CN108908311A - A kind of algorithm of five axial plane robot and its armshaft relative movement distance - Google Patents
A kind of algorithm of five axial plane robot and its armshaft relative movement distance Download PDFInfo
- Publication number
- CN108908311A CN108908311A CN201810858259.8A CN201810858259A CN108908311A CN 108908311 A CN108908311 A CN 108908311A CN 201810858259 A CN201810858259 A CN 201810858259A CN 108908311 A CN108908311 A CN 108908311A
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- China
- Prior art keywords
- cursor
- pedestal
- move horizontally
- axial plane
- electric machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The present invention discloses and provides the algorithm of five axial plane robots of one kind and its armshaft relative movement distance.Five axial plane robots in the present invention increase a horizontally movable X-axis on original SCARA, expand the working range of planar robot, and the work of robot is more flexible.The theoretical precision of the algorithm of five axial plane robot armshaft relative movement distances in the present invention is very high, can improve precision of the 5 axial plane articulated robots in industrial automation application indirectly.The present invention is suitable for industrial automation and needs working range is biggish to move to take and assembling function board field.
Description
Technical field
The present invention relates to a kind of five axial plane robots and its algorithms of armshaft relative movement distance.
Background technique
Selective compliance assembly robot arm's abbreviation SCARA (Selective Compliance Assembly Robot Arm), tool
There are 3 rotary joints, a linear joint, two of them rotary joint axis is parallel to each other, and another rotary joint realizes terminal
The 360 degree rotation of node, four freedom degrees for possessing XYZ and rotating about the z axis, since two of them rotary joint is in same water
Plane, therefore referred to as selective compliance assembly robot arm, feature be it is light sensitive, be suitable for plane positioning, vertical direction carry out assembly remove
The operation taken.Existing SCARA is the disadvantage is that working range is smaller, in the case where needing larger range to operate, increases work model
Enclosing means that robot weight increases, and increased costs lose light sensitive feature.Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide five axial plane robots of one kind and its axis
The algorithm of arm relative movement distance.Five axial plane robots in the present invention increase on original SCARA one it is horizontally moveable
X-axis, expand the working range of planar robot, and the work of robot is more flexible.Five axial plane machines in the present invention
The theoretical precision of the algorithm of people's armshaft relative movement distance is very high, can improve indirectly 5 axial plane articulated robots industry from
Precision in dynamicization application.
The technical scheme adopted by the invention is that：Wu-zhi-shan pig in the present invention includes lifting pedestal, moves horizontally axis
Frame, the first cursor, the second cursor and terminal take object arm, and the pedestal adaptation that moves horizontally is movably arranged on the lifting
On pedestal, the head end of first cursor be movably arranged on it is described move horizontally on pedestal, the head end of second cursor
It is movably arranged on the end of first cursor, the terminal takes object arm to be movably arranged on the end of second cursor.
Lifting sliding rail, screw rod and lead screw motor are provided on the lifting pedestal, the pedestal adaptation that moves horizontally is slided
Dynamic to be arranged on the lifting sliding rail and be connected with the screw rod, the bottom of the lifting pedestal is arranged in the lead screw motor
End, the output end of the lead screw motor are connected with the bottom end of the screw rod.
It is described move horizontally to be provided on pedestal move horizontally motor, horizontal slide rail and move horizontally block, the level
Sliding rail moves horizontally the length direction setting of pedestal described in, and the block adaptation that moves horizontally is slidably arranged in the horizontal slide rail
On, the end for moving horizontally pedestal, the output end for moving horizontally motor and institute is arranged in the motor that moves horizontally
It states and moves horizontally block and be connected.
The bottom for moving horizontally block is vertically installed with the first rotary electric machine, and the head end adaptation of first cursor is set
It sets in the bottom for moving horizontally block and is connected with the output end of first rotary electric machine, the head of first cursor
End be placed in first rotary electric machine and it is described move horizontally between block, it is vertical on the upper surface of the end of first cursor
It is provided with the second rotary electric machine, the lower surface of the end of first cursor is arranged in the head end adaptation of second cursor
Above and with the output end of second rotary electric machine it is connected.
