CN211615626U - Industrial grade arm allies oneself with control system more - Google Patents
Industrial grade arm allies oneself with control system more Download PDFInfo
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- CN211615626U CN211615626U CN202020136135.1U CN202020136135U CN211615626U CN 211615626 U CN211615626 U CN 211615626U CN 202020136135 U CN202020136135 U CN 202020136135U CN 211615626 U CN211615626 U CN 211615626U
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Abstract
The utility model relates to an industrial grade arm allies oneself with control system more, its characterized in that: the multi-connected controller is used for simultaneously controlling more than one industrial-grade mechanical arm; the multi-connected controller comprises a control main board communicated and interconnected with more than one industrial-grade mechanical arm and more than one group of movable shaft mechanisms assembled and connected with each other in sequence; the movable shaft mechanism comprises a connecting bracket, a movable base and a rotation angle feedback device; the connecting bracket is fixedly connected with the movable base, and the rotation angle feedback device is arranged on the movable base; the connecting support in the last group of movable shaft mechanism is connected with the rotation angle feedback device in the next group of movable shaft mechanism, one sensing end of the rotation angle feedback device is connected with the connecting support, and the other sensing end of the rotation angle feedback device is connected with the movable base, so that the rotation angle feedback device feeds back rotation angle information of the connecting support relative to the movable base to the control main board. The industrial-grade mechanical arm multi-connection control system is strong in adaptability, simple and easy to use in operation and control, accurate in action and reliable in performance.
Description
Technical Field
The utility model relates to a robot control system specifically is an industrial grade arm allies oneself with control system more.
Background
The existing robot control methods in the market are generally one-to-one control, if one or more robots are controlled together, the same number of controllers and controllers are needed to operate together, or computer programming is needed to achieve the effect that one controller controls a plurality of robots, and the control method is generally used for a plurality of performance robots. Except the traditional remote controller, computer programming and other controllable robots, the robot can also be controlled by utilizing the motion sensing technology; the motion sensing technology is that an operator wears a sensor to make a motion to be programmed, and the sensor stores and transmits data of the motion made by the operator to the robot, so that the robot can complete the motion in real time; the motion sensing technology needs a controller and a robot to be controlled to have similar mechanical structures, otherwise, the motion made by the robot has larger deviation, and the motion sensing technology is needless to say that high-precision motion is finished; obviously, the existing controller can not be fully and well adapted to different robots in the market, and it can be seen that the existing robot control system still has great limitation and inadaptability.
Therefore, further improvements are needed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide an industrial grade arm allies oneself with control system more, and its adaptability is strong, controls simple easy-to-use, and the action is accurate, the dependable performance.
The purpose of the utility model is realized like this:
the utility model provides an industrial grade arm allies oneself with control system more which characterized in that: the multi-connected controller is used for simultaneously controlling more than one industrial-grade mechanical arm; the multi-connected controller comprises a control main board communicated and interconnected with more than one industrial-grade mechanical arm and more than one group of movable shaft mechanisms assembled and connected with each other in sequence; the movable shaft mechanism comprises a connecting bracket and a movable base which are fixedly connected with each other; the connecting support in the upper group of movable shaft mechanisms is rotationally connected with the movable base in the next group of movable shaft mechanisms through corresponding rotation angle feedback devices, so that the rotation angle feedback devices can feed back rotation angle information between the two movable shaft mechanisms to the control main board.
The length of the connecting support is adjustable, and the adjusting mode is air pressure adjusting, hydraulic adjusting, electric adjusting or manual adjusting.
The connecting bracket can be specifically provided with the following scheme:
according to the first scheme, the connecting support comprises a fixed cylinder body and a piston rod, the end portions of the piston rod are in telescopic sliding in the inner cavity of the fixed cylinder body and are in sealing fit with each other, and the inner cavity of the fixed cylinder body is connected with an air pressure source or a hydraulic source.
