CN206011116U - A kind of precision machinery people of input and output full closed loop control - Google Patents
A kind of precision machinery people of input and output full closed loop control Download PDFInfo
- Publication number
- CN206011116U CN206011116U CN201620902635.5U CN201620902635U CN206011116U CN 206011116 U CN206011116 U CN 206011116U CN 201620902635 U CN201620902635 U CN 201620902635U CN 206011116 U CN206011116 U CN 206011116U
- Authority
- CN
- China
- Prior art keywords
- forearm
- input
- component
- arm component
- large arm
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
This utility model provides a kind of precision machinery people of input and output full closed loop control, including frame component, big arm component, little arm component and control system；One end of the big arm component is rotatably arranged on frame component, is provided with the first angle encoder rotated coaxially with big arm component on frame component；One end of the little arm component is rotatably arranged on the other end of big arm component, is provided with the second angle encoder rotated coaxially with little arm component on the other end of big arm component；The little arm component other end is used for connecting load；The first angle encoder and second angle encoder are connected with the input end signal of control system；The frame component and big arm component are connected with the output end signal of control system.Precision machinery people of the present utility model can detect position and the movement locus of mechanical arm by control system real-time online, so as to realize being input into the full closed loop control with output, substantially increase the movement velocity and precision of robot.
Description
Technical field
This utility model is related to robotics, more particularly, it relates to a kind of input and output full closed loop control
Precision machinery people.
Background technology
Robot is collection mechanical engineering, electronic engineering, computer technology, automatically controls and multiple science such as artificial intelligence
Achievement in research, is the Typical Representative of electromechanical integration technology, is that contemporary science and technology develops most active field.In recent years, robot
Technology development is very fast, and the robot of various uses is in the widely available application of every field.
And existing tandem industrial robot is widely used in manufacturing, including punching press, carrying, application, code
Pile, polishing etc. are operated.But some positioning precisions high, path accuracy is high, high working efficiency occasion, existing serial machine
Device people will be unable to meet and require.As current overwhelming majority tandem industrial robot is the system using open loop, i.e. robot
Moved after the pulse command for receiving control system or worked, the mechanical arm position of robot is not fed back to control
System, therefore, is controlled to robot in the case where control system cannot learn the movement locus of robot or position, this
Sample it is difficult to ensure that robot work positioning precision and path accuracy, so as to cause the precision of robot to be difficult to meet Product Precision
Requirement.
Utility model content
The purpose of this utility model is to overcome shortcoming of the prior art with deficiency, there is provided a kind of input and output closed-loop
The precision machinery people of control, the robot can detect position and the movement locus of mechanical arm by control system real-time online, from
And input and the full closed loop control for exporting is realized, substantially increase the movement velocity and precision of robot.
In order to achieve the above object, this utility model is achieved by following technical proposals：A kind of input and output are fully closed
The precision machinery people of ring control, it is characterised in that：Including frame component, big arm component, little arm component and control system；Described big
One end of arm component is rotatably arranged on frame component, is provided with first rotated coaxially with big arm component on frame component
Angular encoder；One end of the little arm component is rotatably arranged on the other end of big arm component, big arm component another
The second angle encoder rotated coaxially with little arm component is provided with end；The little arm component other end is used for connecting load；
The first angle encoder and second angle encoder are connected with the input end signal of control system；The frame component and
Big arm component is connected with the output end signal of control system.
In such scheme, the control system of the precision machinery people of input and output full closed loop control of the present utility model passes through
The signal of the first angle encoder feedback being connected is rotated coaxially with big arm component, and the rotational angle information of big arm component is obtained
With the real-time position information of big arm component, so as to accurately accordingly be controlled to big arm component.Meanwhile, of the present utility model
Control system is obtained little arm component by rotating coaxially the signal of the second angle encoder feedback being connected with little arm component
Rotational angle information and the real-time position information of little arm component, so as to accurately accordingly be controlled to little arm component.This reality
With new realization input and the full closed loop control of output, the movement velocity and precision of robot is substantially increased.