Terminal rotary electric machine is provided on the end of second cursor, the terminal takes object arm and the terminal to rotate
The output end of motor is connected.
About the algorithm of above-mentioned five axial plane robot armshaft relative movement distance, if the pedestal that moves horizontally is vertical
Static on direction, the terminal takes object arm static, then
It is described move horizontally pedestal move horizontally distance：；
The first cursor moving distance：；
The second cursor moving distance：,
Wherein R_r1 is the length of first cursor, and R_r2 is the length of second cursor, α be it is mobile before described the
One cursor and the angle for moving horizontally pedestal, β be it is mobile after first cursor with described move horizontally pedestal
Angle, puleqt_x are the pedestal that moves horizontally from the pulse equivalency for being moved to stopping, and puleqt_r1 is first rotation
To the pulse equivalency stopped, puleqt_r2 is pulse equivalency of the second cursor autorotation to stopping for arm autorotation.
The beneficial effects of the invention are as follows：In wu-zhi-shan pig of the invention, between the first cursor and lifting pedestal
It is additionally arranged and moves horizontally pedestal, substantially increase the scope of activities of the first cursor and the second cursor.In the present invention
The algorithm of armshaft relative movement distance about wu-zhi-shan pig is simple and easy, can be applied directly in project, and it is managed
It is very high by precision, precision of the 5 axial plane articulated robots in industrial automation application can be improved indirectly.
Detailed description of the invention
Fig. 1 is overall schematic of the invention;
The positional relationship of X-axis and R1 on the coordinate of the direction XY when Fig. 2 is starting；
Fig. 3 is the mobile preceding angle schematic diagram of R1 and X-axis on the coordinate of the direction XY；
Fig. 4 is the angle schematic diagram of R1 and X-axis on the coordinate of the direction XY after movement.
Specific embodiment
As shown in Figure 1, the wu-zhi-shan pig in the present invention includes including going up and down pedestal 1, moving horizontally 2, first turns of pedestal
Swing arm 3, the second cursor 4 and terminal take object arm 5, and the adaptation of pedestal 2 that moves horizontally is movably arranged on the lifting pedestal 1
On, the head end of first cursor 3 be movably arranged on it is described move horizontally on pedestal 2, the head end of second cursor 4 is living
The dynamic end that first cursor 3 is arranged in, the terminal take object arm 5 to be movably arranged on the end of second cursor 4.
Lifting sliding rail 11, screw rod 12 and lead screw motor 13 are provided on the lifting pedestal 1, it is described to move horizontally pedestal
2 adaptations are slidably arranged on the lifting sliding rail 11 and are connected with the screw rod 12, and the lead screw motor 13 is arranged described
The bottom end of pedestal 1 is gone up and down, the output end of the lead screw motor 13 is connected with the bottom end of the screw rod 12.
It is described move horizontally to be provided on pedestal 2 move horizontally motor 21, horizontal slide rail 22 and move horizontally block 23, institute
Horizontal slide rail 22 is stated along the length direction setting for moving horizontally pedestal 2, the adaptation of block 23 that moves horizontally is slidably arranged in
On the horizontal slide rail 22, the end for moving horizontally pedestal 2 is arranged in the motor 21 that moves horizontally, described to move horizontally
The output end of motor 21 is connected with the block 23 that moves horizontally.
The bottom for moving horizontally block 23 is vertically installed with the first rotary electric machine 31, the head end of first cursor 3
Adaptation is arranged in the bottom for moving horizontally block 23 and is connected with the output end of first rotary electric machine 31, and described first
The head end of cursor 3 be placed in first rotary electric machine 31 and it is described move horizontally between block 23, the end of first cursor 3
The second rotary electric machine 41 is vertically installed on the upper surface at end, the head end adaptation of second cursor 4 is arranged described first
It is connected on the lower surface of the end of cursor 3 and with the output end of second rotary electric machine 41.
