in contact with corresponding one group of guiding mechanism.
Based on the above technical solution, the driving mechanism includes a servo motor, a planetary reduction gear, institute
Servo motor is stated with the planetary reduction gear to be connected.
Based on the above technical solution, which further includes multiple Angular Displacement Detecting encoders, with number
Control system is used cooperatively, and the axle portion of each servo motor is each provided with an Angular Displacement Detecting encoder, the Angular Displacement Detecting
Encoder is used to detect the extended length of corresponding section lever arm or shortens length and to the digital control system feedback signal.
Based on the above technical solution, the transmission mechanism includes a ball screw assembly, a rolling guide-rail pairs,
The ball screw assembly, is connected with the rolling guide-rail pairs.
Based on the above technical solution, the ball screw assembly, includes ball-screw, nut, and rolling guide-rail pairs include
Sliding block, two the linear guides for being arranged side by side on the ball-screw both sides, one end of the sliding block are lived with the linear guide
Dynamic to connect and be fixedly connected with the nut, the other end is fixedly connected with the outer wall of corresponding section lever arm.
Based on the above technical solution, the guiding mechanism includes floating guiding wheel, and the floating guiding wheel is ball
Bearing.
Based on the above technical solution, the Multi-section active arm includes the first lever arm, the second lever arm, described solid
Fixed arm, the first lever arm, the second lever arm are according to sequence from outside to inside successively nested arrangement, the bottom end of second lever arm
It is provided with the flange for connecting robot.
Based on the above technical solution, the corresponding guiding mechanism of first lever arm is the first floating guiding wheel,
The corresponding guiding mechanism of second lever arm is the second floating guiding wheel；The fixed arm bottom end is provided with the first guide case,
First lever arm bottom end is provided with the second guide case, and the first floating guiding wheel is set in the first guide case, and first
Floating guiding wheel is in contact with the outer wall of the first lever arm, and the second floating guiding wheel is set in the second guide case, and second
Floating guiding wheel is in contact with the outer wall of the second lever arm.
Based on the above technical solution, the fixed arm end sealing, inside fixed arm, inside the first lever arm,
It is connected and is higher than filled with pressure the gas of fixed arm external pressure, the bottom end of the first guide case, the inside second lever arm
The bottom end of two guide cases, the second lever arm bottom end seal.
The present invention also provides a kind of control methods for expanding the high-precision telescopic arm of robot operating range, using number
Control system, the digital control system include teaching machine, and the corresponding Angular Displacement Detecting encoder of first lever arm is first jiao of position
Detection encoder is moved, the corresponding Angular Displacement Detecting encoder of second lever arm is the second Angular Displacement Detecting encoder；
The method for controlling high-precision telescopic arm elongation includes the following steps：
After connecting the power supply of digital control system, extended length is inputted on teaching machine, starts the elongate buttons on teaching machine, the
Two lever arms start to extend, and extended length is measured by the second Angular Displacement Detecting encoder and totally-enclosed feedback signal, and it is accurate to reach
Behind position, the second lever arm stops elongation；
When extended length is greater than the set value, the first lever arm and the second lever arm both participate in elongation, carry out in sequence,
Second lever arm is extended first, and the first lever arm is then extended, the second Angular Displacement Detecting encoder, the first angular displacement
Encoder feedback signal successively is detected, after reaching accurate location, the second lever arm, the first lever arm stop elongation；
The method for controlling high-precision telescopic arm shortening includes the following steps：
After the first lever arm, the second lever arm are elongated to certain length, are inputted on teaching machine and shorten length, startup is shown
The shortening button on device is taught, the second lever arm starts to shorten, and shortens length and is measured by the second Angular Displacement Detecting encoder and entirely
Feedback signal is closed, after reaching accurate location, the second lever arm stops shortening；
When shortening length is greater than the set value, the first lever arm and the second lever arm both participate in shortening, carry out in sequence,
Second lever arm is shortened first, and the first lever arm is then shortened, the second Angular Displacement Detecting encoder, the first angular displacement
Encoder feedback signal successively is detected, after reaching accurate location, the second lever arm, the first lever arm stop shortening.
