CN203495977U - Manipulator encoder power supply system - Google Patents
Manipulator encoder power supply system Download PDFInfo
- Publication number
- CN203495977U CN203495977U CN201320589936.3U CN201320589936U CN203495977U CN 203495977 U CN203495977 U CN 203495977U CN 201320589936 U CN201320589936 U CN 201320589936U CN 203495977 U CN203495977 U CN 203495977U
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- encoder
- manipulator
- battery
- manipulator body
- forearm
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Abstract
The utility model discloses a manipulator encoder power supply system. The system comprises a manipulator body, a first encoder, a second encoder, a third encoder, a fourth encoder, a fifth encoder and a sixth encoder. The first encoder is connected with a 5V battery, and the first encoder and the 5V battery are both installed inside a pedestal. The second encoder and a 5V battery are connected and are both installed in a waist stand. The third encoder and the fourth encoder are connected with a 5V battery respectively, and the third encoder, the fourth encoder and the 5V batteries are all arranged inside a front arm. The fifth encoder and the sixth encoder are connected with a 5V battery respectively, and the fifth encoder, the sixth encoder and the 5V batteries are all arranged inside a forearm. When in use, if the manipulator body is suddenly powered off or a connecting line between the manipulator body and a controlled is cut off for a long period of time, the encoders can memorize data and permanently remember physical positions of a manipulator, such that original point correction is not needed. Moreover, after correction of the manipulator body is finished and the encoders are zeroed out, the manipulator body and the controller can be replaced freely since data is not lost.
Description
Technical field
The utility model relates to manipulator technical field, particularly a kind of manipulator coding device electric power system.
Background technology
In manipulator technical field, encoder is as the signal feedback system in servo-control system, in order to corner and the rotating speed of feedback servo motor.During manipulator work, controller can send to servo-driver by pulse command, allows motor rotate, and then encoder starts rotation, sends pulse signal, and this signal feedback is to controller, and controller is according to the action of the signal control motor of feedback.Current encoder does not have reserve battery or reserve battery to be contained in servo-driver, once after the disconnection of the stube cable of manipulator body and controller, the loss of data of encoder, the position data of manipulator body is lost, and must do mechanical origin and proofread and correct.
Utility model content
For solving the problems of the technologies described above, the purpose of this utility model is to provide a kind of manipulator coding device electric power system, realizes manipulator body when the connecting line of power-off suddenly or long-time disconnection and controller, can forever remember the physical location of manipulator.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the utility model is achieved through the following technical solutions: a kind of manipulator coding device electric power system, comprise manipulator body, the first encoder, the second encoder, the 3rd encoder, the 4th encoder, the 5th encoder and the 6th encoder, described manipulator body comprises base, waist seat, large arm, forearm, forearm and wrist body, described the first encoder connects a 5V battery, and be installed on together in described base, described the second encoder connects a 5V battery, and be installed on together in described waist seat, described the 3rd encoder is connected respectively a 5V battery with the 4th encoder, and be installed on together respectively in described forearm, described the 5th encoder is connected respectively a 5V battery with the 6th encoder, and be installed on together in described forearm respectively.
The beneficial effects of the utility model are: manipulator coding device electric power system of the present utility model, because each encoder is installed in manipulator body after having connected 5V battery, make in use, if the connecting line of the unexpected power-off of manipulator body or long-time disconnection and controller, encoder can be remembered data, after realizing manipulator body and having proofreaied and correct, can forever remember the physical location of manipulator, without carrying out origin correction.In addition, after manipulator body has been proofreaied and correct, and after encoder tanks, because data are not lost, manipulator body and controller can be changed arbitrarily and not affect the work of manipulator.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that, protection domain of the present utility model is made to more explicit defining.
As shown in Figure 1, a kind of manipulator coding device electric power system, comprise manipulator body, the first encoder 1, the second encoder 2, the 3rd encoder 3, the 4th encoder 4, the 5th encoder 5 and the 6th encoder 6, described manipulator body comprises base 7, waist seat 8, large arm 9, forearm 10, forearm 11 and wrist body 12, described the first encoder 1 connects a 5V battery, and be installed on together in described base 7, described the second encoder 2 connects a 5V battery, and be installed on together in described waist seat 8, described the 3rd encoder 3 is connected respectively a 5V battery with the 4th encoder 4, and be installed on together respectively in described forearm 10, described the 5th encoder 5 is connected respectively a 5V battery with the 6th encoder 6, and be installed on together respectively in described forearm 11.