According to the second scheme, the connecting support comprises a fixed sleeve and a movable rod; an adjusting motor is fixedly arranged on the fixed sleeve, and a motor shaft of the adjusting motor is fixedly connected with an adjusting screw rod; the end part of the movable rod slides in a telescopic mode on the inner side of the fixed sleeve, the movable rod is not rotatable relative to the fixed sleeve, and an adjusting screw hole in threaded connection with the adjusting screw rod is formed in the inner side of the movable rod.
And in the third scheme, the connecting support comprises a fixed sleeve and an adjusting rod, and the fixed sleeve is in threaded connection with the adjusting rod.
Scheme four, linking bridge includes outer tube and interior sleeve pipe, and the flexible slip of interior sleeve pipe tip is inboard at the outer tube, and the interval formula is equipped with two above outer regulation holes on the outer tube, is equipped with more than one interior regulation hole on the interior sleeve pipe, and an outer regulation hole and an interior regulation hole are pegged graft simultaneously to an adjusting spindle.
And the industrial-grade mechanical arm is provided with a receiver for receiving a control command sent by the multi-connected controller.
The receiver is loaded with an instruction decoding program for decoding the control instructions into language data readable and understandable by the industrial-grade robotic arm.
The industrial-grade mechanical arm is a six-shaft mechanical arm; six groups of movable shaft mechanisms in the multi-connected controller are arranged corresponding to the number of shafts of the industrial-grade mechanical arm.
A connection list is preset on the multi-connected controller and comprises IP addresses and/or area network names and/or corresponding passwords of more than one industrial-grade mechanical arm.
The utility model has the advantages as follows:
the multi-connected controller in the industrial-grade mechanical arm multi-connected control system consists of a plurality of groups of movable shaft mechanisms so as to form a controller basically consistent with the mechanical structure of the industrial-grade mechanical arm to be controlled; because the multi-connected controller can be assembled by adopting the movable shaft mechanism according to the mechanical structure of the industrial-grade mechanical arm to be controlled, the multi-connected controller can be suitable for controlling different industrial-grade mechanical arms, and has strong adaptability. The multi-connected controller is characterized in that an operator changes the action posture of the multi-connected controller by moving different movable shaft mechanisms on the multi-connected controller, the rotating angle of each group of movable shaft mechanisms can be fed back and recorded, relevant parameters are converted into effective programs, and the programs are transmitted to more than one industrial mechanical arm to be controlled in a wired or wireless mode, so that multi-connected control is realized, the control mode is simple and easy to use, the action is accurate, and the performance is reliable. The system can enable one operator to accurately control a plurality of industrial-grade mechanical arms, and enables the operator to simultaneously receive and synchronously control the industrial-grade mechanical arms; by the system, the industrial-grade mechanical arm can do some delicate work without programming.
Drawings
Fig. 1 is a schematic structural diagram of an industrial-grade robot arm according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a multi-connected controller according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a multi-connected controller according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a connecting bracket according to an embodiment of the present invention.
Fig. 5 is a partial cross-sectional view of a first embodiment of a linking bracket according to the present invention.
Fig. 6 is a partial sectional view of a second embodiment of the connecting bracket of the present invention.
Fig. 7 is a partial sectional view of a third embodiment of the connecting bracket of the present invention.
Fig. 8 is a partial cross-sectional view of a fourth embodiment of a connecting bracket according to the present invention.
Fig. 9 is a schematic structural diagram of a rotation angle feedback device according to an embodiment of the present invention.