Compared with prior art, advantages of the present invention is as follows：
(1) present invention can solve in engineering machinery surge telescopic arm and pneumatic telescopic arms are only suitable for precision
The problem of place of less demanding.The present invention is slowed down using Servo motor drive control and planetary reducer, can both make mechanism
Simplify, and control accuracy can be improved.The load of the high-precision telescopic arm of the present invention can reach 300kg, and lifting speed can reach
To 5m/min, stroke 4000mm, repetitive positioning accuracy 0.1mm.
(2) high-precision telescopic arm of the invention uses the dust-tight manner of dual fail-safe, first, high-precision telescopic arm integrally uses
All-sealed structure, lower movable end are sealed with rubber slab；Second, using gas positive pressure dust-proof mode, lever arm will be exactly controlled
Ball screw assembly, rolling guide-rail pairs, servo motor, planetary reduction gear are all enclosed in shell, and when work, height is passed through in shell
In the compressed air of ambient pressure, to prevent dust laden air from entering, ensure ball screw assembly, rolling guide-rail pairs, servo motor, row
Star retarder works normally in clean environments, reduces failure.
(3) present invention can be used alone, and can also be used cooperatively with industrial robot.Connection below high-precision telescopic arm
Industrial robot, can expand the actuating range of robot, and alternative people is engaged in the adverse circumstances such as dangerous, harmful, toxic
Work；Heavy, the dull duplication of labour is completed instead of people, is raised labour productivity, ensures product quality.It is clear to be mainly used for sandblasting
Reason, is carried, lathe loading and unloading industry at spray painting.
Description of the drawings
Fig. 1 is the external structure schematic diagram of high-precision telescopic arm in the embodiment of the present invention；
Fig. 2 is the internal structure schematic diagram of high-precision telescopic arm in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of driving mechanism and transmission mechanism in the embodiment of the present invention.
Reference numeral：1-fixed arm, the 2-the first lever arm, the 3-the second lever arm, 4-driving mechanisms, 5-drivers
Structure, 51-the linear guides, 52-ball-screws, 53-sliding blocks, 6-guiding mechanisms, the 7-the first guide case, 8-the second is oriented to
Case, the 9-the first connecting flange, the 10-the second connecting flange.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.
Shown in Figure 1, the embodiment of the present invention provides a kind of high-precision telescopic arm expanding robot operating range, including
Hollow one saves fixed arm 1, Multi-section active arm, fixed arm 1 and Multi-section active arm according to sequence from outside to inside successively nested cloth
It sets；Shown in Fig. 2,3, which further includes multigroup driving mechanism 4, multigroup transmission mechanism 5, multigroup guiding mechanism
6, transmission mechanism 5 is connected with driving mechanism 4, guiding mechanism 6 respectively；Often section lever arm respectively by corresponding one group of driving mechanism 4,
One group of transmission mechanism, 5, one groups of controls of guiding mechanisms 6 are flexible, often save the outer wall of lever arm respectively with 5 phase of corresponding one group of transmission mechanism
Connection, and often the outer wall of section lever arm is respectively in contact with corresponding one group of guiding mechanism 6.
One group of driving mechanism 4 includes a servo motor, a planetary reduction gear, and servo motor is connected with planetary reduction gear
It connects.The high-precision telescopic arm further includes multiple Angular Displacement Detecting encoders, is used cooperatively with digital control system, each servo motor
Axle portion is each provided with an Angular Displacement Detecting encoder, and Angular Displacement Detecting encoder is used to detect stretching for a corresponding section lever arm
Length shortens length and to digital control system feedback signal.
One group of transmission mechanism 5 includes a ball screw assembly, a rolling guide-rail pairs, ball screw assembly, and rolling guide-rail pairs
It is connected.Ball screw assembly, includes ball-screw 52, nut, and rolling guide-rail pairs include that sliding block 53, two is arranged side by side on the rolling
One end of the linear guide 51 of 52 both sides of ballscrew, sliding block 53 is flexibly connected with the linear guide 51 and is fixedly connected with nut,
The other end is fixedly connected with the outer wall of corresponding section lever arm.
