CN114770603B - Super redundant arm test system - Google Patents
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- CN114770603B CN114770603B CN202210542258.9A CN202210542258A CN114770603B CN 114770603 B CN114770603 B CN 114770603B CN 202210542258 A CN202210542258 A CN 202210542258A CN 114770603 B CN114770603 B CN 114770603B
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- 238000012360 testing method Methods 0.000 title claims abstract description 37
- 239000004579 marble Substances 0.000 claims abstract description 8
- 238000011161 development Methods 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000009661 fatigue test Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 3
- 238000007405 data analysis Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a super-redundant mechanical arm testing system, which relates to the field of automatic control of force monitoring and comprises a super-redundant mechanical arm force measuring driving device, a super-redundant mechanical arm driving module, an electric cabinet, a display bracket, a remote control handle and a marble table top. By implementing the invention, the tension of each driving motor to the driving rope can be obtained in real time in the working process, the automation of the fatigue test of the driving rope can be realized, and whether the driving capacity of the motor and the load capacity of the driving rope meet the design requirement can be evaluated through real-time data analysis.
Description
Technical Field
The invention relates to the field of automatic control of force monitoring, in particular to a super-redundancy mechanical arm test system.
Background
With the complicating and narrowing of the working environment, super-redundancy robots are becoming increasingly interesting to researchers and enterprises as special robots having stronger obstacle avoidance capability and deep-cavity working capability. On the one hand, compared with the traditional industrial mechanical arm, the super-redundancy robot is characterized in that driving equipment (a motor) and a transmission device (a reduction gearbox, a screw rod and the like) are arranged on a driving base, so that the quality of an operation arm can be effectively reduced, and the diameter of the operation arm is reduced. On the other hand, by optimizing the structural design, the super-redundancy snake-shaped robot has as many degrees of freedom and larger bending angles as possible, so that the operation arm has extremely strong movement flexibility.
The gesture of the super-redundant mechanical arm in the motion process is closely related to the force in the rope of each joint arm body and the inherent characteristics of the driving rope, so the super-redundant mechanical arm is extremely important for researching the characteristics of the driving rope of the snake arm in the motion process. The patent application number 201811258514.1 and other Chinese invention patents disclose a driving device for a super-redundancy mechanical arm, which is a mechanical arm driving device used for specific environmental requirements, and because of space volume limitation, in order to reduce dry friction between a driving rope and a wire expanding mechanism as much as possible when the driving rope is output, the driving rope is generally required to be directly arranged inside a frame structure according to the mechanical arm requirements so as to reduce an included angle between the driving rope and the wire expanding mechanism as much as possible, thereby reducing friction of the driving rope. The driving device needs to be compactly arranged, and the output range of the driving rope is limited; the single driving module is difficult to be disassembled independently; the driving rope is arranged on the inner side of the frame structure and is not easy to replace; the replaceability for the different classes of robotic arms is poor. In addition, the driving device is not additionally provided with a force sensor, and tension data of the driving rope cannot be obtained, so that the driving device cannot be used for force position control research and driving rope fatigue test of the super-redundancy robot.
Therefore, those skilled in the art are working to develop a super-redundant mechanical arm test system, which monitors the force in the rope of each driving rope in the motion process of the super-redundant mechanical arm, and provides a reference for controlling the super-redundant mechanical arm of the execution end and a basis for researching the motion characteristics of the super-redundant mechanical arm.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to solve the problem of inconvenient simultaneous acquisition of a plurality of objects to be tested and how to realize the automation of the fatigue test of the driving rope.
In order to achieve the above object, the present invention provides a super-redundant mechanical arm test system, comprising: super redundant mechanical arm force measuring driving device, super redundant mechanical arm driving module, electric cabinet and marble table top;
the marble table top is connected with the mechanical arm force measuring driving device and the electrical cabinet,
the super-redundant mechanical arm driving module is connected with a driving motor of the super-redundant mechanical arm force measuring driving device.
