CN114043470B - Driver and manipulator with same - Google Patents
Driver and manipulator with same Download PDFInfo
- Publication number
- CN114043470B CN114043470B CN202111340745.9A CN202111340745A CN114043470B CN 114043470 B CN114043470 B CN 114043470B CN 202111340745 A CN202111340745 A CN 202111340745A CN 114043470 B CN114043470 B CN 114043470B
- Authority
- CN
- China
- Prior art keywords
- driver
- manipulator
- subunits
- connecting piece
- subunit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention relates to the related technical field of robots and discloses a driver and a manipulator with the same, wherein the driver comprises a plurality of driver subunits, the driver subunits are installed in an array mode, the driver subunits are connected, so that the driver subunits are mutually connected to form a whole to form a driver array, the integration of the driver is realized, the size is small and the application is convenient, the manipulator is modularized, the production, the assembly and the maintenance are convenient, the driver in the array form is adopted, the integration level of the manipulator is higher, the functions of the manipulator are more abundant, more use requirements can be met, the application is wider, the driver is closer to the manipulator, the communication speed can be improved, and the control delay is reduced.
Description
Technical Field
The invention relates to the related technical field of robots, in particular to a driver and a manipulator with the same.
Background
As a modular manipulator, the size of the drive determines the final degree of integration of the manipulator. The existing driver is large in size and difficult to install at a connecting position between the manipulator and the mechanical arm, so that the driver installation position is far away from the manipulator, the integration level of the manipulator is affected, and meanwhile, the communication speed between the manipulator and the driver is reduced, so that the design of the small-size driver is significant for the application of the manipulator, and the application of the small-size driver is provided for the problem.
Disclosure of Invention
The object of the present invention is to provide a small-sized driver.
The invention is realized by the following technical scheme.
A driver of the present invention includes a plurality of driver subunits, a plurality of the driver subunits being mounted in an array.
Further, the driver subunits are detachably mounted.
Further, jacks are arranged on the driver subunits, and pins penetrate through the jacks on each driver subunit to connect a plurality of the driver subunits to form a driver array.
Further, a current sensor is provided on the driver subunit.
Further, a voltage conversion module is arranged on the driver subunit.
Further, a filter is further arranged on the driver subunit.
Further, the driver subunit is provided with a communication chip.
Further, the communication chip is a CAN communication chip.
Further, the distance between each of the driver sub-units is 2.8±0.2mm.
A manipulator with a driver comprises a manipulator main body and a manipulator connecting piece, wherein a slot is formed in the manipulator connecting piece, and the driver is installed in the slot.
The invention has the beneficial effects that:
the multiple driver subunits are connected, so that the multiple driver subunits are mutually connected to form a whole, a driver array is formed, integration of drivers is realized, the size is small and exquisite, the application is convenient, the manipulator is modularized, the production, the assembly and the maintenance are convenient, the drivers in the form of an array are adopted, the integration level of the manipulator is higher, the functions of the manipulator are richer, more use requirements can be met, the application is wider, the drivers are closer to the manipulator, the communication speed can be improved, and the control delay is reduced.
The filter module is arranged to filter the signals of the coding disc in the motor, so that accurate pulse counting signals are obtained, and the manipulator can realize accurate position control and position feedback.
The current sensor and the voltage signal are read, so that the rotating speed of the motor can be controlled, and the torque of the motor can be obtained, and the whole system becomes safe and reliable.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the overall structure of a drive of the present invention;
FIG. 2 is a schematic diagram of a configuration of a drive subunit;
fig. 3 is a schematic structural view of the robot.
Detailed Description
The invention is described in detail below in connection with fig. 1-3.
The invention relates to a driver, as shown in figure 1, which comprises a plurality of driver subunits 1, jacks arranged on the driver subunits 1 and pin headers 2 penetrating through the jacks; the driver is a driver array formed by overlapping a plurality of driver subunits 1, each driver subunit 1 is provided with a jack, the pin header 2 penetrates through the jack of each driver subunit 1, and a plurality of driver subunits 1 are connected, so that a plurality of driver subunits 1 are connected with each other to form a whole to form the driver array, the distance between each driver subunit is 2.8+/-0.2 mm, the integration of the driver is realized, the size is small, the application is convenient, the integration level of a manipulator or other equipment applying the driver in the application is higher, and the manipulator is widely applied.
As shown in fig. 2, in some embodiments, the driver subunit 1 includes a PCB board, a current sensor, a voltage conversion module, a CAN (controller area network) communication chip, a filter module, a motor driving chip, and a central chip; the central chip and the motor driving chip are arranged on the same surface of the PCB and are called as front surfaces; the current sensor, the voltage conversion module and the CAN communication chip are all arranged on the other surface of the PCB, and are called as the reverse surface; the current sensor is an INA213 type current sensor, the voltage conversion module is an LP38691 type voltage conversion module, the CAN communication chip is an MCP2561 type CAN communication chip, the motor driving chip is a DRV8838 type motor driving chip, the central chip is an STM32 chip, each driving subunit 1 has independent numbers in the driving array and CAN be replaced, and the whole system has high instantaneity by adopting a CAN communication mode.
The filter module is arranged to filter the signals of the coding disc in the motor, so that accurate pulse counting signals are obtained, and high-precision position control of the manipulator is realized.