Guiding mechanism 6 includes floating guiding wheel, and floating guiding wheel is specially ball bearing.One group of guiding mechanism 6 includes 2 sets floating
Action-oriented wheel.The floating guiding wheel of every group of guiding mechanism 6 is in contact with the outer wall of corresponding section lever arm, plays guiding
Effect.Shown in Fig. 2, Fig. 3, in a specific embodiment, the fixed arm 1 and Multi-section active arm of the high-precision telescopic arm are total
There are three sections, often save lever arm can back and forth stretch along the central axes direction of fixed arm 1.Wherein, Multi-section active arm includes first
Lever arm 2, the second lever arm 3, fixed arm 1, the first lever arm 2, the second lever arm 3 are nested successively according to sequence from outside to inside
Arrangement.The outer wall of fixed arm 1 is provided with the first connecting flange 9, the first connecting flange 9 be connected with external tooth turntable bearing outer shroud and around
The central axis of fixed arm 1, the bottom end of the second lever arm 3 are provided with the second connecting flange 10 for connecting robot.
First lever arm, 2 corresponding guiding mechanism 6 is the first floating guiding wheel, 3 corresponding guiding mechanism 6 of the second lever arm
For the second floating guiding wheel；1 bottom end of fixed arm is provided with the first guide case 7, and 2 bottom end of the first lever arm is provided with the second guide case
8, the first floating guiding wheel is set in the first guide case 7, and the first floating guiding wheel is in contact with the outer wall of the first lever arm 2,
Second floating guiding wheel is set in the second guide case 8, and the second floating guiding wheel is in contact with the outer wall of the second lever arm 3.
In order to ensure the flexible interference-free of lever arm, 1 end sealing of fixed arm, inside fixed arm 1, the first lever arm 2
It is connected and is higher than filled with pressure the gas of 1 external pressure of fixed arm inside inside, the second lever arm 3, the first guide case 7
Bottom end, the bottom end of the second guide case 8, the second lever arm 3 bottom end seal.
Specifically, fixed arm 1 includes fixed shell, fixed shell plays support and protective effect, and inside is equipped with control first
The driving mechanism 4 and transmission mechanism 5 of lever arm 2.Fixed shell is welded by square steel tube, the first guide case 7, using high intensity
Shaped steel and quality steel plate welding after annealing processing finish again, effectively avoid deforming and vibrate, ensure the long-time stability of precision；
Four machined surfaces of 7 inside of the first guide case are equipped with 2 sets of floating guiding wheels, and floating guiding wheel is specially ball bearing, and ball bearing begins
The outer wall of the first lever arm 2 is supported eventually, is ensured flexible steady.First guide case, 7 lower end is provided with rubber school plate seals, prevents ash
Dirt and steel sand enter inside fixed arm 1.The cable of electric-control system passes through inside fixed arm 1.
In this specific embodiment, two section lever arms are accurate with two groups of planetary reduction gears and servo motor driving grinding grade respectively
52 lift nut of ball-screw drives lever arm lifting, and fixed arm 1 and lever arm upper end are supported by the linear guide 51 and sliding block 53
It is oriented to, fixed arm 1 and lever arm lower end are by floating guiding wheel support guide.
Specifically, the first lever arm 2 includes first shell, the driving equipped with the second lever arm 3 of control inside first shell
Mechanism 4 and transmission mechanism 5.First shell is welded by square steel tube, the second guide case 8, using high intensity shaped steel and high-quality steel
Plate welding after annealing processing finishes again, effectively avoids deforming and vibrate, ensures the long-time stability of precision；Second guide case 8
The machined surface of inside four is equipped with 2 sets of floating guiding wheels, and floating guiding wheel is ball bearing, and ball bearing supports the second lever arm 3 always
Outer wall, ensure stretch smooth motion.There is rubber school plate seals second guide case, 8 lower end, prevents dust and steel sand from entering the
Inside one lever arm 2.