The frame component include support, the first servomotor being arranged on support, the first servomotor mounting flange,
First decelerator and first angle encoder；First servomotor is slowed down by the first servomotor mounting flange and first
The input connection of device, the outfan of the first decelerator are connected with big arm component；The first angle encoder and first slows down
Device is coaxially connected；
First servomotor is connected with the output end signal of control system.
Be provided with the support limit spacing switch and large arm is rotated forward for limiting the large arm of big arm component rotational angle
Inversion limitation limit switch；The large arm rotates forward limit spacing switch and large arm inversion limitation limit switch is arranged at large arm group
On the track that part is rotated, and it is located at the both sides of big arm component respectively；The large arm rotates forward limit spacing switch and large arm inverts pole
Limit limit switch is connected with the input end signal of control system.Big arm component of the present utility model rotates forward limit spacing with large arm
When switch or large arm inversion limitation limit switch are contacted, the activation signal also serves as the input signal of control system so that control
System controls the first servomotor and quits work, and stops so as to controlling big arm component, and so can further improve robot can
Lean on property and safety.
The big arm component includes the large arm that one end is connected with the first decelerator outfan, is arranged on the large arm other end
Second servomotor, the second servomotor mounting flange, the second decelerator and second angle encoder；Second servomotor
It is connected with the input of the second decelerator by the second servomotor mounting flange, the outfan of the second decelerator and little arm component
Connection；The second angle encoder is coaxially connected with the second decelerator；
The large arm is located between the first decelerator and first angle encoder；Second servomotor and control system
Output end signal connection.
The other end of the large arm is provided with and rotates forward limit spacing switch for limiting the forearm of little arm component rotational angle
With forearm inversion limitation limit switch；The forearm rotates forward limit spacing switch and forearm inversion limitation limit switch is arranged at
On the track that little arm component is rotated, and it is located at the both sides of little arm component respectively；The forearm rotates forward limit spacing switch and forearm
Inversion limitation limit switch is connected with the input end signal of control system.Little arm component of the present utility model rotates forward pole with forearm
When limit limit switch or forearm inversion limitation limit switch are contacted, the activation signal also serves as the input signal of control system, makes
Obtain control system the second servomotor of control to quit work, stop so as to controlling little arm component, so can further improve machine
Human reriability and safety.
Large arm angle scale is provided with the first decelerator on the one end side that the large arm is connected；The end face of machine base sets
Large arm zero-bit mark is equipped with, large arm angle scale is higher than end face of machine base, and is oppositely arranged with large arm zero-bit mark；The large arm angle
Anale settting scale is arc-shaped.This utility model be provided with large arm angle scale and large arm zero-bit mark, can in large arm rotation process,
Operator can be clear from the concrete angle of large arm rotation.
The little arm component includes forearm, the forearm conversion block being arranged on inside forearm and is arranged on little on forearm side
Arm angle scale；One end of the forearm is connected with the outfan of the second decelerator by forearm conversion block, and is subtracted positioned at second
Between fast device and second angle encoder.
The other end of the large arm is provided with forearm zero-bit mark, and forearm zero-bit mark is relative with forearm angle scale to be set
Put；The forearm angle scale is arc-shaped.This utility model is provided with forearm angle scale and forearm zero-bit mark, can be little
In arm rotation process, operator can be clear from the concrete angle of forearm rotation.
First decelerator is RV decelerators, and the second decelerator is harmonic speed reducer.
This utility model also includes the load disk for installation load；The load disk is by mounting flange and forearm
The other end connection of component.
Compared with prior art, this utility model has the advantage that and beneficial effect：Precision machinery of the present utility model
People can detect position and the movement locus of mechanical arm by control system real-time online, so as to realize being input into the closed-loop with output
Control, substantially increases the movement velocity and precision of robot.
