CN102601800A - Manipulator positioning device and manipulator with same - Google Patents

Abstract

A mechanical arm positioning device includes a plurality of gyroscope sensors, an analog/digital converter, a memory and a processor. The gyroscope sensor is used to sense the movement condition of the mechanical arm and generate corresponding analog sensing signals. The analog-to-digital converter is used to convert the analog sensing signal of the gyroscope sensor into a digital signal. The memory is used for storing the digital signal and preset information. The processor is used to calculate the movement of the mechanical arm according to the digital signal, determine the actual position of the mechanical arm, and compare the actual position of the mechanical arm with the preset information to determine whether the mechanical arm is positioned accurately, and if there is a deviation in positioning , then the corresponding driving signal is issued according to the deviation. The invention also relates to a mechanical arm with the mechanical arm positioning device.

Description

Mechanical arm positioning device and mechanical arm with the mechanical arm positioning device

technical field

The invention relates to a mechanical arm positioning device and a mechanical arm with the mechanical arm positioning device.

Background technique

The robotic arm is used to replace manual work such as product assembly and handling, which can greatly save manpower. In the design of the robot arm, its positioning accuracy is very important. If there is a large deviation in the positioning accuracy of the robot arm, it will be difficult for the robot arm to continue to work normally.

Existing mechanical arms are generally driven by motors, so they generally use the feedback signal of the motor during positioning, and the position of the mechanical arm is determined by calculating and analyzing the motor signal. However, with the development of science and technology, especially when the products to be assembled or transported become more and more delicate and small, the positioning accuracy of this positioning method is less and less satisfactory. Moreover, the signals returned by the existing drive motors are all linear motion signals, and the rotation of the mechanical arm is the result calculated by a certain algorithm based on the linear motion signals, which will also increase the deviation of positioning accuracy. In addition, if there is a driving deviation in the driving motor itself, the positioning accuracy error of the robotic arm will be inevitable.

Contents of the invention

In view of this, it is necessary to provide a mechanical arm with higher positioning accuracy and a mechanical arm with the positioning device for the mechanical arm.

A mechanical arm positioning device for positioning the position of a mechanical arm, the mechanical arm is driven by a drive motor, the mechanical arm positioning device includes a plurality of gyroscope sensors, an analog/digital converter, a memory and a processor .

The gyroscope sensor is used to sense the movement condition of the mechanical arm and generate corresponding analog sensing signals.

The analog-to-digital converters are respectively connected to the gyroscope sensors for converting the analog sensing signals of the gyroscope sensors into digital signals.

The memory is connected with the analog-to-digital converter and is used for storing the digital signal and preset information.

The processor is connected with the memory and the driving motor, and is used to calculate the movement of the mechanical arm according to the digital signal, determine the actual position of the mechanical arm, and compare the actual position of the mechanical arm with the Compared with the preset information, it is determined whether the mechanical arm is accurately positioned, and if there is a deviation in the positioning, a driving signal is sent to the driving motor according to the deviation.

A mechanical arm comprising a plurality of movable arms and a plurality of driving motors for driving the movement of the movable arms, the plurality of movable arms can be movably connected end to end, the mechanical arm also includes a plurality of gyroscope sensors, a analog-to-digital converters, a memory and processor.

The gyroscope sensor is used to sense the movement condition of the movable arm and generate corresponding analog sensing signals.

The analog-to-digital converters are respectively connected to the gyroscope sensors for converting the analog sensing signals of the gyroscope sensors into digital signals.

The memory is connected with the analog-to-digital converter and is used for storing the digital signal and preset information.

The processor is connected to the memory and the drive motor, and is used to calculate the movement of the movable arm according to the digital signal, determine the actual position of the movable arm, and compare the actual position of the movable arm with the Compared with the preset information, it is determined whether the movable arm is accurately positioned, and if there is a deviation in the positioning, a driving signal is sent to the driving motor according to the deviation.