The device for controlling lever arm telescopic drive includes the transmission mechanism 5 being made of rolling guide-rail pairs, ball screw assembly, with
And the driving mechanism 4 being made of planetary reduction gear, servo motor.With positioning accuracy height, frictional force is small, high rigidity, loads energy
The features such as power is strong.Rolling guide-rail pairs include two the linear guides 51, and the linear guide 51 is using accurate linear module；Ball screw assembly,
Including ball-screw 52, ball-screw 52 is using upper silver-colored ball-screw 52.The driving mechanism 4 and transmission mechanism 5 of first lever arm 2
Concealed installation has the function of dust-proof and anti-splashing protection etc. in fixed arm 1.In order to ensure the kinematic accuracy of robot, using grinding
Grade ball-screw and nut transmission, precise linear guide are oriented to, high-precision planetary reduction gear and high performance AC servo electricity
Machine drives.Cable passes through inside the first lever arm 2.
The collapsing length of first lever arm 2 is measured and is fed back by the first Angular Displacement Detecting encoder.Angular Displacement Detecting encodes
Device is installed on the axis of servo motor, by detecting the corner of 2 corresponding servo motor of the first lever arm, detects the indirectly
The displacement of one lever arm 2, and digital control system is fed back to, it is compared with the instruction of input, drive is controlled with the difference obtained is compared
Motivation structure 4.
Second lever arm 3 includes second shell, and second shell is welded by square steel tube, and welding after annealing handles finishing again
Work ensures the stability of mechanical precision.Second shell lower end is welded with the second connecting flange 10, for being connected with industrial robot.
In the driving mechanism 4 and transmission mechanism 5 of second lever arm 3 in the first lever arm 2, there are the work(such as dust-proof and anti-splashing protection
Energy.It in order to ensure robot motion's precision, is driven using grinding grade ball-screw and nut, precise linear guide is oriented to, high-precision
The planetary reduction gear of degree and high performance AC servo machinery driving.The collapsing length of second lever arm 3 is examined by the second angular displacement
Encoder is surveyed to measure and feed back.
It is described below and controls the flexible specific method of the high-precision telescopic arm.
The high-precision telescopic arm is used cooperatively with digital control system, and digital control system includes teaching machine, cable, the first lever arm 2
Corresponding Angular Displacement Detecting encoder is the first Angular Displacement Detecting encoder, 3 corresponding Angular Displacement Detecting coding of the second lever arm
Device is the second Angular Displacement Detecting encoder.
The method for controlling high-precision telescopic arm elongation includes the following steps：
After connecting the power supply of digital control system, extended length is inputted on teaching machine, starts the elongate buttons on teaching machine, the
Two lever arms 3 start to extend, and extended length is measured by the second Angular Displacement Detecting encoder and totally-enclosed feedback signal, and it is accurate to reach
Behind position, the second lever arm 3 stops elongation；
When extended length is greater than the set value, the first lever arm 2 and the second lever arm 3 both participate in elongation, and setting value is general
It is 2000 millimeters；It carrying out in sequence, the second lever arm 3 is extended first, and the first lever arm 2 is then extended, and second
Angular Displacement Detecting encoder, the first Angular Displacement Detecting encoder feedback signal successively, after reaching accurate location, the second lever arm 3,
First lever arm 2 stops elongation；
The method for controlling high-precision telescopic arm shortening includes the following steps：
After the first lever arm 2, the second lever arm 3 are elongated to certain length, input shortening length, starts on teaching machine
Shortening button on teaching machine, the second lever arm 3 start to shorten, shorten length measured by the second Angular Displacement Detecting encoder and
Totally-enclosed feedback signal, after reaching accurate location, the second lever arm 3 stops shortening；
When shortening length is greater than the set value, the first lever arm 2 and the second lever arm 3 both participate in shortening, and setting value is general
It is 2000 millimeters；It carrying out in sequence, the second lever arm 3 is shortened first, and the first lever arm 2 is then shortened, and second
Angular Displacement Detecting encoder, the first Angular Displacement Detecting encoder feedback signal successively, after reaching accurate location, the second lever arm 3,
First lever arm 2 stops shortening.
