CN109318251A - A kind of driving device and its control method for joint of mechanical arm - Google Patents
A kind of driving device and its control method for joint of mechanical arm Download PDFInfo
- Publication number
- CN109318251A CN109318251A CN201811239750.9A CN201811239750A CN109318251A CN 109318251 A CN109318251 A CN 109318251A CN 201811239750 A CN201811239750 A CN 201811239750A CN 109318251 A CN109318251 A CN 109318251A
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- China
- Prior art keywords
- mechanical arm
- driving device
- controller
- servo motor
- joint
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- 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.)
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005611 electricity Effects 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of driving device and its control method for joint of mechanical arm, the mechanical arm driving device includes mechanical arm and controller, and the mechanical arm includes mechanical arm fixing end, mechanical arm round end, driving device and rotating device；The rotating device is mounted in the fixing end of mechanical arm, and the driving device is mounted on rotating device, and the mechanical arm fixing end is connect by fixed link with mechanical arm round end；Described device can improve the scope of activities of joint of mechanical arm by driving device and rotating device；It can be precisely controlled by scope of activities of the controller to mechanical arm.
Description
Technical field
The invention belongs to technical field of electricity, are related to a kind of driving device and its controlling party for joint of mechanical arm
Method.
Background technique
In recent years, robotics development is very rapid, robot obtains in fields such as industry, agricultural, service, medical treatment
It is widely applied.Manipulator is the important branch of robot technology, can complete various expected tasks.Manipulator presses its driving side
Formula can be divided into electric drive, pneumatic, hydraulic-driven, and wherein hydraulic driving mechanical is steady with movement, load capacity is big, rapidity
The advantages that good, achievable variable speed, is extensively applied to the heavily loaded different areas of activity such as underwater operation.The rotary joint of manipulator is machine
The critical component of tool hand, flexibility, accuracy have been largely fixed the flexibility of manipulator, accuracy.Therefore it designs
Small in size, the good manipulator rotary joint portion of flexibility is of great significance.The manipulator of hydraulic-driven, which rotates, at present closes
Section is mostly directly connected to using independent hydraulic motor and hydraulic cylinder, and fuel feed pump is external, bulky, when movement be easy with it is extraneous
Object generates interference, influences the kinematic dexterity of manipulator.
Summary of the invention
To solve the above problems, a kind of driving device and its control method for joint of mechanical arm of the present invention, the dress
The scope of activities of joint of mechanical arm can be improved by driving device and rotating device by setting；By controller to mechanical arm
Scope of activities can be precisely controlled.
The present invention is specially a kind of driving device for joint of mechanical arm, and the mechanical arm driving device includes mechanical arm
And controller, the mechanical arm include mechanical arm fixing end, mechanical arm round end, driving device and rotating device；The rotation
Device is mounted in the fixing end of mechanical arm, and the driving device is mounted on rotating device, and the mechanical arm fixing end passes through
Fixed link is connect with mechanical arm round end.
Controller described in the further controller accesses AC power source 220V, and the controller is touch screen control
Interface, the back side of the controller include power output end and pulse output end, and the voltage of the power input output is to hand over
Galvanic electricity source 220V, the pulse output end being capable of output pulse signals.
There are screw thread in further mechanical arm fixing end top and bottom, and the lower end of the mechanical arm fixing end passes through spiral shell
Line is fixed on fixation device surface, and the upper end of the mechanical arm fixing end is mounted with rotating device by screw thread.
Further mechanical arm round end lower end is semicircular concave, and there is through-hole in bottom end, the mechanical arm round end
Flank threads through-hole is connected by bolt with fixed link.
The further driving device includes servo motor, fixed baffle and fixed link, and the servo motor is mounted on
On rotating device, the servo motor includes power input and pulse input end, the power input by connecting line with
The AC power source 220V of controller is electrically connected, and the pulse input end is electrical by pulse output end in connecting line and controller
Connecting, the fixed baffle is two and half rounded convex, it is tangent with the semicircular concave of mechanical arm round end lower end, and it is mounted on servo
Motor two sides, the fixed link are mounted on servo motor.
Further described fixed link one end is mounted in the shaft of servo motor, and there is tapped through hole in the side of the other end,
It can be connect by bolt with mechanical arm round end.