Description of the drawings
Fig. 1 is the structural representation of this utility model precision machinery people；
Fig. 2 is the front schematic view of this utility model precision machinery people；
Fig. 3 is the side schematic view of this utility model precision machinery people；
Fig. 4 is the schematic internal view of this utility model precision machinery people；
Fig. 5 is the schematic diagram of little arm component in this utility model precision machinery people；
Wherein, 1 be frame component, 12 be the first servomotor, 13 be the first servomotor mounting flange, 14 be large arm anti-
Turn limit spacing switch, 15 be RV decelerators, 16 be large arm zero-bit mark, 17 be first angle encoder, 18 be support, 19 be
Large arm rotate forward limit spacing switch, 2 be big arm component, 21 be large arm angle scale, 22 be forearm inversion limitation limit switch, 24
For the second servomotor, 25 be the second servomotor mounting flange, 26 be harmonic speed reducer, 27 be second angle encoder, 28
For forearm zero-bit mark, 29 be forearm rotate forward limit spacing switch, 210 be large arm, 3 be little arm component, 31 be forearm conversion block,
32 is forearm angle scale, 33 is forearm, 4 is load disk.
Specific embodiment
This utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figures 1 to 5, the precision machinery people of this utility model input and output full closed loop control, including frame component
1st, big arm component 2, little arm component 3 and control system；Wherein, one end of big arm component 2 is rotatably arranged in frame component 1
On, the first angle encoder 17 rotated coaxially with big arm component 2 is provided with frame component 1；One end of little arm component 3 can turn
It is arranged on the other end of big arm component 2 dynamicly, is provided with the other end of big arm component 2 and rotates coaxially with little arm component 3
Second angle encoder 27.3 other end of little arm component is used for connecting load, first angle encoder 17 and second angle encoder
27 are connected with the input end signal of control system, and frame component 1 and big arm component 2 are connected with the output end signal of control system
Connect.
Frame component of the present utility model includes that support 18, the first servomotor 12 being arranged on support 18, first are watched
Motor mounting flange 13, RV decelerators 15 and first angle encoder 17 is taken, wherein, the first servomotor 12 passes through the first servo
Motor mounting flange 13 is connected with the input of RV decelerators 15, and the outfan of RV decelerators 15 is connected with big arm component 2, and first
Angular encoder 17 is coaxially connected with RV decelerators 15；First servomotor 12 is connected with the output end signal of control system.
Be provided with support of the present utility model 18 limit spacing is rotated forward for limiting the large arm of 2 rotational angle of big arm component
Switch 19 and large arm inversion limitation limit switch 14, large arm rotate forward limit spacing switch 19 and large arm inversion limitation limit switch 14
It is arranged on the track of the rotation of big arm component 2, and is located at the both sides of big arm component 2 respectively, and, large arm rotates forward limit spacing
Switch 19 and large arm inversion limitation limit switch 14 are connected with the input end signal of control system.
Big arm component 2 of the present utility model include the large arm 210 that one end is connected with 15 outfan of RV decelerators, be arranged on big
The second servomotor 24, the second servomotor mounting flange 25, harmonic speed reducer 26 on 210 other end of arm and second angle are compiled
Code device 27, wherein, input of second servomotor 24 by the second servomotor mounting flange 25 with harmonic speed reducer 26 connects
Connect, the outfan of harmonic speed reducer 26 is connected with little arm component 3, second angle encoder 27 is coaxially connected with harmonic speed reducer 26
Connect；Large arm 210 is located between RV decelerators 15 and first angle encoder 17, the output of the second servomotor 24 and control system
End signal connects.
The other end of large arm 210 is provided with and rotates forward limit spacing switch for limiting the forearm of 3 rotational angle of little arm component
29 and forearm inversion limitation limit switch 22, wherein, forearm rotates forward limit spacing switch 29 and forearm inversion limitation limit switch
On 22 tracks for being arranged at the rotation of little arm component 3, and respectively positioned at the both sides of little arm component 3, and, forearm rotates forward limit limit
Bit switch 29 and forearm inversion limitation limit switch 22 are connected with the input end signal of control system.