The design principle of the present invention is as follows：
Improve the kinematic accuracy of telescopic arm, it is desirable that the weight of each moving component of telescopic arm is light, and inertia wants small, improves shell
Dimensional accuracy, the accuracy of form and position, reduce the gap of transmission chain, also to improve the transmission accuracy of retarder, the precision of bearing, straight line
Guide precision.Therefore, the transmission mechanism of telescopic arm of the present invention is oriented to using grinding grade ball-screw-transmission, precise linear guide,
It is compact-sized, stable movement；
Small―gap suture mechanism is used in transmission chain and kinematic pair, to reduce the kinematic error caused by reversed backlash.Cause
This, the driving mechanism of telescopic arm of the present invention uses high-precision planetary reduction gear and high performance AC servo machinery driving；
The stiction of transmission parts is answered as small as possible, and kinetic force of friction should be positive slope as small as possible, if negative slope
It is then also easy to produce and creeps, precision reduces, and the service life reduces.Therefore, ball screw block and rolling of the present invention using low friction resistance
Guided bearing component；
Transmission and support stiffness are improved, the transmission and bearing of ball screw assembly, and rolling guide-rail pairs are improved with the method for preload
Rigidity；The support design of leading screw of the present invention is using both ends axial pretightening or pre-stretching supporting structure；
It is very unfavorable that gravity torque moves telescopic arm, and gravity torque is excessive, can cause the vibration of telescopic arm, also in lifting
A kind of countersunk head phenomenon can occur, can also motion-affecting flexibility, telescopic arm can be stuck with fixed arm when serious.Therefore, it lays particular stress on
Torque is small as possible, and the present invention is equipped with 2 sets of floating guiding wheels in four machined surfaces of lower guide case, and ball bearing is withstood on outside telescopic arm always
Surface ensures flexible steady.
The present invention installs Angular Displacement Detecting encoder additional on the servo motor shaft of half-closed loop control, by detecting servo motor
Corner detect the displacement of moving component indirectly, and feed back to digital control system and be compared with the instruction of input, with comparing
The difference controlled motion component obtained.
On the basis of analyzing and digesting domestic and international telescopic arm product, the present invention has carried out the design of telescopic arm scheme, has compared
The quality of moving component is reduced using minimum movement inertia principle with optimization, increases telescopic arm robust motion and flexibility,
Improve telescopic arm kinetic characteristics.Drive characteristic is analyzed to the transmission system of telescopic arm, and power, torque, inertia are carried out
It calculates in detail, meets telescopic arm to speed, torque and inertia requirement.
In the description of the present invention, it is to be understood that, term " top ", " bottom end ", "upper", "lower", "inner", "outside" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is only of the invention and simplified for ease of description
Description, rather than indicate or imply signified device or component must have a particular orientation, be specific azimuth configuration and behaviour
Make, thus should not be understood as the limitation to present invention protection content.
The words such as " first ", " second " are used herein to limit parts, those skilled in the art should know：
The use of " first ", " second " is intended merely to facilitate the description present invention and simplifies description, does not in addition state such as, above-mentioned word
It has no special meaning.
Those skilled in the art can be carry out various modifications to the embodiment of the present invention and modification, if these modifications and change
For type within the scope of the claims in the present invention and its equivalent technologies, then these modifications and variations are also in protection scope of the present invention
Within.
The prior art that the content not being described in detail in specification is known to the skilled person.
Claims (10)
1. a kind of high-precision telescopic arm for expanding robot operating range, which includes that a hollow section is solid
Fixed arm (1), Multi-section active arm, it is characterised in that：The fixed arm (1), Multi-section active arm according to sequence from outside to inside successively
Nested arrangement；The high-precision telescopic arm further includes multigroup driving mechanism (4), multigroup transmission mechanism (5), multigroup guiding mechanism (6),
The transmission mechanism (5) is connected with driving mechanism (4), guiding mechanism (6) respectively；Often section lever arm is respectively by corresponding one group of drive
Motivation structure (4), one group of transmission mechanism (5), the control of one group of guiding mechanism (6) are flexible, often save the outer wall of lever arm respectively with it is corresponding
One group of transmission mechanism (5) is connected, and often the outer wall of section lever arm is respectively in contact with corresponding one group of guiding mechanism (6).
2. the high-precision telescopic arm as described in claim 1 for expanding robot operating range, it is characterised in that：The drive
Motivation structure (4) includes a servo motor, a planetary reduction gear, and the servo motor is connected with the planetary reduction gear.