Fig. 10 is a sectional view of a rotation angle feedback device according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1 to 4, the industrial-grade mechanical arm multi-connected control system comprises a multi-connected controller B for simultaneously controlling more than one industrial-grade mechanical arm a; the multi-connected controller B comprises a control main board communicated and interconnected with more than one industrial-grade mechanical arm A and more than one group of movable shaft mechanisms which are sequentially assembled and connected with each other; the movable shaft mechanism comprises a connecting bracket 1 and a movable base 2 which are fixedly connected with each other; the connecting bracket 1 in the upper group of movable shaft mechanisms is rotationally connected with the movable base 2 in the next group of movable shaft mechanisms through the corresponding rotation angle feedback device 17, so that the rotation angle feedback device 17 feeds back the rotation angle information between the two movable shaft mechanisms to the control main board. The multi-connected controller B in the industrial-grade mechanical arm multi-connected control system consists of a plurality of groups of movable shaft mechanisms so as to form a controller which is basically consistent with the mechanical structure of an industrial-grade mechanical arm A to be controlled; because the multi-connected controller B can be assembled by adopting the movable shaft mechanism according to the mechanical structure of the industrial-grade mechanical arm A to be controlled, the multi-connected controller B can be suitable for controlling different industrial-grade mechanical arms A, and has strong adaptability. An operator changes the action posture of the multi-connected controller B by moving different movable shaft mechanisms on the multi-connected controller B, the rotating angle of each group of movable shaft mechanisms can be fed back and recorded, relevant parameters are converted into effective programming, and finally the programming is transmitted to more than one industrial mechanical arm A to be controlled in a wired or wireless mode, so that multi-connected control is realized, the control mode is simple and easy to use, the action is accurate, and the performance is reliable. The system can enable one operator to accurately control a plurality of industrial-grade mechanical arms A, and enables the operator to simultaneously receive and synchronously control the industrial-grade mechanical arms A; by the system, the industrial-grade mechanical arm A can do some delicate work without programming.
Furthermore, in the same group of movable shaft mechanisms, one end of a connecting bracket 1 is fixedly connected with one end of a movable base 2; in two adjacent movable shaft mechanisms, the other end of the connecting bracket 1 in the upper group of movable shaft mechanisms is rotatably connected with the other end of the movable base 2 in the lower group of movable shaft mechanisms; one sensing end of the rotation angle feedback device 17 is connected with the connecting bracket 1, and the other sensing end is connected with the movable base 2.
Further, the length of the connecting support 1 is adjustable, and the adjusting mode is air pressure adjustment, hydraulic adjustment, electric adjustment or manual adjustment. Because the length of the connecting support 1 can be adjusted at will, the multi-connection controller can be adapted to mechanical arms of different models, and finally can achieve the effect that the multi-connection controller B can be matched with mechanical arms of different models to perform effective and accurate control only by inputting and programming the rotation angle data of the rotation angle feedback device and the length data of each joint.
Further, referring to fig. 9 and 10, the rotation angle feedback device 17 includes a device housing 1701 for fixedly attaching the link bracket 1 (or the movable base 2), and a rotation shaft 1702 for fixedly attaching the movable base 2 (or the link bracket 1); when the link bracket 1 and the movable base 2 rotate relatively, the rotation shaft 1702 rotates relative to the apparatus housing 1701, and corresponding rotation angle information is generated.
The rotation angle feedback device 17 related to this embodiment is a potentiometer, which includes a first fixed contact 1703, a second fixed contact 1705 and a sliding contact 1704, a fixed contact 1706 fixed relatively and a movable contact 1707 rotatable relatively are disposed in the inner cavity of the device housing 1701, the first fixed contact 1703 and the second fixed contact 1705 are electrically connected to two ends of the fixed contact 1706 respectively, the movable contact 1707 is connected to a rotation shaft 1702 and a conductive plastic 1708 respectively, the movable contact 1707 and the conductive plastic 1708 rotate with the rotation shaft 1702 respectively, the movable contact 1707 is electrically connected to the fixed contact 1706 through the conductive plastic 1708, the conductive plastic 1708 slides on the fixed contact 1706 relatively when rotating with the rotation shaft 1702, the rotation is converted into sliding motion in actual use, the resistance value between the sliding contact 1704 and the two fixed contacts is changed by the sliding motion, different resistance values of the output terminal and the input terminal are generated, and the rotation angle corresponding to the rotation shaft 1702 can be known by reading the resistance values. In addition, the rotation angle feedback device 17 may be a servo motor, which is controlled by a feedback signal to achieve the purpose of detecting the rotation angle, and the precision is higher than that of a potentiometer, but the volume is larger, compared to the prior potentiometer, which is the rotation angle feedback device 17.
