A multi-joint manipulator zero inquiry device and method
A manipulator and multi-joint technology, applied in the field of manipulators, can solve the problems of high cost and complex structure of the code disc, and achieve the effect of reducing the cost of manipulators
Active Publication Date: 2015-10-28
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology
In this way, the structure of the code disc is complicated and the cost is high
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[0014] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0015] refer to figure 1 As shown, the present invention discloses a multi-joint manipulator zero interrogation device, which includes a code disc 1, a decoder 2, a driver 3, a communication module and a robot controller 5, wherein:
[0016] The code wheel 1 is provided with an incremental code line 11 and a Z line 12 , the incremental line 11 is etched around the edge of the code wheel 1 , and the Z line 12 is etched on the circumference of the code wheel 1 .
[0017] The decoder 2 , whose position is fixed, is used to read the incremental code line 11 and the Z line 12 on the code disk 1 , and t...
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The invention discloses a multi-joint mechanical hand zero query device and a method. The zero query device comprises code discs, decoders, drivers, communication modules and a robot controller; the positions of the decoders are fixed; the code discs rotate relative to the decoders and input information into the drivers; communication modules are arranged in the driver; the robot controller is connected with the communication modules; the code discs are provided with Z scale marks; and the numbers of the code discs, the decoders and the drivers are two respectively. According to the invention, a mechanical hand joint gesture is obtained through the combination of the code discs, the decoders, the drivers and the robot controller; a networked control is formed by adopting a CAN bus in a direct-drive mechanical hand; the high-precision control of the mechanical hand is realized through the increment of code discs, the cost of the mechanical hand is reduced, and the cost performance is good; and in addition, the direct-driven mechanical uses the increment code discs to obtain absolute positions, and rotates for multiple circles during the process of the multi-joint mechanical hand zero query, so as to ensure that the reference is unique.
Description
technical field [0001] The invention relates to the technical field of manipulators, in particular to a multi-joint manipulator zero inquiry device and method. Background technique [0002] The existing manipulator uses an absolute encoder. After the manipulator is powered on, the position information of each joint of the manipulator is obtained through the absolute encoder, so as to calculate the position and attitude of each connecting rod of the manipulator. In this way, the structure of the code disc is complicated and the cost is high. Contents of the invention [0003] The purpose of the present invention is to provide a multi-joint manipulator zero inquiry device and method, which can realize high-precision control of the manipulator. [0004] To achieve the above object, the present invention adopts the following technical solutions: [0005] A multi-joint manipulator zero inquiry device, which includes a code disc, a decoder, a driver, a communication module and...
Claims
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IPC IPC(8): B25J13/08B25J19/02
Inventor 杨奇峰徐方曲道奎褚明杰贾凯於晓龙刘一恒陈廷辉
Owner SHENYANG SIASUN ROBOT & AUTOMATION