3. the high-precision telescopic arm as claimed in claim 2 for expanding robot operating range, it is characterised in that：This is high-precision
It further includes multiple Angular Displacement Detecting encoders to spend telescopic arm, is used cooperatively with digital control system, the axle portion of each servo motor is respectively set
It sets there are one Angular Displacement Detecting encoder, the elongation that the Angular Displacement Detecting encoder is used to detect corresponding section lever arm is grown
Degree shortens length and to the digital control system feedback signal.
4. the high-precision telescopic arm as described in claim 1 for expanding robot operating range, it is characterised in that：The biography
Motivation structure (5) includes ball-screw (52) pair, a rolling guide-rail pairs, and the ball-screw (52) is secondary to lead with the rolling
Rail pair is connected.
5. the high-precision telescopic arm as claimed in claim 4 for expanding robot operating range, it is characterised in that：The rolling
It includes ball-screw (52), nut that ballscrew (52) is secondary, rolling guide-rail pairs include sliding block (53), two be arranged side by side on the rolling
One end of the linear guide (51) of ballscrew (52) both sides, the sliding block (53) be flexibly connected with the linear guide (51) and
It is fixedly connected with the nut, the other end is fixedly connected with the outer wall of corresponding section lever arm.
6. the high-precision telescopic arm as described in claim 1 for expanding robot operating range, it is characterised in that：It is described to lead
Include floating guiding wheel to mechanism (6), the floating guiding wheel is ball bearing.
7. the high-precision telescopic arm as claimed in claim 3 for expanding robot operating range, it is characterised in that：It is described more
It includes the first lever arm (2), the second lever arm (3), the fixed arm (1), the first lever arm (2), the second activity to save lever arm
Arm (3) is provided with according to sequence from outside to inside successively nested arrangement, the bottom end of second lever arm (3) for connecting machine
The flange of people.
8. the high-precision telescopic arm as claimed in claim 7 for expanding robot operating range, it is characterised in that：Described
The corresponding guiding mechanism (6) of one lever arm (2) is the first floating guiding wheel, the corresponding guiding mechanism of second lever arm (3)
(6) it is the second floating guiding wheel；Fixed arm (1) bottom end is provided with the first guide case (7), the first lever arm (2) bottom
End is provided with the second guide case (8), and the first floating guiding wheel is set in the first guide case (7), the first floating guiding wheel
It is in contact with the outer wall of the first lever arm (2), the second floating guiding wheel is set in the second guide case (8), and second floats
Directive wheel is in contact with the outer wall of the second lever arm (3).
9. the high-precision telescopic arm as claimed in claim 8 for expanding robot operating range, it is characterised in that：It is described solid
Fixed arm (1) end sealing, fixed arm (1) is internal, the first lever arm (2) is internal, is connected and fills inside the second lever arm (3)
There is pressure to be higher than the gas of fixed arm (1) external pressure, the bottom end of the first guide case (7), the bottom end of the second guide case (8), the
The bottom end of two lever arms (3) seals.