The further rotating device includes servo motor and rotating platform, and it is solid that the servo motor is mounted on mechanical arm
On fixed end, the servo motor includes power input and pulse input end, and the power input passes through connecting line and control
The AC power source 220V of device is electrically connected, and the pulse input end passes through connecting line and pulse output end electrical property phase in controller
It connects, the rotating platform is mounted in the shaft of servo motor.
The invention also includes a kind of control methods of driving device for joint of mechanical arm, and steps are as follows:
Step 1: being required according to work on the spot, mechanical arm driving device and rotating device are set on the touch screen of controller
Operating parameter；
Step 2: after the operating parameter of driving device is provided with, mechanical arm round end passes through servo motor in driving device
180 ° of rotations are carried out in perpendicular；
Step 3: driving device and mechanical arm rotation after the operating parameter of rotating device is provided with, in mechanical arm fixing end
Turn end under the driving of servo motor, to rotate 360 ° in horizontal plane in rotating device；
Step 4: requiring selection to manually control and automatically control according to work on the spot；
Step 5: when selection manually controls, setting rotates horizontally switch in the touch screen of controller and vertical rotation is opened
The operating parameter of pass；
Step 6: staff being required according to field control, passes through horizontal rotation switch middle in control controller and vertical rotation
Pass is turned on, the direction of mechanical arm round end is manually controlled；
Step 7: when selecting to automatically control, every group of rotation of driving device and rotating device is set according to job requirement
Parameter carried out automatically controlling as coordinate.
Detailed description of the invention
Fig. 1 is to invent a kind of driving device control structure schematic diagram for joint of mechanical arm；
Fig. 2 is to invent a kind of driving device structure schematic diagram for joint of mechanical arm.
In figure: 1, mechanical arm；2, controller；3, mechanical arm fixing end；4, mechanical arm round end；5, fixed link；6, bolt；
7, driving device；8, rotating device.
Specific embodiment
With reference to the accompanying drawing to inventing a kind of driving device for joint of mechanical arm and its control method specific embodiment party
Formula elaborates.
As shown in Figs. 1-2, the present invention is specially a kind of driving device for joint of mechanical arm, and the mechanical arm 1 drives
Device 7 includes mechanical arm 1 and controller 2, and the mechanical arm 1 includes mechanical arm fixing end 3, mechanical arm round end 4, driving device
7 and rotating device 8；The rotating device 8 is mounted in the fixing end of mechanical arm, and the driving device 7 is mounted on rotating device 8
On, the mechanical arm fixing end 3 is connect by fixed link 5 with mechanical arm round end 4.
Wherein controller 2 described in the controller 2 accesses AC power source 220V, and the controller 2 is touch screen control
Interface, the back side of the controller 2 include power output end and pulse output end, and the voltage of the power input output is to hand over
Galvanic electricity source 220V, the pulse output end being capable of output pulse signals.Wherein there are spiral shell in 3 top and bottom of mechanical arm fixing end
Line, the lower end of the mechanical arm fixing end 3 are threadedly secured to fixation device surface, the upper end of the mechanical arm fixing end 3
Rotating device 8 is mounted with by screw thread.Wherein 4 lower end of mechanical arm round end is semicircular concave, and there are through-hole, the machine in bottom end
The flank threads through-hole of tool arm round end 4 is connected by bolt 6 with fixed link 5.Wherein the driving device 7 includes servo electricity
Machine, fixed baffle and fixed link 5, the servo motor are mounted on rotating device 8, and the servo motor includes power input
And pulse input end, the power input are electrically connected by the AC power source 220V of connecting line and controller 2, the pulse
Input terminal is electrically connected by connecting line and pulse output end in controller 2, and the fixed baffle is two and half rounded convex, with machine
The semicircular concave of 4 lower end of tool arm round end is tangent, and is mounted on servo motor two sides, and the fixed link 5 is mounted on servo motor
On.Wherein described 5 one end of fixed link is mounted in the shaft of servo motor, and there is tapped through hole in the side of the other end, can pass through
Bolt 6 is connect with mechanical arm round end 4.Wherein the rotating device 8 includes servo motor and rotating platform, the servo motor
It is mounted in mechanical arm fixing end 3, the servo motor includes power input and pulse input end, and the power input is logical
The AC power source 220V for crossing connecting line and controller 2 is electrically connected, and the pulse input end passes through connecting line and 2 middle arteries of controller
It rushes output end to be electrically connected, the rotating platform is mounted in the shaft of servo motor.