Further, the super-redundancy mechanical arm driving module further comprises m connecting plate cards and n motor driving plate cards, and each n/m driving motors are electrically connected with one connecting plate card.
Further, the electrical cabinet comprises an air switch, a force sensor signal transmitter, a development board, a switching power supply, an industrial switch and a miniature industrial personal computer.
Further, the display device comprises a display and a display bracket, wherein the display is fixed on the display bracket, and the display is connected with the micro industrial personal computer.
Furthermore, the super-redundant mechanical arm force measuring driving device is also provided with m force sensors, the number of the force sensor signal transmitters is n, and each m/n force sensors are connected with one of the force sensor signal transmitters.
Further, the development board is STM32F407, the development board is connected with the super-redundant mechanical arm driving module through a CAN bus, and the development board is responsible for analyzing instructions and issuing driving quantity to the super-redundant mechanical arm driving module.
Further, the development board and the micro industrial personal computer are connected with the industrial switch through a network cable to form a local area network, and communication is realized through UDP broadcasting.
Further, the switching power supply is connected with the super-redundancy mechanical arm driving module 3 and is used for supplying power to the driving motor and the motor driving board card.
Further, the remote control device also comprises a remote control handle, wherein the remote control handle is connected with the micro industrial personal computer and used for providing control signals.
Further, the air switch control and protection circuit.
Compared with the prior art, the invention has at least the following beneficial technical effects:
the invention provides a super-redundancy mechanical arm test system aiming at the requirements of force position control and driving rope fatigue test of a super-redundancy robot. The test system can acquire the tension of each driving motor to the driving rope in real time in the working process, and can realize the automation of the fatigue test of the driving rope. And whether the motor driving capability and the driving rope loading capability meet the design requirement can be evaluated through real-time data analysis.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of a super-redundant robotic arm test system of the present invention;
FIG. 2 is a schematic diagram of a super-redundant mechanical arm drive module according to the present invention;
FIG. 3 is a schematic view of an electrical cabinet of the present invention;
FIG. 4 is a control flow diagram of the test system of the present invention;
wherein: 1-a display; 2-super redundant mechanical arm force measuring driving device; 3-super redundant mechanical arm driving modules; 3.1-connecting the board card; 3.2-motor drive board card; 4-marble table top; 5-a display stand; 6-an electrical cabinet; 6.1-air switch; 6.2-the 9 signal transmitters of force sensor; 6.3-STM32F407 development plate; 6.4-36V switching power supply; 6.5-industrial switches; 6.6-a miniature industrial personal computer; 7-remote control handle.
Detailed Description
The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easier to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.
In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.
As shown in fig. 1, the super-redundant mechanical arm testing system comprises a super-redundant mechanical arm force measuring driving device 2, a super-redundant mechanical arm driving module 3, an electrical cabinet 6, a display 1, a display bracket 5, a remote control handle 7 and a marble table top 4. The marble table top 4 is connected with the mechanical arm force measuring driving device 2 and the electrical cabinet 6 and is used as a base of the whole hardware system.
As shown in fig. 2, the super-redundant mechanical arm driving module 3 includes m (m is an integer greater than or equal to 1) connection board cards 3.1 and n motor driving board cards 3.2. The super-redundant mechanical arm driving module 3 is connected with n (n is an integer greater than or equal to 1) driving motors of the super-redundant mechanical arm force measuring driving device 2, wherein every n/m (n/m is an integer greater than or equal to 1) driving motors are connected with 1 connecting plate card 3.1, and therefore integration of n motor driving plate cards 3.2 is achieved. In this embodiment, m=4, n=36.