Manipulator comprises the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the waist seat rotation of the first axle driving mechanical hand body, the second axle drives large arm to do elevating movement, the 3rd axle drives forearm to do elevating movement, the 4th axle drives forearm to rotate, the 5th axle drives wrist body to do elevating movement, and the 6th axle drives wrist body head to rotate.
The first encoder 1 connects the first servomotor 13, and this first servomotor 13 is for driving the first axle, and the first encoder 1 feeds back corner and the rotating speed of the first servomotor 13; The second encoder 2 connects the second servomotors 14, and this second servomotor 14 is for driving the shoulder joint pitching rotating shaft that drives large arm pitching, i.e. the second axle, corner and the rotating speed of second encoder 2 feedback the second servomotors 14; The 3rd encoder 3 connects the 3rd servomotor 15, the three servomotors 15 for driving the elbow joint pitching rotating shaft that drives forearm pitching, i.e. the 3rd axle, corner and the rotating speed of the 3rd encoder 3 feedback the 3rd servomotors 15; The 4th encoder 4 connects the 4th servomotor 16, the four servomotors 16 for driving the 4th axle, corner and the rotating speed of the 4th encoder 4 feedback the 4th servomotors 16; The 5th encoder 5 connects the 5th servomotor 17, the five servomotors 17 for driving the wrist joint pitching rotating shaft that drives the pitching of wrist body, i.e. the 5th axle, corner and the rotating speed of the 5th encoder 5 feedback the 5th servomotors 17; The 6th encoder 6 connects the 6th servomotor 18, the six servomotors 18 for driving the 6th axle, corner and the rotating speed of the 6th encoder 6 feedback the 6th servomotors 18.
During manipulator work, controller can send to servo-driver by pulse command, allows each servomotor rotate, each encoder detects corner and the rotating speed of each servomotor, send pulse signal, this signal feedback is to controller, and controller is according to the action of the signal control motor of feedback.Wherein, each encoder is absolute type encoder.
Two power supply lines of each encoder link together, and be installed in manipulator body after having connected 5V battery, make in use, if the connecting line of the unexpected power-off of manipulator body or long-time disconnection and controller, encoder can be remembered data, after realizing manipulator body and having proofreaied and correct, can forever remember the physical location of manipulator, without carrying out origin correction.In addition, after manipulator body has been proofreaied and correct, and after encoder tanks, because data are not lost, manipulator body and controller can be changed arbitrarily and not affect the work of manipulator.
The above is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (1)
1. manipulator coding device electric power system, it is characterized in that: comprise manipulator body, the first encoder, the second encoder, the 3rd encoder, the 4th encoder, the 5th encoder and the 6th encoder, described manipulator body comprises base, waist seat, large arm, forearm, forearm and wrist body, described the first encoder connects a 5V battery, and be installed on together in described base, described the second encoder connects a 5V battery, and be installed on together in described waist seat, described the 3rd encoder is connected respectively a 5V battery with the 4th encoder, and be installed on together respectively in described forearm, described the 5th encoder is connected respectively a 5V battery with the 6th encoder, and be installed on together in described forearm respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320589936.3U CN203495977U (en) | 2013-09-24 | 2013-09-24 | Manipulator encoder power supply system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320589936.3U CN203495977U (en) | 2013-09-24 | 2013-09-24 | Manipulator encoder power supply system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203495977U true CN203495977U (en) | 2014-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320589936.3U Expired - Fee Related CN203495977U (en) | 2013-09-24 | 2013-09-24 | Manipulator encoder power supply system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203495977U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465275A (en) * | 2013-09-24 | 2013-12-25 | 昆山泰丰自动化技术有限公司 | Power supply system for manipulator encoder |
-
2013
- 2013-09-24 CN CN201320589936.3U patent/CN203495977U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465275A (en) * | 2013-09-24 | 2013-12-25 | 昆山泰丰自动化技术有限公司 | Power supply system for manipulator encoder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140326 Termination date: 20160924 |