Compared with the prior art, the robotic arm positioning device and the robotic arm with the robotic arm positioning device use the gyroscope sensor to sense the movement conditions of the robotic arm or its multiple movable arms, and according to The sensing result adjusts the position of the movable arm, so that the movable arm is located at an accurate positioning position, so the error caused by directly using the signal returned by the drive motor to recalculate the movement of the movable arm can be eliminated, and at the same time, the The driving error of the driving motor itself is eliminated, so the positioning accuracy of the robot arm can be improved.

Description of drawings

Fig. 1 is a structural schematic diagram of the mechanical arm of the present invention.

Fig. 2 is a functional block diagram of the robot arm in Fig. 1 .

Description of main component symbols

Robotic Arm 100

movable arm 10

The first movable arm 11

Second movable arm 12

Third movable arm 13

Operation head 14

Gyro sensor 20

Analog/Digital Converter 30

Memory 40

Processor 50

Drive motor 60

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings.

Please refer to FIG. 1 , which is a schematic structural diagram of a mechanical arm 100 of the present invention. The mechanical arm 100 includes a plurality of movable arms 10 and a plurality of gyroscope sensors 20 disposed on the movable arms 10 .

The plurality of movable arms 10 are movably connected end to end. In this embodiment, the movable arm 10 includes a first movable arm 11 , a second movable arm 12 and a third movable arm 13 . One end of the first movable arm 11 is movably connected to a base 15 . One end of the second movable arm 12 is connected to an end of the first movable arm 11 away from the base 15 , and the other end is connected to the third movable arm 13 . An operating head 14 is provided at the end of the third movable arm 13 away from the second movable arm 12 , and the operating head 14 is used for contacting a product (not shown in the figure) for assembling or clamping a product. The first movable arm 11 , the second movable arm 12 and the third movable arm 13 can achieve clamping and assembling of product parts or products through their own or cooperative rotational movements.

The gyroscope sensor 20 is used to sense the motion of the movable arm 10 and generate corresponding analog sensing signals. The gyroscope sensors 20 are capable of sensing the movement of an object in three dimensions. In this embodiment, the number of the gyro sensors 20 corresponds to the number of the movable arms 10, and are respectively arranged on the corresponding movable arms 10, and each gyro sensor 20 is close to one end of the corresponding movable arm 10 . Of course, the number of the gyro sensors 20 can also be more than the number of the movable arm 10, so as to increase the accuracy of sensing.

Please refer to FIG. 2 , the mechanical arm 100 further includes an analog/digital converter 30 , a memory 40 , a processor 50 and a plurality of driving motors 60 .

The A/D converters 30 are respectively connected to the gyro sensors 20 for converting the analog sensing signals of the gyro sensors 20 into digital signals and sending the digital signals to the memory 40 .

The memory 40 is connected to the analog/digital converter 30 for storing the digital signal and preset information. The preset information includes positioning position information of the mechanical arm 100 and the driver program for driving the driving motor 60 and other information.

The processor 50 is connected with the memory 40, and is used for calculating the motion of the movable arm 10 according to the digital signal, determining the position of the movable arm 10, and determining whether the movable arm 10 is accurately positioned according to the position, if If there is a deviation in positioning, a driving signal is sent to the driving motor 60 according to the deviation. Specifically, the processor 50 compares the calculated actual position of the movable arm 10 with the positioning position information of the movable arm stored in the memory 40 to determine whether the positioning of the mechanical arm 100 is accurate and The existing positioning deviation amount, and the compensation amount of the driving motor is calculated according to the deviation amount.

The driving motor 60 drives the movable arm 10 to move according to the driving signal, so that the mechanical arm 100 is located at a precisely positioned position. In this embodiment, the driving motor 60 is a stepping motor or a linear motor.

