CN112757289A - Degree of freedom snatchs manipulator - Google Patents
Degree of freedom snatchs manipulator Download PDFInfo
- Publication number
- CN112757289A CN112757289A CN202011425568.XA CN202011425568A CN112757289A CN 112757289 A CN112757289 A CN 112757289A CN 202011425568 A CN202011425568 A CN 202011425568A CN 112757289 A CN112757289 A CN 112757289A
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- Prior art keywords
- hydraulic
- manipulator
- control box
- controller
- freedom
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A freedom grabbing manipulator relates to the technical field of manipulators and control systems thereof. The mechanical arm switching device comprises a main control box, a hydraulic arm, a mechanical arm controller, a switching mounting disc, a main controller, a hydraulic connection transfer device and a standby mechanical arm box; a hydraulic control box is fixedly installed below the main control box through machinery, the upper end of a hydraulic arm is installed inside the hydraulic control box, a conversion installation disc is installed at the lower end of the hydraulic arm, and a manipulator controller is rotatably connected with the hydraulic arm through the conversion installation disc; a main controller is arranged in the main control box, and a hydraulic controller is arranged in the hydraulic control box; a standby manipulator box is arranged on the back of the hydraulic control box; it has reserve manipulator, can replace its work when main manipulator breaks down, guarantees that work piece processing work goes on, guarantees that the production progress is normal, guarantees production efficiency, and a conversion equipment for switching work has higher degree of freedom, can realize the fast switch-over.
Description
Technical Field
The invention relates to the technical field of manipulators and control systems thereof, in particular to a freedom degree grabbing manipulator with controllable freedom degree.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system is used for controlling a motor of each degree of freedom of the manipulator to complete a specific action. And meanwhile, receiving information fed back by the sensor to form stable closed-loop control. The core of the control system is usually composed of a single chip microcomputer or a dsp and other micro control chips, and the required functions are realized by programming the micro control chips.
The intelligent mechanical arm for processing large-scale objects in the prior art has the advantages that the structure of the intelligent mechanical arm is complex, once physical failure or control system failure occurs, the intelligent mechanical arm cannot continue to work in the processing process, the work progress is slow easily caused by the occurrence of the physical failure or the control system failure, long completion working hours are needed, the energy consumption of the whole production system is increased, and the intelligent mechanical arm is not suitable for batch industrial production.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a freedom degree grabbing manipulator which is provided with a standby manipulator, can replace the main manipulator to work when the main manipulator breaks down, ensures that the workpiece processing work is carried out, ensures that the production progress is normal, ensures the production efficiency, presets the same freedom degree on the main manipulator and the standby manipulator, has higher freedom degree for switching the work, can realize quick switching, has short switching time and accurate position, ensures the processing working hour, reduces the overall energy consumption of a production system, and is suitable for batch industrial production.
In order to achieve the purpose, the invention adopts the following technical scheme: the hydraulic manipulator comprises a main control box 1, a hydraulic control box 2, a hydraulic arm 3, a manipulator controller 4, a conversion mounting disc 5, a main controller 6, a hydraulic controller 7, a hydraulic connection transfer device 8 and a spare manipulator box 9; a hydraulic control box 2 is fixedly installed below the main control box 1 through machinery, the upper end of a hydraulic arm 3 is installed inside the hydraulic control box 2, a conversion installation disc 5 is installed at the lower end of the hydraulic arm 3, and a manipulator controller 4 is rotatably connected with the hydraulic arm 3 through the conversion installation disc 5; a main controller 6 is arranged in the main control box 1, a hydraulic controller 7 is arranged in the hydraulic control box 2, a hydraulic connection transfer device 8 is arranged at the lower part of the hydraulic controller 7, and the upper end of the hydraulic arm 3 is arranged on the hydraulic connection transfer device 8; the back of the hydraulic control box 2 is provided with a standby manipulator box 9, a standby manipulator of the same type as the current manipulator is placed in the standby manipulator box 9, the hydraulic arm 3, the manipulator controller 4, the main controller 6 and the hydraulic controller 7 are electrically connected with an external control computer 10, the external control computer 10 presets a degree of freedom value for each device, and each device completes designated work and matching action through the preset degree of freedom value.
The lower part of the main control box 1 is provided with a connecting seat 11.
The upper part of the hydraulic control box 2 is provided with a mounting connecting disc 21, and the mounting connecting disc 21 is connected with the connecting seat 11 through a mechanical chuck.
A clamping jaw 41 is arranged below the manipulator controller 4.
The clamping jaw 41 is a DC53 high-toughness cold-work steel mechanical jaw.
The working principle of the invention is as follows: the spare manipulator box 9 is arranged at the spare position of the manipulator, a spare manipulator with the same model as the existing DC53 high-toughness cold-working steel mechanical claw is placed for spare use, when the existing manipulator breaks down or is damaged, the existing manipulator can be replaced immediately, the existing manipulator continues to work through the same degree of freedom preset by the external control computer 10, the maintenance time is saved, and the on-time work completion in a work process can be guaranteed.
