Self-checking resetting and protecting method for mechanical arm
A technology of a robotic arm and a driving motor, applied in the field of robotic arms, can solve the problem that the robotic arm cannot find the starting point, etc.
Inactive Publication Date: 2021-08-27
高彦波 +5
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- Application Information
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Problems solved by technology
[0004] The present invention aims at the shortcoming that the mechanical arm cannot find the starting point after power failure in the prior art, and provides a self-check reset and protection method for the mechanical arm
Method used
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Embodiment 1
[0024] A self-check reset and protection method of a mechanical arm, such as figure 1 As shown, two position sensors are designed on the rotation axis of the mechanical arm, namely the upper limit sensor 3 and the lower limit sensor 4. When the mechanical arm rotates to the lowest point, the lower limit sensor is triggered; when the mechanical arm exceeds the set highest point, Trigger the upper limit sensor to protect the mechanical arm from exceeding the set point due to the failure of the host computer program.
[0025] When the robot arm runs to any position, there may be an unexpected power failure. At this time, it is necessary to re-power the device to start the robot arm. The following steps can make the robot arm return to the initial position, and the robot arm is powered on again, self-test The program starts. The specific operation steps are as follows:
[0026] The robotic arm is powered on and started;
[0027] The first mechanical arm 4 starts to rotate count...
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The invention relates to the field of manipulators, and discloses a self-checking resetting and protecting method for a mechanical arm, which comprises the following steps: powering on a mechanical arm to start; rotating the first section of mechanical arm (4) anticlockwise, and ascending the mechanical arm; when the first section of mechanical arm (4) triggers an upper limiting sensor (3), rotating the driving motor reversely, and descending the mechanical arm; when the first section of mechanical arm (4) rotates to a set angle alpha, rotating the driving motor reversely, and descending the mechanical arm; rotating the first section of mechanical arm (4) clockwise, and descending the mechanical arm; triggering a lower limiting sensor (2) by the first section of mechanical arm (4); and rotating the mechanical arm anticlockwise by alpha, thereby obtaining the initial position. A mechanical arm power-on self-test program is matched with the upper limiting sensor and the lower limiting sensor, so that the mechanical arm can return to a set starting point when started in any state. The upper limiting sensor and the lower limiting sensor limit the highest point and the lowest point of operation of the mechanical arm, and the mechanical arm can be protected from exceeding the set operation range under the condition that the program of the upper computer goes wrong.
Description
technical field [0001] The invention relates to the field of manipulators, in particular to a self-checking reset and protection method of a manipulator. Background technique [0002] An inspection robot is generally composed of a chassis, a robotic arm and a carrier. The chassis is used for walking, the robotic arm is used for lifting, and the carrier is used for taking pictures or other actions. [0003] The existing mechanical arm controls the lifting of the mechanical arm by a drive motor through the linkage of the transmission of the mechanical arm between the various mechanical arms. When the robot arm runs to any position, there may be an unexpected power failure. After the accidental power failure, the robot arm cannot find the starting point. Contents of the invention [0004] The invention aims at the defect that the mechanical arm cannot find the starting point after power failure in the prior art, and provides a self-checking reset and protection method of the...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J9/04B25J9/16
CPCB25J9/04B25J9/1612
Inventor 高彦波汤义勤邬旭峰邹宏亮叶建军曾林
Owner 高彦波