The potentiometer has a resistance value change rule which is the rule of the relationship between the rotation angle of the shaft and the change of the resistance value, besides the nominal value, the inclination power and the error grade of the potentiometer are the same as those of a common resistor; the potentiometer with resistance value uniformly changing with the inner degree of the rotation shaft 1702 is called a linear potentiometer, the resistance value changes little at the beginning and then changes faster and faster, and is similar to a potentiometer with exponential law, so the potentiometer is called an exponential potentiometer. The application occasions of the potentiometers with different change rules are different.
Potentiometers differ from variable resistors in both appearance and use. Specifically, in appearance, the variable resistor generally has only two wiring, and the potentiometer has three wiring terminals; the variable resistor can only change the resistance value between the maximum value and the minimum value when in use, and the potentiometer can not only change the resistance value between the maximum value and the minimum value but also adjust the potential level of the rotating arm and the two ends through the rotating shaft 1702 when in use, so the potentiometer is called. The potentiometers are classified into carbon film potentiometers, carbon solid core potentiometers, metal film potentiometers, glass glaze potentiometers, line-level potentiometers, and the like according to the difference of resistance materials.
The connecting bracket 1 may specifically have the following scheme:
first, as shown in fig. 5, the connecting bracket 1 includes a fixed cylinder 102 and a piston rod 101, the piston rod 101 slides in the inner cavity of the fixed cylinder 102 in a telescopic manner at the end portion and is in sealing fit with each other, so that the inner cavity of the fixed cylinder 102 is separated into a rod cavity 1021 and a rod-free cavity 1022 which are not communicated with each other, the inner cavity of the fixed cylinder 102 is connected with an air pressure source or a hydraulic pressure source (i.e., the rod cavity 1021 and the rod-free cavity 1022 are respectively connected with the air pressure source or the hydraulic pressure source), and the piston rod 101 can complete telescopic movement relative to the fixed cylinder 102 by pressurizing the rod cavity 1021 or the rod-free cavity 1022, thereby achieving the purpose.
In a second aspect, as shown in fig. 6, the connecting bracket 1 includes a fixed sleeve 104 and a movable rod 103; an adjusting motor (not marked in the figure) is fixedly arranged on the fixed sleeve 104, and a motor shaft of the adjusting motor is fixedly connected with an adjusting screw 105; the end part of the movable rod 103 slides in a telescopic way inside the fixed sleeve 104, the movable rod 103 cannot rotate relative to the fixed sleeve 104, the inner side of the movable rod 103 is provided with an adjusting screw hole in threaded connection with an adjusting screw 105, and the adjusting screw 105 is positioned and rotated in the inner cavity of the fixed sleeve 104; when the adjusting motor works, the adjusting screw 105 is driven to rotate, and the movable rod 103 can complete telescopic movement relative to the fixed cylinder 102 under the action of the threads, so that the purpose of adjusting the length of the connecting bracket 1 is achieved.
According to a third scheme, as shown in fig. 7, the connecting bracket 1 comprises a fixing sleeve 107 and an adjusting rod 106, wherein inner threads are arranged on the inner wall of the fixing sleeve 107, outer threads are arranged on the outer wall of the adjusting rod 106, and the inner threads on the fixing sleeve 107 are in threaded connection with the outer threads on the adjusting rod 106; the operator can manually rotate the fixed sleeve 107 or the adjusting rod 106 to make the adjusting rod 106 complete the telescopic movement relative to the fixed sleeve 107, thereby achieving the purpose of adjusting the length of the connecting bracket 1.