Large arm angle scale 21 is provided with RV decelerators 15 on the one end side that large arm 210 is connected, and 18 end face of support sets
Large arm zero-bit mark 16 is equipped with, large arm angle scale 21 is higher than 18 end face of support, and is oppositely arranged with large arm zero-bit mark 16, greatly
Arm angle scale 21 is arc-shaped.
Little arm component 3 includes forearm 33, the forearm conversion block 31 being arranged on inside forearm 33 and is arranged on 33 side of forearm
On forearm angle scale 32, wherein, the outfan of one end of forearm 33 by forearm conversion block 31 with harmonic speed reducer 26 connects
Connect, and be located between harmonic speed reducer 26 and second angle encoder 27.The other end of large arm 210 is provided with forearm zero-bit mark
28, forearm zero-bit mark 28 is oppositely arranged with forearm angle scale 32, and forearm angle mark 32 is arc-shaped.
This utility model also include for installation load 5kg load disk 4, the load disk 4 by mounting flange with
The other end connection of little arm component 3.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, other any without departing from the change that is made under spirit of the present utility model and principle, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, are included within protection domain of the present utility model.
Claims (10)
1. a kind of precision machinery people of input and output full closed loop control, it is characterised in that：Including frame component, big arm component, little
Arm component and control system；One end of the big arm component is rotatably arranged on frame component, is provided with frame component
The first angle encoder rotated coaxially with big arm component；One end of the little arm component is rotatably arranged in big arm component
On the other end, the second angle encoder rotated coaxially with little arm component on the other end of big arm component, is provided with；The forearm
The component other end is used for connecting load；The input of the first angle encoder and second angle encoder with control system
Signal connects；The frame component and big arm component are connected with the output end signal of control system.
2. the precision machinery people of input and output full closed loop control according to claim 1, it is characterised in that：The support group
Part includes support, the first servomotor being arranged on support, the first servomotor mounting flange, the first decelerator and first jiao
Degree encoder；First servomotor is connected with the input of the first decelerator by the first servomotor mounting flange, the
The outfan of one speed reducer is connected with big arm component；The first angle encoder is coaxially connected with the first decelerator；
First servomotor is connected with the output end signal of control system.
3. the precision machinery people of input and output full closed loop control according to claim 2, it is characterised in that：On the support
Be provided with limit spacing switch and large arm inversion limitation limit switch is rotated forward for limiting the large arm of big arm component rotational angle；Institute
State large arm rotating forward limit spacing switch and large arm inversion limitation limit switch is arranged on the track that big arm component is rotated, and point
Not Wei Yu big arm component both sides；The large arm rotates forward limit spacing switch and large arm inversion limitation limit switch with control is
The input end signal connection of system.
4. the precision machinery people of input and output full closed loop control according to claim 2, it is characterised in that：The large arm group
Part include one end large arm being connected with the first decelerator outfan, the second servomotor being arranged on the large arm other end, second
Servomotor mounting flange, the second decelerator and second angle encoder；Second servomotor passes through the second servomotor
Mounting flange is connected with the input of the second decelerator, and the outfan of the second decelerator is connected with little arm component；Described second jiao
Degree encoder is coaxially connected with the second decelerator；
The large arm is located between the first decelerator and first angle encoder；Second servomotor is defeated with control system
Go out end signal connection.
5. the precision machinery people of input and output full closed loop control according to claim 4, it is characterised in that：The large arm
The other end is provided with spacing with forearm inversion limitation for limiting the forearm rotating forward limit spacing switch of little arm component rotational angle
Switch；The forearm rotates forward limit spacing switch and forearm inversion limitation limit switch is arranged at the track that little arm component is rotated
On, and it is located at the both sides of little arm component respectively；The forearm rotates forward limit spacing switch and forearm inversion limitation limit switch is equal
It is connected with the input end signal of control system.