After the technical scheme is adopted, the invention has the beneficial effects that: it has spare manipulator, can replace its work when main manipulator breaks down, guarantees that work piece processing work goes on, guarantees that the production progress is normal, guarantees production efficiency, predetermines the same degree of freedom on main manipulator and spare manipulator, and the conversion equipment who is used for switching work has higher degree of freedom, can realize the fast switch-over, and the switching time is short and the position is accurate, guarantees to process man-hour, reduces production system's overall power consumption, is applicable to batch chemical industry production.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a rear view corresponding to FIG. 1;
fig. 4 is a schematic block diagram of the working principle of the present invention.
Description of reference numerals: the hydraulic manipulator comprises a main control box 1, a hydraulic control box 2, a hydraulic arm 3, a manipulator controller 4, a conversion mounting disc 5, a main controller 6, a hydraulic controller 7, a hydraulic connection transfer device 8, a spare manipulator box 9, an external control computer 10, a connecting seat 11, a mounting connecting disc 21 and a clamping jaw 41.
Detailed Description
Referring to fig. 1 to 4, the technical solution adopted by the present embodiment is: the hydraulic manipulator comprises a main control box 1, a hydraulic control box 2, a hydraulic arm 3, a manipulator controller 4, a conversion mounting disc 5, a main controller 6, a hydraulic controller 7, a hydraulic connection transfer device 8, a standby manipulator box 9, an external control computer 10, a connecting seat 11, a mounting connecting disc 21 and a clamping jaw 41; a hydraulic control box 2 is fixedly installed below the main control box 1 through machinery, the upper end of a hydraulic arm 3 is installed inside the hydraulic control box 2, a conversion installation disc 5 is installed at the lower end of the hydraulic arm 3, and a manipulator controller 4 is rotatably connected with the hydraulic arm 3 through the conversion installation disc 5; a main controller 6 is arranged in the main control box 1, a hydraulic controller 7 is arranged in the hydraulic control box 2, a hydraulic connection transfer device 8 is arranged at the lower part of the hydraulic controller 7, and the upper end of the hydraulic arm 3 is arranged on the hydraulic connection transfer device 8; the back of the hydraulic control box 2 is provided with a standby manipulator box 9, a standby manipulator of the same type as the current manipulator is placed in the standby manipulator box 9, the hydraulic arm 3, the manipulator controller 4, the main controller 6 and the hydraulic controller 7 are electrically connected with an external control computer 10, the external control computer 10 presets a degree of freedom value for each device, and each device completes designated work and matching action through the preset degree of freedom value.
The lower part of the main control box 1 is provided with a connecting seat 11, and the connecting seat 11 is used for mechanical installation and fixation between the main control box 1 and the hydraulic control box 2.
The upper part of the hydraulic control box 2 is provided with a mounting connecting disc 21, and the mounting connecting disc 21 is connected with the connecting seat 11 through a mechanical chuck. The hydraulic control box 2 can be clamped and fixed below the main control box 1.
Further, a clamping jaw 41 is arranged below the manipulator controller 4 and used for grabbing large workpieces.
The clamping jaw 41 is a DC53 high-toughness cold-work steel mechanical jaw and has high working hardness, wear resistance, toughness, quenching non-deformability, machinability and decarburization sensitivity.
The spare manipulator box 9 is arranged at the spare position of the manipulator, a spare manipulator with the same model as the existing DC53 high-toughness cold-working steel mechanical claw is placed for spare use, when the existing manipulator breaks down or is damaged, the existing manipulator can be replaced immediately, the existing manipulator continues to work through the same degree of freedom preset by the external control computer 10, the maintenance time is saved, and the on-time work completion in a work process can be guaranteed. The external control computer 10 sets the same degree of freedom threshold value for the manipulator controller 4, the main controller 6, and the hydraulic controller 7, and controls the hydraulic arm 3 to operate through the degree of freedom.
The degree of freedom calculation method employed by the external control computer 10 is: the degree of freedom of the mechanism is calculated by constructing a kinematic analysis equation of the mechanism and analyzing the rank of the kinematic analysis equation, or each closed chain of the mechanism is split, and the degree of freedom of the mechanism is analyzed by a virtual displacement matrix method. The method has the advantages that the degree of freedom of the mechanism can be perfectly calculated theoretically, and the calculation method is simple in comprehension.