Fourthly, as shown in fig. 8, the connecting bracket 1 comprises an outer sleeve 109 and an inner sleeve 108, the end of the inner sleeve 108 slides in the outer sleeve 109 in a telescopic manner, the side wall of the outer sleeve 10 is provided with more than two outer adjusting holes 110 at intervals, the side wall of the inner sleeve 108 is provided with more than one inner adjusting hole, and an adjusting shaft 111 is inserted into one outer adjusting hole 110 and one inner adjusting hole at the same time; the adjusting shaft 111 is adjusted to be inserted into the outer adjusting holes 110 at different positions, so that the inner sleeve 108 can stretch relative to the outer sleeve 109, and the purpose of adjusting the length of the connecting bracket 1 is achieved.
Further, a receiver for receiving a control instruction sent by the multi-gang controller B is arranged on the industrial-grade mechanical arm a.
Further, the receiver is loaded with an instruction decoding program for decoding the control instructions into language data that the industrial-scale robot arm a can read.
Further, the industrial-grade robot arm a according to the present embodiment is a six-axis robot arm (having six-axis mobility); six groups of movable shaft mechanisms in the multi-connected controller B are arranged corresponding to the number of shafts of the industrial-grade mechanical arm A. It should be noted that the industrial-grade robot a is not limited to a six-axis robot, and is only exemplified here; of course, the industrial-grade mechanical arm a may also be a multi-axis mechanical arm having five-axis mobility, seven-axis mobility, eight-axis mobility, and the like.
Further, the multi-connected controller B can be actively connected with all (more than one) industrial-grade mechanical arms A to be controlled, a connection list is preset in the multi-connected controller B and comprises IP addresses and/or regional network names and/or corresponding passwords of more than one industrial-grade mechanical arm A, and after the system receives a control instruction, the multi-connected controller B can gather in a wireless network according to the connection list to search corresponding data receiving boxes for connection; after the connection is completed, initial setting pairing is performed (since the multi-connected controller B needs to confirm the model of the industrial-grade mechanical arm a to be controlled and related hardware configuration slave parameters including the lengths of different movable shafts and the movable speed range in the related industrial-grade mechanical arm a), and the industrial-grade mechanical arm a can be controlled after the initial setting is completed. The IP addresses of the industrial-grade mechanical arms A can be simultaneously connected with the multi-connected controller B, so that the industrial-grade mechanical arms A can synchronously make the same action.
The industrial-grade mechanical arm multi-connection control system can manufacture multi-connection controllers B corresponding to different industrial-grade mechanical arms A on the market only by setting the number of the movable shaft mechanisms and the length of each connecting support 1; the control main board transmits the recorded action data to an industrial mechanical arm A to be controlled, the industrial mechanical arm A can receive the action data sent by the multi-connected controller B through a receiver and decode the action data into language data which can be read and understood by the industrial mechanical arm A, and therefore the industrial mechanical arm A can complete corresponding actions according to the received action data. The multi-connected controller B can simultaneously transmit the motion data to a plurality of industrial-grade mechanical arms A, so that the industrial-grade mechanical arms A can accurately complete related work by simulating the motion of the multi-connected controller B, and multi-connected control is effectively realized; in addition, the system also has a recording function, and can record the action of an operator to the cloud server, so that the computer programming time is saved, and the efficiency is improved. The motion data is rotation angle data of the movable axis mechanism stored at different time points.
The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an industrial grade arm allies oneself with control system more which characterized in that: comprises a multi-connected controller (B) for simultaneously controlling more than one industrial-grade mechanical arm (A); the multi-connected controller (B) comprises a control main board communicated and interconnected with more than one industrial-grade mechanical arm (A) and more than one group of movable shaft mechanisms which are sequentially assembled and connected with each other; the movable shaft mechanism comprises a connecting bracket (1) and a movable base (2) which are fixedly connected with each other; the connecting bracket (1) in the upper group of movable shaft mechanisms is rotationally connected with the movable base (2) in the lower group of movable shaft mechanisms through the corresponding rotation angle feedback device (17), so that the rotation angle feedback device (17) feeds back the rotation angle information between the two movable shaft mechanisms to the control main board.