6. the precision machinery people of input and output full closed loop control according to claim 4, it is characterised in that：The large arm with
Large arm angle scale is provided with the one end side of the first decelerator connection；The end face of machine base is provided with large arm zero-bit mark,
Large arm angle scale is higher than end face of machine base, and is oppositely arranged with large arm zero-bit mark；The large arm angle scale is arc-shaped.
7. the precision machinery people of input and output full closed loop control according to claim 4, it is characterised in that：The forearm group
Part includes forearm, the forearm conversion block being arranged on inside forearm and the forearm angle scale being arranged on forearm side；Described little
One end of arm is connected with the outfan of the second decelerator by forearm conversion block, and is located at the second decelerator and second angle coding
Between device.
8. the precision machinery people of input and output full closed loop control according to claim 7, it is characterised in that：The large arm
The other end is provided with forearm zero-bit mark, and forearm zero-bit mark is oppositely arranged with forearm angle scale；The forearm angle scale
For arc-shaped.
9. the precision machinery people of input and output full closed loop control according to claim 4, it is characterised in that：Described first subtracts
Fast device is RV decelerators, and the second decelerator is harmonic speed reducer.
10. the precision machinery people of input and output full closed loop control according to claim 1, it is characterised in that：Also include using
Load disk in installation load；The load disk is connected with the other end of little arm component by mounting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620902635.5U CN206011116U (en) | 2016-08-18 | 2016-08-18 | A kind of precision machinery people of input and output full closed loop control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620902635.5U CN206011116U (en) | 2016-08-18 | 2016-08-18 | A kind of precision machinery people of input and output full closed loop control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011116U true CN206011116U (en) | 2017-03-15 |
Family
ID=58249261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620902635.5U Active CN206011116U (en) | 2016-08-18 | 2016-08-18 | A kind of precision machinery people of input and output full closed loop control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206011116U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239509A (en) * | 2016-08-18 | 2016-12-21 | 佛山智能装备技术研究院 | A kind of precision machinery people |
-
2016
- 2016-08-18 CN CN201620902635.5U patent/CN206011116U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239509A (en) * | 2016-08-18 | 2016-12-21 | 佛山智能装备技术研究院 | A kind of precision machinery people |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203266646U (en) | Heavy-duty articulated robot control system with four degrees of freedom | |
| CN105033996B (en) | Control system based on hand-push teaching type five-shaft horizontal joint robot | |
| CN204856122U (en) | Punching press robot control system | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN206011116U (en) | A kind of precision machinery people of input and output full closed loop control | |
| CN114104981B (en) | Door machine grab bucket anti-swing system | |
| CN100346369C (en) | Two-dimensional high-performance alternating-current servo CNC experiment system | |
| CN106239509A (en) | A kind of precision machinery people | |
| CN116922359A (en) | Material taking manipulator for industrial robot production | |
| CN204997661U (en) | Robot | |
| CN109702743A (en) | Kinetic control system and step alarm method is lost for kinetic control system | |
| CN204332194U (en) | A kind of teaching type servo control experiment table | |
| CN205835317U (en) | A kind of multi-joint manipulator | |
| CN106003029A (en) | Three-core rapid control system for joint robot for teaching | |
| CN204673607U (en) | Hand holds teaching robot | |
| CN105171740A (en) | Underwater robot operating manipulator | |
| WO2016188409A1 (en) | Manually taught robot and method for manually teaching robot | |
| CN203019366U (en) | Double-mechanical-arm coordinated control system | |
| CN203726491U (en) | Intelligent manipulator | |
| CN203720664U (en) | Precision output positioning decelerator | |
| CN103941732A (en) | Bionic two-leg robot control system | |
| CN203210367U (en) | Manipulator | |
| CN215749152U (en) | Six-degree-of-freedom parallel robot detection branch | |
| CN204759207U (en) | High accurate positioning control ware of gas suspension system with higher speed | |
| CN103809615A (en) | Precise output positioning speed reducer and precise output positioning method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |