CN206493338U

CN206493338U - A kind of self-balancing of recordable displacement and the mechanical arm of avoidance

Info

Publication number: CN206493338U
Application number: CN201720159295.6U
Authority: CN
Inventors: 洪英汉; 林浩岳; 郭才; 陈炎华
Original assignee: Hanshan Normal University
Current assignee: Hanshan Normal University
Priority date: 2017-02-22
Filing date: 2017-02-22
Publication date: 2017-09-15
Anticipated expiration: 2027-02-22

Abstract

The utility model embodiment discloses a kind of self-balancing of recordable displacement and the mechanical arm of avoidance, including pedestal, it is rotatablely installed in the mechanical arm on the pedestal, at least one microwave radar sensor is provided with the mechanical arm side, the mechanical arm is built-in with six axle gyro sensors.Using the utility model, pass through six axle gyro sensors, the displacement of motion can be recorded when manipulator motion, offset deviation can be recorded when recovering initial state, it is adjusted by deviation, and its swing speed is controlled, barrier can be detected on a large scale by the microwave radar sensor set on its side, and can be suitably used for using in a variety of environment.

Description

A kind of self-balancing of recordable displacement and the mechanical arm of avoidance

Technical field

The utility model is related to mechanical arm technical field, the specially a kind of self-balancing and avoidance of industrial recordable displacement Mechanical arm.

Background technology

Existing mechanical arm can not monitor moved displacement in real time in operation process, and working shaft and other part meetings Working shaft is set to produce certain displacement, so as to cause accumulated error, it is impossible to carry out intelligent acceleration by distance, during exercise can not Oneself is according to center of gravity adjustment, therefore this mode makes mechanical arm operation more unstable.

In the existing application of mechanical arm, tool arm is in motion process it is possible that encountering the situation of barrier.At present, Vision algorithm and other avoidance sensors are relied primarily on for manipulator motion avoidance（Such as photoelectricity class and avoiding obstacles by supersonic wave sensing Device）.

Wherein, vision algorithm is applied in complicated operative scenario, and so as to accurate avoidance again path planning, but exploitation is difficult Degree and development cost are higher；Generally, then using photoelectricity class or avoiding obstacles by supersonic wave sensor.

However, photoelectricity class and avoiding obstacles by supersonic wave sensor have obvious fatal defects, detection range is fairly limited, it is necessary to same When could meet a range of avoidance using multiple avoidance modules and detect, there is obvious blind area, cause mechanical arm in obstacle detection The increase of collision obstacle risk.

The content of the invention

The utility model embodiment technical problem to be solved is there is provided a kind of self-balancing of recordable displacement and kept away The mechanical arm of barrier.The self-balancing and adaptive avoidance of machinery can be achieved.

In order to solve the above-mentioned technical problem, the utility model embodiment provides a kind of self-balancing of recordable displacement and kept away The mechanical arm of barrier, including pedestal, be rotatablely installed in being provided with least one on the mechanical arm on the pedestal, the mechanical arm side Individual microwave radar sensor, the mechanical arm is built-in with six axle gyro sensors.

Also include controller, the microwave radar sensor is electrically connected with the six axles gyro sensor and the controller Connect.

Implement the utility model embodiment, have the advantages that：The utility model by six axle gyro sensors, The displacement of motion can be recorded when manipulator motion, offset deviation can be recorded when recovering initial state, be adjusted by deviation It is whole, and its swing speed is controlled, barrier can be detected on a large scale by the microwave radar sensor set on its side, and can fit For being used in a variety of environment.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model；

Fig. 2 is another overall structure diagram of the present utility model.

Embodiment

It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer Type is described in further detail.

Reference picture 1 and the structural representation shown in Fig. 2.

A kind of self-balancing of recordable displacement of the utility model embodiment and the mechanical arm of avoidance include pedestal 1, rotated It is installed on the mechanical arm 2 on pedestal 1.

The arm body opposite sides of mechanical arm 2 is provided with microwave radar sensor 3, and regulation is arranged on mechanical arm body opposite sides Microwave radar sensor detection radius, mechanical arm body is just clipped in the hemispherical microwave detection range of opposite sides.

Because sensor is on mechanical arm body, moved with the contraction of mechanical arm, microwave detection range is overall in machinery Arm working space is moved, accordingly, it would be desirable to suitably adjust microwave detection range and increase microwave radar sensor, makes it in mechanical arm It is unlikely to produce erroneous judgement in the course of work.

During work, microwave radar sensor sends microwave around the mechanical arm of work, forms detection barrier microwave model Enclose, there is barrier to appear in microwave detection range during work, information is communicated to PLC controls by microwave radar sensor Device, PLC control machinery arm avoidance.

The microwave radar sensor set on appropriate increase arm body, can more accurately disturbance in judgement object space position.

Six axle gyro sensors 4 are additionally provided with mechanical arm 2, the displacement of motion can be recorded by six axle gyroscopes, can Record offset deviation, also can arbitrarily set-point and put between moving displacement, so as to pass through Bit andits control movement velocity.

Microwave radar sensor 3 is electrically connected with the controller with microwave radar sensor 4.

Integral operation between being set time by amount of acceleration on three axles of six axle gyroscopes is so as to draw displacement Record shift value is carried out, wherein displacement calibration is compensated by the difference for the amount of moving forward and backward.Record is displaced through starting point and started Integration, terminal draws displacement S.

Certain above-described embodiment is only to illustrate technical concepts and features of the present utility model, and its object is to allow be familiar with this The people of technology can understand content of the present utility model and implement according to this, and protection model of the present utility model can not be limited with this Enclose.The modification that all Spirit Essences according to the utility model main technical schemes are done, should all cover and be protected of the present utility model Within the scope of shield.

Claims

1. a kind of self-balancing of recordable displacement and the mechanical arm of avoidance, it is characterised in that including pedestal, be rotatablely installed in described At least one microwave radar sensor is provided with mechanical arm on pedestal, the mechanical arm side, the mechanical arm is built-in with Six axle gyro sensors.

2. the self-balancing of recordable displacement according to claim 1 and the mechanical arm of avoidance, it is characterised in that also including control Device processed, the microwave radar sensor is electrically connected with the six axles gyro sensor with the controller.