As shown in fig. 3, the electrical cabinet 6 mainly includes an air switch 6.1, a force sensor 9-way signal transmitter 6.2, an STM32F407 development board 6.3, a 36V switching power supply 6.4, an industrial switch 6.5, and a micro industrial personal computer 6.6. The air switch 6.1 serves as a main power supply inlet and serves the function of circuit control and protection. The force sensor 9-path signal transmitter 6.2 is connected with a force sensor on the super-redundant mechanical arm force measuring driving device, and the super-redundant mechanical arm testing system reads force sensor data through a COM port of the miniature industrial control computer 6.6. The STM32F407 development board 6.3 is connected with the super-redundant mechanical arm driving module 3 through a CAN bus and is used as a data intermediate transmission layer of the super-redundant mechanical arm testing system, and is responsible for analyzing instructions of the super-redundant mechanical arm testing system and issuing driving quantity to the super-redundant mechanical arm driving module 2. The STM32F407 development board 6.3 and the micro industrial personal computer 6.6 are connected with the industrial switch 6.5 through network cables to form a local area network, and communication is realized through UDP broadcasting. The 36V switching power supply 6.4 is connected with the super-redundant mechanical arm driving module 3 to supply power for a driving motor on the super-redundant mechanical arm force measuring driving device 2 and supply power for the motor driving board card 3.2.
As shown in fig. 1 and 3, the remote control handle 7 is connected with the micro industrial personal computer 6.5 to provide control signals for the super redundant mechanical arm test system.
As shown in fig. 4, the super-redundant mechanical arm test system of the present invention has two driving control modes: handle control and off-line control. In the handle control mode: the remote control handle 7 generates a control signal and transmits the control signal to the micro industrial control computer 6.6. After receiving the control signal, the super-redundant mechanical arm testing system analyzes and calculates the angle value of the mechanical arm from the current position to the target position, converts the angle value into the driving quantity of the corresponding motor on the super-redundant mechanical arm driving module, and then transmits data to the STM32F407 development board 6.3 through UDP broadcast. The STM32F407 development board 6.3 receives the data, unpacks and packetizes the data, and then sends the driving quantity of the corresponding motor to the super-redundancy mechanical arm driving module 3 through the CAN bus to realize the driving control of the mechanical arm. Finally, the super-redundant mechanical arm testing system collects the force sensor data on the super-redundant mechanical arm driving module 2 through the 9-channel signal transmitter 6.2 and draws a real-time data curve on a visual interface.
In the offline control mode: the super-redundant mechanical arm test system is used for importing pre-planned motion data, and the pre-planned motion data are divided into preset good frames. The super-redundant mechanical arm test system can analyze and calculate the angle value of the mechanical arm from the current frame position to the next frame target position frame by frame, convert the angle value into the corresponding motor driving quantity on the super-redundant mechanical arm driving module, and then broadcast and send data to the STM32F407 development board 6.3 through UDP. The STM32F407 development board 6.3 receives the data, unpacks and packetizes the data, and then drives the drive quantity of the generator under the CAN bus to the super-redundancy mechanical arm drive module 3 to realize the drive control of the mechanical arm. Finally, the super-redundant mechanical arm testing system collects the force sensor data on the super-redundant mechanical arm driving module 2 through the 9-channel signal transmitter 6.2 and draws a real-time data curve on a visual interface.