2. The industrial grade mechanical arm multi-connected control system as claimed in claim 1, wherein: the length of the connecting support (1) is adjustable, and the adjusting mode is air pressure adjusting, hydraulic adjusting, electric adjusting or manual adjusting.
3. The industrial grade mechanical arm multi-connected control system as claimed in claim 2, wherein: the connecting support (1) comprises a fixed cylinder body (102) and a piston rod (101), the end parts of the piston rod (101) slide in the inner cavity of the fixed cylinder body (102) in a telescopic mode and are in sealing fit with each other, and the inner cavity of the fixed cylinder body (102) is connected with an air pressure source or a hydraulic source.
4. The industrial grade mechanical arm multi-connected control system as claimed in claim 2, wherein: the connecting bracket (1) comprises a fixed sleeve (104) and a movable rod (103); an adjusting motor is fixedly arranged on the fixed sleeve (104), and a motor shaft of the adjusting motor is fixedly connected with an adjusting screw rod (105); the end part of the movable rod (103) slides in a telescopic mode on the inner side of the fixed sleeve (104), the movable rod (103) cannot rotate relative to the fixed sleeve (104), and an adjusting screw hole in threaded connection with the adjusting screw rod (105) is formed in the inner side of the movable rod (103).
5. The industrial grade mechanical arm multi-connected control system as claimed in claim 2, wherein: the connecting support (1) comprises a fixing sleeve (107) and an adjusting rod (106), and the fixing sleeve (107) and the adjusting rod (106) are in threaded connection with each other.
6. The industrial grade mechanical arm multi-connected control system as claimed in claim 2, wherein: the connecting support (1) comprises an outer sleeve (109) and an inner sleeve (108), the end part of the inner sleeve (108) slides in a telescopic mode on the inner side of the outer sleeve (109), more than two outer adjusting holes (110) are arranged on the outer sleeve (109) at intervals, more than one inner adjusting hole is arranged on the inner sleeve (108), and an outer adjusting hole (110) and an inner adjusting hole are simultaneously inserted into one adjusting shaft (111).
7. The industrial grade mechanical arm multi-connected control system as claimed in claim 1, wherein: and the industrial-grade mechanical arm (A) is provided with a receiver for receiving a control command sent by the multi-connected controller (B).
8. The industrial grade mechanical arm multi-connected control system as claimed in claim 7, wherein: the receiver is loaded with an instruction decoding program for decoding control instructions into language data readable and understandable by the industrial-grade robotic arm (a).
9. The industrial grade mechanical arm multi-connected control system as claimed in claim 1, wherein: the industrial-grade mechanical arm (A) is a six-axis mechanical arm; six groups of movable shaft mechanisms in the multi-connected controller (B) are arranged corresponding to the number of shafts of the industrial-grade mechanical arm (A).
10. The industrial grade mechanical arm multi-connected control system as claimed in claim 1, wherein: and a connection list is preset on the multi-connected controller (B), and the connection list comprises IP addresses and/or area network names and/or corresponding passwords of more than one industrial-grade mechanical arm (A).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020136135.1U CN211615626U (en) | 2020-01-19 | 2020-01-19 | Industrial grade arm allies oneself with control system more |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020136135.1U CN211615626U (en) | 2020-01-19 | 2020-01-19 | Industrial grade arm allies oneself with control system more |
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| Publication Number | Publication Date |
|---|---|
| CN211615626U true CN211615626U (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020136135.1U Active CN211615626U (en) | 2020-01-19 | 2020-01-19 | Industrial grade arm allies oneself with control system more |
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| CN (1) | CN211615626U (en) |
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- 2020-01-19 CN CN202020136135.1U patent/CN211615626U/en active Active
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