When in use, the processor 50 first controls the drive motor to drive the movable arm 10 according to a preset driver program, so that the mechanical arm 100 is located at a predetermined working position; during this process, the gyro sensor 20 senses the actual movement condition of the movable arm 10; the processor 50 calculates the actual position of the mechanical arm 100 according to the actual movement condition, and compares the actual position of the mechanical arm 100 with the memory 40 to determine whether the mechanical arm 100 is at the precise positioning position, and if there is a deviation between the actual position of the mechanical arm 100 and the precise positioning position, then according to The deviation calculates the required compensation amount, and sends a corresponding driving signal to the driving motor 60 according to the compensation amount; the driving motor 60 drives the movable arm 10 to move according to the driving signal. It should be noted that the above-mentioned steps can be repeated until the mechanical arm 100 is located at the precise positioning position. Of course, the precise positioning position can be preset according to the number of specific working positions of the mechanical arm 100 corresponding to the Different pinpoint locations of work positions.

The mechanical arm uses the gyroscope sensor to sense the movement of the movable arm, and adjusts the position of the movable arm according to the sensing result, so that the movable arm is located at a precise positioning position, so that the direct movement of the movable arm can be eliminated. Using the signal returned by the driving motor to recalculate the error caused by the movement of the movable arm, and at the same time, the driving error of the driving motor itself can be eliminated, so the positioning accuracy of the mechanical arm can be improved.

In addition, those skilled in the art can also make other changes within the spirit of the present invention. Of course, these changes made according to the spirit of the present invention should be included within the scope of protection claimed by the present invention.

Claims (9)

1. A mechanical arm positioning device is used to locate the position of the mechanical arm, and the mechanical arm is driven by a drive motor, and the mechanical arm positioning device includes a plurality of gyroscope sensors, an analog/digital converter, a memory and a processor; The gyroscope sensor is used to sense the movement condition of the mechanical arm and generate a corresponding analog sensing signal; The analog-to-digital converters are respectively connected to the gyroscope sensors, and are used to convert the analog sensing signals of the gyroscope sensors into digital signals; The memory is connected to the analog-to-digital converter for storing the digital signal and preset information; The processor is connected with the memory and the driving motor, and is used to calculate the movement of the mechanical arm according to the digital signal, determine the actual position of the mechanical arm, and compare the actual position of the mechanical arm with the Compared with the preset information, it is determined whether the mechanical arm is accurately positioned, and if there is a deviation in the positioning, a driving signal is sent to the driving motor according to the deviation. 2. The robot arm positioning device according to claim 1, wherein the driving motor is a stepping motor or a linear motor. 3 . The robot arm positioning device according to claim 1 , wherein the preset information includes positioning position information of the robot arm and the driver program for driving the driving motor. 4 . 4. A mechanical arm comprising a plurality of movable arms and a plurality of drive motors for driving the movement of the movable arms, the plurality of movable arms can be movably connected end to end, the improvement is that the mechanical arm also includes multiple a gyroscope sensor, an analog/digital converter, a memory and a processor; The gyroscope sensor is used to sense the movement condition of the movable arm and generate a corresponding analog sensing signal; The analog-to-digital converters are respectively connected to the gyroscope sensors, and are used to convert the analog sensing signals of the gyroscope sensors into digital signals; The memory is connected to the analog-to-digital converter for storing the digital signal and preset information; The processor is connected to the memory and the drive motor, and is used to calculate the movement of the movable arm according to the digital signal, determine the actual position of the movable arm, and compare the actual position of the movable arm with the Compared with the preset information, it is determined whether the movable arm is accurately positioned, and if there is a deviation in the positioning, a driving signal is sent to the driving motor according to the deviation. 5. The mechanical arm according to claim 4, wherein the movable arm comprises a first movable arm, a second movable arm and a third movable arm, and one end of the second movable arm is connected to the first movable arm. One movable arm is connected, and the other end is connected with the third movable arm, and the gyro sensor is respectively arranged at one end of the first movable arm, the second movable arm and the third movable arm. 6. The mechanical arm according to claim 5, characterized in that: an operating head is provided at the end of the third movable arm far away from the second movable arm. 7. The mechanical arm according to claim 5, further comprising a base, the end of the first movable arm away from the second movable arm is movably connected to the base. 8. The mechanical arm according to claim 4, wherein the driving motor is a stepping motor or a linear motor. 9. The mechanical arm according to claim 4, wherein the preset information includes location information of the mechanical arm and the driver program for driving the driving motor.

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