According to the super-redundancy mechanical arm testing system provided by the embodiment of the invention, the problem that the acquisition is inconvenient under the condition that a plurality of objects to be tested exist is solved by adopting the mode that the tension data of the driving ropes are acquired by the 9-path signal transducer of the force sensor. By adopting the super-redundancy mechanical arm force measuring driving device, the tested driving rope and the mechanical arm can be replaced quickly, and the flexibility of the super-redundancy mechanical arm testing system is improved. Meanwhile, the handle control mode of the super-redundant mechanical arm test system can meet the special requirements of various tests, and the off-line control can realize the automation of the fatigue test. The super-redundancy mechanical arm driving module integrates a plurality of motor driving board cards by adopting the connecting board card, so that the integration level and the stability of the whole system are improved.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (8)
1. A super redundant robotic arm test system, comprising: super redundant mechanical arm force measuring driving device, super redundant mechanical arm driving module, electric cabinet and marble table top;
the marble table top is connected with the mechanical arm force measuring driving device and the electrical cabinet,
the super-redundant mechanical arm driving module is connected with a driving motor of the super-redundant mechanical arm force measuring driving device;
the super-redundancy mechanical arm driving module further comprises m connecting plate cards and n motor driving plate cards, and each n/m driving motors are electrically connected with one connecting plate card;
the electrical cabinet comprises a force sensor signal transmitter, a development board and a miniature industrial personal computer;
the super redundant mechanical arm test system further comprises a remote control handle, wherein the remote control handle is connected with the micro industrial personal computer and used for providing control signals;
the super redundant mechanical arm test system has two driving control modes: handle control and off-line control;
in the handle control mode: the remote control handle generates a control signal and transmits the control signal to the micro industrial personal computer, the super-redundant mechanical arm testing system analyzes and calculates an angle value of the mechanical arm from the current position to the target position after receiving the control signal, converts the angle value into a driving quantity of a corresponding motor on the super-redundant mechanical arm driving module, then sends data to the development board through UDP (user datagram protocol) broadcasting, unpacks and packetizes the data after receiving the data, and then sends the driving quantity of the corresponding motor to the super-redundant mechanical arm driving module through a CAN (controller area network) bus to realize driving control of the mechanical arm; finally, the super-redundant mechanical arm testing system collects the force sensor data of the super-redundant mechanical arm driving module through the force sensor signal transmitter and draws a real-time data curve on a visual interface;
in the offline control mode: the super-redundant mechanical arm test system is used for importing pre-planned motion data which are divided into preset frames; the super-redundant mechanical arm testing system analyzes and calculates an angle value of a mechanical arm from a current frame position to a next frame target position one frame, converts the angle value into a corresponding motor driving quantity on the super-redundant mechanical arm driving module, then widely transmits data to the development board through UDP, unpacks and packetizes the data after the development board receives the data, and then drives the super-redundant mechanical arm driving module through a driving quantity of a generator under a CAN bus to realize driving control of the mechanical arm; finally, the super-redundant mechanical arm testing system collects force sensor data on the super-redundant mechanical arm driving module through the force sensor signal transmitter and draws a real-time data curve on a visual interface.
2. The ultra-redundant robotic arm testing system of claim 1, wherein the electrical cabinet comprises an air switch, a switching power supply, and an industrial switch.
3. The super redundant manipulator testing system of claim 2, further comprising a display and a display support, wherein the display is fixed to the display support and the display is connected to the micro-industrial personal computer.
4. The system of claim 2, wherein the force measuring driving device of the super redundant mechanical arm further comprises m force sensors, and the force sensor signal transmitters comprise n force sensors, and each m/n force sensors are connected with one of the force sensor signal transmitters.
5. The system of claim 2, wherein the development board is STM32F407, the development board is connected to the super-redundant mechanical arm driving module through a CAN bus, and the development board is responsible for analyzing the command and issuing the driving amount to the super-redundant mechanical arm driving module.
6. The system of claim 2, wherein the development board and the micro industrial personal computer are connected with the industrial switch through a network cable to form a local area network, and communication is realized through UDP broadcasting.
7. The super-redundant mechanical arm testing system according to claim 2, wherein the switching power supply is connected with the super-redundant mechanical arm driving module 3 for supplying power to the driving motor and the motor driving board.
8. The ultra-redundant robotic arm testing system of claim 2, wherein said air switch control and protection circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210542258.9A CN114770603B (en) | 2022-05-17 | 2022-05-17 | Super redundant arm test system |
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| CN202210542258.9A CN114770603B (en) | 2022-05-17 | 2022-05-17 | Super redundant arm test system |
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| CN114770603A CN114770603A (en) | 2022-07-22 |
| CN114770603B true CN114770603B (en) | 2024-03-29 |
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| DE102017222507A1 (en) * | 2016-12-19 | 2018-06-21 | Aktiebolaget Skf | Frame for a multiple bolt tensioning device |
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