The invention also includes a kind of control methods of driving device for joint of mechanical arm, and steps are as follows:
Step 1: being required according to work on the spot, 1 driving device 7 of mechanical arm and rotation are set on the touch screen of controller 2
The operating parameter of device 8；
Step 2: after the operating parameter of driving device 7 is provided with, mechanical arm round end 4 passes through servo electricity in driving device
Machine carries out 180 ° of rotations in perpendicular；
Step 3: driving device and mechanical arm after the operating parameter of rotating device 8 is provided with, in mechanical arm fixing end 3
Round end 4 under the driving of servo motor, rotates 360 ° in rotating device 8 in horizontal plane；
Step 4: requiring selection to manually control and automatically control according to work on the spot；
Step 5: when selection manually controls, setting rotates horizontally switch and vertical rotation in the touch screen of controller 2
The operating parameter of switch；
Step 6: staff being required according to field control, by horizontal rotation switch middle in control controller 2 and vertically
Rotary switch manually controls the direction of mechanical arm round end 4；
Step 7: when selecting to automatically control, turning for every group of driving device 7 and rotating device 8 being arranged according to job requirement
Dynamic parameter is carried out automatically controlling as coordinate.
Finally it should be noted that only illustrating technical solution of the present invention rather than its limitations in conjunction with above-described embodiment.Institute
The those of ordinary skill in category field is it is to be understood that those skilled in the art can repair a specific embodiment of the invention
Change or equivalent replacement, but these modifications or change are being applied among pending claims.
Claims (8)
1. a kind of driving device for joint of mechanical arm, which is characterized in that the mechanical arm driving device include mechanical arm and
Controller, the mechanical arm include mechanical arm fixing end, mechanical arm round end, driving device and rotating device；The rotation dress
It sets in the fixing end for being mounted on mechanical arm, the driving device is mounted on rotating device, and the mechanical arm fixing end passes through solid
Fixed pole is connect with mechanical arm round end.
2. a kind of driving device for joint of mechanical arm according to claim 1, which is characterized in that the controller institute
Controller access AC power source 220V is stated, the controller is touch screen control interface, and the back side of the controller includes electricity
The voltage of source output terminal and pulse output end, the power input output is AC power source 220V, the pulse output end energy
Enough output pulse signals.
3. a kind of driving device for joint of mechanical arm according to claim 1, which is characterized in that the mechanical arm is solid
There are screw thread in fixed end top and bottom, and the lower end of the mechanical arm fixing end is threadedly secured to fixation device surface, the machine
The upper end of tool arm fixing end is mounted with rotating device by screw thread.
4. a kind of driving device for joint of mechanical arm according to claim 1, which is characterized in that the mechanical arm rotation
Turning end lower end is semicircular concave, and there is through-hole in bottom end, and the flank threads through-hole of the mechanical arm round end passes through bolt and fixed link
It is connected.
5. a kind of driving device for joint of mechanical arm according to claim 1, which is characterized in that driving device includes
Servo motor, fixed baffle and fixed link, the servo motor are mounted on rotating device, and the servo motor includes that power supply is defeated
Enter end and pulse input end, the power input is electrically connected by the AC power source 220V of connecting line and controller, described
Pulse input end is electrically connected by connecting line and pulse output end in controller, and the fixed baffle is two and half rounded convex,
It is tangent with the semicircular concave of mechanical arm round end lower end, and servo motor two sides are mounted on, the fixed link is mounted on servo electricity
On machine.
6. a kind of driving device for joint of mechanical arm according to claim 5, which is characterized in that the fixed link one
End is mounted in the shaft of servo motor, and there is tapped through hole in the side of the other end, can be connected by bolt and mechanical arm round end
It connects.
7. a kind of driving device for joint of mechanical arm according to claim 1, which is characterized in that the rotating device
Including servo motor and rotating platform, the servo motor is mounted in mechanical arm fixing end, and the servo motor includes power supply
Input terminal and pulse input end, the power input are electrically connected by the AC power source 220V of connecting line and controller, institute
It states pulse input end to be electrically connected by connecting line and pulse output end in controller, the rotating platform is mounted on servo motor
Shaft on.