Terminal rotary electric machine 51 is provided on the end of second cursor 4, the terminal takes object arm 5 and the terminal
The output end of rotary electric machine 51 is connected.
The algorithm of the relative movement distance of armshaft about above-mentioned five axial plane robot：
In this embodiment, moved horizontally described in setting pedestal 2 be X, first cursor 3 be R1, described second turn
Swing arm 4 is R2, as shown in Fig. 2, known quantity has：Large arm R1 length R_r1 mm, forearm R2 length R_r2 mm, X-axis is with the schematic diagram right side
Direction is positive, and R1, R2 are positive in a counterclockwise direction.
Assuming that needing 5 axial plane articulated robots that existing posture is kept to move d mm in the horizontal plane, Z axis and R3 axis are quiet
Only, the relative distance of tri- axis of X, R1, R2 is only calculated.
Known quantity has：Each spindle motor current location currt_x, currt_r1, currt_r2, unit pulse；R1, R2 are protected
Hold pulse zero_r1, zero_r2 of the straight line with X-axis when vertical；Each axis pulse equivalency puleqt_x (mm/pulse), puleqt_
R1 (radian/pulse), puleqt_r2 (radian/pulse).Puleqt_x is that the pedestal 2 that moves horizontally is moved to certainly
The pulse equivalency of stopping, puleqt_r1 are 3 autorotation of the first cursor to the pulse equivalency stopped, and puleqt_r2 is institute
4 autorotation of the second cursor is stated to the pulse equivalency stopped.
Then in the X direction, X-axis moving distance：；
In the Y direction, as shown in figure 3, calculating the angle α radian of mobile preceding R1 and X-axis,
By
It calculates：；
As shown in figure 4, the angle β radian of R1 and X-axis after movement are calculated,
By
It calculates；
Calculate each axis relative movement distance pulse：
It is described move horizontally pedestal 2 move horizontally distance：；
First cursor, 3 moving distance：；
Second cursor, 4 moving distance：,
Wherein R_r1 is the length of first cursor 3, and R_r2 is the length of second cursor 4.
The present invention is suitable for industrial automation and needs working range is biggish to move to take and assembling function board field.
Claims (6)
1. a kind of five axial plane robots, it is characterised in that：It includes lifting pedestal（1）, move horizontally pedestal（2）, first turn
Swing arm（3）, the second cursor（4）And terminal takes object arm（5）, described to move horizontally pedestal（2）Adaptation is movably arranged on described
Go up and down pedestal（1）On, first cursor（3）Head end be movably arranged on and described move horizontally pedestal（2）On, described second
Cursor（4）Head end be movably arranged on first cursor（3）End, the terminal takes object arm（5）It is movably arranged on
Second cursor（4）End.
2. a kind of five axial plane robot according to claim 1, it is characterised in that：The lifting pedestal（1）Upper setting
There is lifting sliding rail（11）, screw rod（12）And lead screw motor（13）, described to move horizontally pedestal（2）Adaptation is slidably arranged in described
Lifting sliding rail（11）It is upper and with the screw rod（12）It is connected, the lead screw motor（13）It is arranged in the lifting pedestal（1）'s
Bottom end, the lead screw motor（13）Output end and the screw rod（12）Bottom end be connected.
3. a kind of five axial plane robot according to claim 2, it is characterised in that：It is described to move horizontally pedestal（2）On
It is provided with and moves horizontally motor（21）, horizontal slide rail（22）And move horizontally block（23）, the horizontal slide rail（22）Described in
Move horizontally pedestal（2）Length direction setting, it is described to move horizontally block（23）Adaptation is slidably arranged in the horizontal slide rail
（22）On, it is described to move horizontally motor（21）It is arranged and moves horizontally pedestal described（2）End, it is described to move horizontally motor
（21）Output end and described move horizontally block（23）It is connected.