The current sensor and the voltage signal are read, so that the rotating speed of the motor can be controlled, and the torque of the motor can be obtained, and the whole system becomes safe and reliable.
As shown in fig. 3, the invention further provides a manipulator with a driver, which comprises a manipulator main body 10 and a manipulator connecting piece 11 which are sequentially connected, wherein the manipulator connecting piece 11 is provided with a slot 12, the manipulator also comprises an arm connecting piece 13, the arm connecting piece 13 is also provided with a slot, the slot between the manipulator connecting piece 11 and the arm connecting piece 13 forms an installation space, the driver 20 is installed in the installation space, and the driver is the driver 20, so that the manipulator is modularized, is convenient to produce, assemble and overhaul, and adopts the driver in an array form, so that the integration level of the manipulator is higher, the functions of the manipulator are more abundant, more use requirements can be met, and the manipulator is more widely applied.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and implement it without limiting the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (7)
1. A manipulator having a driver, characterized by: the manipulator comprises a manipulator main body (10) and a manipulator connecting piece (11), wherein a slot (12) is formed in the manipulator connecting piece (11), the manipulator connecting piece further comprises an arm connecting piece (13), a slot is also formed in the arm connecting piece (13), a mounting space is formed by the slot between the manipulator connecting piece (11) and the arm connecting piece (13), a driver is mounted in the mounting space and comprises a plurality of driver subunits (1), the driver subunits (1) are mounted in an array mode, jacks are formed in the driver subunits (1), and a pin (2) penetrates through the jacks in each driver subunit (1) to connect the driver subunits (1) to form a driver array; the distance between each of the driver sub-units (1) is 2.8 + -0.2 mm.
2. A manipulator with a drive as claimed in claim 1, wherein: the driver sub units (1) are detachably arranged.
3. A manipulator with a drive as claimed in claim 2, wherein: the driver subunit (1) is provided with a current sensor.
4. A manipulator with a drive according to any of claims 1-3, characterized in that: the driver subunit (1) is provided with a voltage conversion module.
5. A manipulator with a drive as claimed in claim 4, wherein: and a filter is further arranged on the driver subunit (1).
6. A manipulator with a drive as claimed in claim 5, wherein: the driver subunit (1) is provided with a communication chip.
7. A manipulator with a drive as claimed in claim 6, wherein: the communication chip is a CAN communication chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111340745.9A CN114043470B (en) | 2021-11-12 | 2021-11-12 | Driver and manipulator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111340745.9A CN114043470B (en) | 2021-11-12 | 2021-11-12 | Driver and manipulator with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114043470A CN114043470A (en) | 2022-02-15 |
| CN114043470B true CN114043470B (en) | 2024-03-15 |
Family
ID=80208758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111340745.9A Active CN114043470B (en) | 2021-11-12 | 2021-11-12 | Driver and manipulator with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114043470B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979089A (en) * | 2014-05-21 | 2014-08-13 | 哈尔滨工程大学 | Underwater robot electronic cabin with stacked assembly structure |
| CN104162892A (en) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | Hand-shaped manipulator |
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
| CN107553518A (en) * | 2017-09-26 | 2018-01-09 | 华中科技大学 | A kind of manipulator towards flexible electronic transfer deformation operation |
| CN107571280A (en) * | 2017-07-24 | 2018-01-12 | 芜湖微云机器人有限公司 | A kind of programmable simulated humanbody joint |
| CN208557518U (en) * | 2017-12-22 | 2019-03-01 | 杭州欢乐飞机器人科技股份有限公司 | Small integrated Manipulator Controller |
| CN110722549A (en) * | 2019-05-10 | 2020-01-24 | 深圳市领略数控设备有限公司 | Multi-axis manipulator controller |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN213532628U (en) * | 2020-11-02 | 2021-06-25 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
| CN213562631U (en) * | 2020-10-21 | 2021-06-29 | 浙江工业大学 | Manipulator based on gel driver |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9076829B2 (en) * | 2011-08-08 | 2015-07-07 | Applied Materials, Inc. | Robot systems, apparatus, and methods adapted to transport substrates in electronic device manufacturing |
-
2021
- 2021-11-12 CN CN202111340745.9A patent/CN114043470B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979089A (en) * | 2014-05-21 | 2014-08-13 | 哈尔滨工程大学 | Underwater robot electronic cabin with stacked assembly structure |
| CN104162892A (en) * | 2014-06-26 | 2014-11-26 | 南京航空航天大学 | Hand-shaped manipulator |
| CN107571280A (en) * | 2017-07-24 | 2018-01-12 | 芜湖微云机器人有限公司 | A kind of programmable simulated humanbody joint |
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
| CN107553518A (en) * | 2017-09-26 | 2018-01-09 | 华中科技大学 | A kind of manipulator towards flexible electronic transfer deformation operation |
| CN208557518U (en) * | 2017-12-22 | 2019-03-01 | 杭州欢乐飞机器人科技股份有限公司 | Small integrated Manipulator Controller |
| CN110722549A (en) * | 2019-05-10 | 2020-01-24 | 深圳市领略数控设备有限公司 | Multi-axis manipulator controller |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN213562631U (en) * | 2020-10-21 | 2021-06-29 | 浙江工业大学 | Manipulator based on gel driver |
| CN213532628U (en) * | 2020-11-02 | 2021-06-25 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114043470A (en) | 2022-02-15 |
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