10. the control method as claimed in claim 7 for expanding the high-precision telescopic arm of robot operating range, feature
It is, the digital control system includes teaching machine, and the corresponding Angular Displacement Detecting encoder of first lever arm (2) is first jiao of position
Detection encoder is moved, the corresponding Angular Displacement Detecting encoder of second lever arm (3) is the second Angular Displacement Detecting encoder；
The method for controlling high-precision telescopic arm elongation includes the following steps：
After connecting the power supply of digital control system, extended length is inputted on teaching machine, starts the elongate buttons on teaching machine, and second lives
Swing arm (3) starts to extend, and extended length is measured by the second Angular Displacement Detecting encoder and totally-enclosed feedback signal, reaches accurate position
It postpones, the second lever arm (3) stops elongation；
When extended length is greater than the set value, the first lever arm (2) and the second lever arm (3) both participate in elongation, in sequence into
Row, the second lever arm (3) are extended first, and the first lever arm (2) is then extended, the second Angular Displacement Detecting encoder,
First Angular Displacement Detecting encoder feedback signal successively, after reaching accurate location, the second lever arm (3), the first lever arm (2) stop
Only extend；
The method for controlling high-precision telescopic arm shortening includes the following steps：
After the first lever arm (2), the second lever arm (3) are elongated to certain length, input shortening length, starts on teaching machine
Shortening button on teaching machine, the second lever arm (3) start to shorten, and shorten length and are measured simultaneously by the second Angular Displacement Detecting encoder
And totally-enclosed feedback signal, after reaching accurate location, the second lever arm (3) stops shortening；
When shorten length be greater than the set value when, the first lever arm (2) and the second lever arm (3) both participate in shortening, in sequence into
Row, the second lever arm (3) are shortened first, and the first lever arm (2) is then shortened, the second Angular Displacement Detecting encoder,
First Angular Displacement Detecting encoder feedback signal successively, after reaching accurate location, the second lever arm (3), the first lever arm (2) stop
Only shorten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810722644.XA CN108724247A (en) | 2018-07-04 | 2018-07-04 | High-precision telescopic arm for expanding robot operating range and its control method |
Applications Claiming Priority (1)
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Cited By (11)
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| CN110153085A (en) * | 2019-06-27 | 2019-08-23 | 因而克智能科技(浙江)有限公司 | A kind of automatic intelligent cleaning device |
| CN111941399A (en) * | 2020-08-19 | 2020-11-17 | 连城凯克斯科技有限公司 | double-Z-axis mechanism |
| CN112792845A (en) * | 2021-02-04 | 2021-05-14 | 湖北三江航天涂装设备工程有限公司 | Chain drive telescopic boom |
| WO2022056803A1 (en) * | 2020-09-16 | 2022-03-24 | 苏州研科星智能科技有限公司 | Intelligent industrial robot that automatically adjusts height |
| CN114366306A (en) * | 2022-01-11 | 2022-04-19 | 上海市胸科医院 | Telescopic structure and medical robot tail end actuating mechanism |
| WO2022138368A1 (en) * | 2020-12-22 | 2022-06-30 | ファナック株式会社 | Robot device |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
| CN114851177A (en) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | Mechanical arm with variable degrees of freedom and telescopic robot |
| CN116476122A (en) * | 2023-06-13 | 2023-07-25 | 苏州朗信智能科技有限公司 | Telescopic mechanical arm |
| CN117021158A (en) * | 2023-08-18 | 2023-11-10 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
| CN117357260A (en) * | 2023-10-24 | 2024-01-09 | 北京跃维医疗科技有限公司 | Telescoping device and surgical robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110153085A (en) * | 2019-06-27 | 2019-08-23 | 因而克智能科技(浙江)有限公司 | A kind of automatic intelligent cleaning device |
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| WO2022138368A1 (en) * | 2020-12-22 | 2022-06-30 | ファナック株式会社 | Robot device |
| CN112792845A (en) * | 2021-02-04 | 2021-05-14 | 湖北三江航天涂装设备工程有限公司 | Chain drive telescopic boom |
| CN114366306B (en) * | 2022-01-11 | 2023-09-01 | 上海市胸科医院 | Telescopic structure and medical robot end actuating mechanism |
| CN114366306A (en) * | 2022-01-11 | 2022-04-19 | 上海市胸科医院 | Telescopic structure and medical robot tail end actuating mechanism |
| CN114851177A (en) * | 2022-03-28 | 2022-08-05 | 赛诺威盛科技(北京)股份有限公司 | Mechanical arm with variable degrees of freedom and telescopic robot |
| CN114734479A (en) * | 2022-04-15 | 2022-07-12 | 肇庆市华师大光电产业研究院 | Extension mechanism and high vacuum mechanical arm |
| CN116476122A (en) * | 2023-06-13 | 2023-07-25 | 苏州朗信智能科技有限公司 | Telescopic mechanical arm |
| CN117021158A (en) * | 2023-08-18 | 2023-11-10 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
| CN117021158B (en) * | 2023-08-18 | 2024-01-26 | 中信重工机械股份有限公司 | Telescoping mechanism and mechanical equipment based on floating slide block support |
| CN117357260A (en) * | 2023-10-24 | 2024-01-09 | 北京跃维医疗科技有限公司 | Telescoping device and surgical robot system |
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