4. a kind of five axial plane robot according to claim 3, it is characterised in that：It is described to move horizontally block（23）Bottom
Portion is vertically installed with the first rotary electric machine（31）, first cursor（3）Head end adaptation be arranged and described move horizontally block
（23）Bottom and with first rotary electric machine（31）Output end be connected, first cursor（3）Head end be placed in
First rotary electric machine（31）Block is moved horizontally with described（23）Between, first cursor（3）End upper surface
On be vertically installed with the second rotary electric machine（41）, second cursor（4）Head end adaptation be arranged in first cursor
（3）End lower surface on and with second rotary electric machine（41）Output end be connected.
5. a kind of five axial plane robot according to claim 4, it is characterised in that：Second cursor（4）End
Terminal rotary electric machine is provided on end（51）, the terminal takes object arm（5）With the terminal rotary electric machine（51）Output end phase
Connection.
6. a kind of algorithm about the five axial plane robot armshaft relative movement distance of one kind described in claim 5, feature
It is：It is described to move horizontally pedestal（2）Static in the vertical direction, the terminal takes object arm（5）It is static, then
It is described to move horizontally pedestal（2）Move horizontally distance：；
First cursor（3）Moving distance：；
Second cursor（4）Moving distance：,
Wherein R_r1 is first cursor（3）Length, R_r2 be second cursor（4）Length, before α is mobile
First cursor（3）Pedestal is moved horizontally with described（2）Angle, β be it is mobile after first cursor（3）With it is described
Move horizontally pedestal（2）Angle, puleqt_x is described to move horizontally pedestal（2）From the pulse equivalency for being moved to stopping,
Puleqt_r1 is first cursor（3）To the pulse equivalency stopped, puleqt_r2 is second cursor for autorotation
（4）The pulse equivalency that autorotation extremely stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810858259.8A CN108908311A (en) | 2018-07-31 | 2018-07-31 | A kind of algorithm of five axial plane robot and its armshaft relative movement distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810858259.8A CN108908311A (en) | 2018-07-31 | 2018-07-31 | A kind of algorithm of five axial plane robot and its armshaft relative movement distance |
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| Publication Number | Publication Date |
|---|---|
| CN108908311A true CN108908311A (en) | 2018-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810858259.8A Pending CN108908311A (en) | 2018-07-31 | 2018-07-31 | A kind of algorithm of five axial plane robot and its armshaft relative movement distance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421571A (en) * | 2019-01-09 | 2020-07-17 | 苏州吉泰兴机电设备有限公司 | Four-axis robot |
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| CN2796972Y (en) * | 2005-04-04 | 2006-07-19 | 天津市华志计算机应用有限公司 | Structure of fire freedom space location robot |
| CN102283765A (en) * | 2010-06-16 | 2011-12-21 | 山东康泰实业有限公司 | Rectangular coordinate and joint type combined traditional Chinese massage robot |
| CN204621423U (en) * | 2015-05-22 | 2015-09-09 | 苏州法鲁克自动化设备有限公司 | A kind of high stability five axle welding robot |
| CN106541395A (en) * | 2015-09-22 | 2017-03-29 | 张桂春 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN209207508U (en) * | 2018-07-31 | 2019-08-06 | 珠海市运泰利自动化设备有限公司 | A kind of five axial plane robots |
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2018
- 2018-07-31 CN CN201810858259.8A patent/CN108908311A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2796972Y (en) * | 2005-04-04 | 2006-07-19 | 天津市华志计算机应用有限公司 | Structure of fire freedom space location robot |
| CN102283765A (en) * | 2010-06-16 | 2011-12-21 | 山东康泰实业有限公司 | Rectangular coordinate and joint type combined traditional Chinese massage robot |
| CN204621423U (en) * | 2015-05-22 | 2015-09-09 | 苏州法鲁克自动化设备有限公司 | A kind of high stability five axle welding robot |
| CN106541395A (en) * | 2015-09-22 | 2017-03-29 | 张桂春 | A kind of new Five-degree-of-freedmanipulator manipulator |
| CN209207508U (en) * | 2018-07-31 | 2019-08-06 | 珠海市运泰利自动化设备有限公司 | A kind of five axial plane robots |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421571A (en) * | 2019-01-09 | 2020-07-17 | 苏州吉泰兴机电设备有限公司 | Four-axis robot |
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