8. a kind of control method of driving device for joint of mechanical arm as claimed in any of claims 1 to 7,
Steps are as follows:
Step 1: being required according to work on the spot, the fortune of mechanical arm driving device and rotating device is set on the touch screen of controller
Row parameter；
Step 2: after the operating parameter of driving device is provided with, mechanical arm round end is by servo motor in driving device perpendicular
180 ° of rotations are carried out in straight plane；
Step 3: driving device and mechanical arm round end after the operating parameter of rotating device is provided with, in mechanical arm fixing end
In rotating device under the driving of servo motor, rotated 360 ° in horizontal plane；
Step 4: requiring selection to manually control and automatically control according to work on the spot；
Step 5: when selection manually controls, setting rotates horizontally switch and vertical rotary switch in the touch screen of controller
Operating parameter；
Step 6: staff being required according to field control, is opened by horizontal rotation switch middle in control controller and vertical rotation
It closes, manually controls the direction of mechanical arm round end；
Step 7: when selecting to automatically control, the ginseng of every group of rotation of driving device and rotating device is set according to job requirement
Number, as coordinate, carries out automatically controlling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239750.9A CN109318251B (en) | 2018-10-24 | 2018-10-24 | Driving device for mechanical arm joint and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239750.9A CN109318251B (en) | 2018-10-24 | 2018-10-24 | Driving device for mechanical arm joint and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318251A true CN109318251A (en) | 2019-02-12 |
| CN109318251B CN109318251B (en) | 2024-06-21 |
Family
ID=65263027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811239750.9A Active CN109318251B (en) | 2018-10-24 | 2018-10-24 | Driving device for mechanical arm joint and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318251B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0523993A (en) * | 1991-07-15 | 1993-02-02 | Seiko Epson Corp | Horizontal articulated manipulator |
| US20110217111A1 (en) * | 2010-03-03 | 2011-09-08 | Sung-Tsun Wu | Clamp-proof joint |
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| JP2013198955A (en) * | 2012-03-23 | 2013-10-03 | Toyota Motor East Japan Inc | Robot contact sensing device |
| CN105619400A (en) * | 2016-02-24 | 2016-06-01 | 青岛万龙智控科技有限公司 | Six-degree-of-freedom manipulator |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| CN106041998A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Multistage rotary and telescopic mechanical arm |
| CN205835325U (en) * | 2016-05-03 | 2016-12-28 | 刘偲 | A kind of modular mechanical arm |
| WO2017016483A1 (en) * | 2015-07-29 | 2017-02-02 | 中车齐齐哈尔车辆有限公司大连研发中心 | Railway vehicle and joint connector thereof |
| CN207309973U (en) * | 2017-08-31 | 2018-05-04 | 武汉臻迪智能技术有限公司 | A kind of folding robert arm |
| JP2018140463A (en) * | 2017-02-28 | 2018-09-13 | 国立大学法人信州大学 | Active manipulator apparatus |
| CN209504152U (en) * | 2018-10-24 | 2019-10-18 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device for joint of mechanical arm |
-
2018
- 2018-10-24 CN CN201811239750.9A patent/CN109318251B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0523993A (en) * | 1991-07-15 | 1993-02-02 | Seiko Epson Corp | Horizontal articulated manipulator |
| US20110217111A1 (en) * | 2010-03-03 | 2011-09-08 | Sung-Tsun Wu | Clamp-proof joint |
| WO2012007014A1 (en) * | 2010-07-13 | 2012-01-19 | Abdallah Ezzat Abdallah Abozaied | Joint |
| JP2013198955A (en) * | 2012-03-23 | 2013-10-03 | Toyota Motor East Japan Inc | Robot contact sensing device |
| CN105710870A (en) * | 2014-12-04 | 2016-06-29 | 北京航天斯达科技有限公司 | Four-freedom-degree horizontal joint robot |
| WO2017016483A1 (en) * | 2015-07-29 | 2017-02-02 | 中车齐齐哈尔车辆有限公司大连研发中心 | Railway vehicle and joint connector thereof |
| CN105619400A (en) * | 2016-02-24 | 2016-06-01 | 青岛万龙智控科技有限公司 | Six-degree-of-freedom manipulator |
| CN205835325U (en) * | 2016-05-03 | 2016-12-28 | 刘偲 | A kind of modular mechanical arm |
| CN106041998A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Multistage rotary and telescopic mechanical arm |
| JP2018140463A (en) * | 2017-02-28 | 2018-09-13 | 国立大学法人信州大学 | Active manipulator apparatus |
| CN207309973U (en) * | 2017-08-31 | 2018-05-04 | 武汉臻迪智能技术有限公司 | A kind of folding robert arm |
| CN209504152U (en) * | 2018-10-24 | 2019-10-18 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device for joint of mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109318251B (en) | 2024-06-21 |
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