After the technical scheme is adopted, the invention has the beneficial effects that: it has spare manipulator, can replace its work when main manipulator breaks down, guarantees that work piece processing work goes on, guarantees that the production progress is normal, guarantees production efficiency, predetermines the same degree of freedom on main manipulator and spare manipulator, and the conversion equipment who is used for switching work has higher degree of freedom, can realize the fast switch-over, and the switching time is short and the position is accurate, guarantees to process man-hour, reduces production system's overall power consumption, is applicable to batch chemical industry production.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. Degree of freedom snatchs manipulator, its characterized in that: the hydraulic manipulator system comprises a main control box (1), a hydraulic control box (2), a hydraulic arm (3), a manipulator controller (4), a conversion mounting disc (5), a main controller (6), a hydraulic controller (7), a hydraulic connection transfer device (8) and a spare manipulator box (9); the hydraulic control box (2) is fixedly installed below the main control box (1) through machinery, the upper end of the hydraulic arm (3) is installed inside the hydraulic control box (2), the lower end of the hydraulic arm (3) is provided with a conversion installation disc (5), and the manipulator controller (4) is rotatably connected with the hydraulic arm (3) through the conversion installation disc (5); a main controller (6) is arranged in the main control box (1), a hydraulic controller (7) is arranged in the hydraulic control box (2), a hydraulic connection transfer device (8) is arranged at the lower part of the hydraulic controller (7), and the upper end of the hydraulic arm (3) is arranged on the hydraulic connection transfer device (8); hydraulic control case (2) back is provided with reserve manipulator box (9), places in reserve manipulator box (9) with the same model reserve manipulator of existing use manipulator, hydraulic arm (3), manipulator controller (4), main control unit (6), hydraulic controller (7) all with external control computer (10) electric connection, external control computer (10) are for each equipment preset degree of freedom numerical value, each equipment is accomplished appointed work and is matchd the action by preset degree of freedom numerical value.
2. The degree-of-freedom gripper robot of claim 1, wherein: the lower part of the main control box (1) is provided with a connecting seat (11).
3. The degree-of-freedom gripper robot of claim 1, wherein: the hydraulic control box (2) is provided with a mounting connecting disc (21) at the upper part, and the mounting connecting disc (21) is connected with the connecting seat (11) by a mechanical chuck.
4. The degree-of-freedom gripper robot of claim 1, wherein: and a clamping jaw (41) is arranged below the manipulator controller (4).
5. The degree-of-freedom gripper robot of claim 4, wherein: the clamping jaw (41) is a DC53 high-toughness cold-work steel mechanical jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425568.XA CN112757289A (en) | 2020-12-09 | 2020-12-09 | Degree of freedom snatchs manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425568.XA CN112757289A (en) | 2020-12-09 | 2020-12-09 | Degree of freedom snatchs manipulator |
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| Publication Number | Publication Date |
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| CN112757289A true CN112757289A (en) | 2021-05-07 |
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| CN202011425568.XA Pending CN112757289A (en) | 2020-12-09 | 2020-12-09 | Degree of freedom snatchs manipulator |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010069584A (en) * | 2008-09-19 | 2010-04-02 | Yaskawa Electric Corp | Device and method for controlling manipulator |
| CN105598937A (en) * | 2016-02-01 | 2016-05-25 | 湖北工业大学 | Automatic tallying robot for supermarket |
| CN107932481A (en) * | 2017-12-04 | 2018-04-20 | 湖南瑞森可机器人科技有限公司 | A kind of composite machine people and its control method |
| CN207616618U (en) * | 2017-11-24 | 2018-07-17 | 华北理工大学 | A kind of production line automatic transporting machinery maintenance unit |
| CN207952230U (en) * | 2018-03-18 | 2018-10-12 | 李晓宇 | It is a kind of to turn over machine for moving steel tool hand for rolling mill |
| CN109176449A (en) * | 2018-10-10 | 2019-01-11 | 刘书勇 | A kind of portable telescopic mechanical arm and its application method |
| CN110733049A (en) * | 2019-10-11 | 2020-01-31 | 迈赫机器人自动化股份有限公司 | processing system capable of realizing automatic replacement of end effector in mechanical arm |
| CN211163990U (en) * | 2019-10-28 | 2020-08-04 | 江西泰丰机电设备有限公司 | Manipulator for electric motor maintenance |
-
2020
- 2020-12-09 CN CN202011425568.XA patent/CN112757289A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010069584A (en) * | 2008-09-19 | 2010-04-02 | Yaskawa Electric Corp | Device and method for controlling manipulator |
| CN105598937A (en) * | 2016-02-01 | 2016-05-25 | 湖北工业大学 | Automatic tallying robot for supermarket |
| CN207616618U (en) * | 2017-11-24 | 2018-07-17 | 华北理工大学 | A kind of production line automatic transporting machinery maintenance unit |
| CN107932481A (en) * | 2017-12-04 | 2018-04-20 | 湖南瑞森可机器人科技有限公司 | A kind of composite machine people and its control method |
| CN207952230U (en) * | 2018-03-18 | 2018-10-12 | 李晓宇 | It is a kind of to turn over machine for moving steel tool hand for rolling mill |
| CN109176449A (en) * | 2018-10-10 | 2019-01-11 | 刘书勇 | A kind of portable telescopic mechanical arm and its application method |
| CN110733049A (en) * | 2019-10-11 | 2020-01-31 | 迈赫机器人自动化股份有限公司 | processing system capable of realizing automatic replacement of end effector in mechanical arm |
| CN211163990U (en) * | 2019-10-28 | 2020-08-04 | 江西泰丰机电设备有限公司 | Manipulator for electric motor maintenance |
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Application publication date: 20210507 |
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| RJ01 | Rejection of invention patent application after publication |