Mechanical arm and movement control card
A motion control card and robotic arm technology, applied in the field of automation, can solve the problems of complex control methods and low precision, and achieve the effect of high control precision and reduced complexity
Inactive Publication Date: 2016-07-13
NORTHEAST GASOLINEEUM UNIV
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Problems solved by technology
[0007] The purpose of the present invention is to provide a mechanical arm and a motion control card, which solves the problems of complex control methods and low precision of the mechanical arm from the perspective of kinematics and dynamics
Method used
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Embodiment Construction
[0032] The present invention will be described in detail below in combination with specific embodiments.
[0033] Mechanical arm structure of the present invention such as figure 1 As shown: the waist arm 101 is movably connected to the arm 201, and the arm 201 is movably connected to the wrist arm 301. The top of the wrist arm 301 is equipped with a clamping tool 5 and a positioning sensor 6. The clamping tool 5 controls the clamping object through the DC motor 4. The waist stepper motor 1 located at the waist is used to control the waist arm 101 to rotate on a vertical axis, the hand stepper motor 2 is used to control the arm 201 to rotate vertically to the horizontal plane, and the wrist stepper motor 3 is used to control the wrist arm 301 rotates vertically to the horizontal plane, the DC motor 4 located at the clamping tool end is used to realize the clamping or loosening operation of the clamping tool 5, and the positioning sensor 6 is used to realize the alignment betwe...
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The invention discloses a mechanical arm and a movement control card. A waist stepper motor positioned at a waist part is adopted to control a waist arm to rotate relative to a vertical axis; a hand stepper motor is adopted to control an arm to rotate perpendicular to a horizontal plane; a wrist stepper motor is adopted to control a wrist arm to rotate perpendicular to the horizontal plane; a direct-current motor positioned at a clamping tool end is adopted to clamp or release a clamping tool; a positioning sensor is adopted to align the clamping tool end of the mechanical arm to a workpiece holding position, and to provide an on / off signal to the controller to decide whether a workpiece is placed down or not. The mechanical arm movement control card is mounted on a bus slot of an industrial personal computer, and data exchange between the control card and the industrial personal computer is achieved in an ISA bus manner. The mechanical arm has the benefits that due to adoption of stepper motor driven mechanical arm positioning and movement control algorithms, the complex degree of control tasks is reduced, and the control precision is high.
Description
technical field [0001] The invention belongs to the technical field of automation and relates to a mechanical arm and a motion control card. Background technique [0002] The role of science and technology in human society is becoming more and more important. With the continuous invention and creation of new technologies, more and more heavy and complex production activities are replaced by automation devices, which not only improve production efficiency but also provide life Great convenience. As a typical representative of automation devices, the robotic arm has been widely used, such as assembly robots, material transfer robots, welding robots, etc. in the automobile manufacturing industry. For such robotic arms that work within the coordinate range of a fixed position, At present, there are many manipulator motion control cards on the market. When controlling the manipulator, they mostly control the manipulator from the perspective of kinematics and dynamics. The contro...
Claims
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Login to View More IPC IPC(8): B25J9/00B25J9/18
CPCB25J9/00B25J9/1612
Inventor 李艳辉李占东周宾姜寅令胡明哲聂成
Owner NORTHEAST GASOLINEEUM UNIV