Mechanical arm external angle feedback device and mechanical arm

Abstract

The invention provides a mechanical arm external angle feedback device and a mechanical arm, and relates to the field of robotics. The mechanical arm external angle feedback device comprises a first connecting rod, a second connecting rod and a spherical device, the first connecting rod is provided with a first external connecting end and a first internal connecting end, and the first internal connecting end is magnetic; the second connecting rod is provided with a second external connecting end and a second internal connecting end, and the second internal connecting end is magnetic; the spherical device comprises an iron shell and an omni-directional magnetic induction device, and the omni-directional magnetic induction device is arranged in the iron shell; the first internal connecting end is detachably adsorbed on the outer wall of the iron shell based on magnetism, and the second internal connecting end is detachably adsorbed on the outer wall of the iron shell based on magnetism; and the omni-directional magnetic induction device is used for obtaining the magnetic field state of any position on the iron shell. The mechanical arm external angle feedback device can monitor the included angle between two adjacent mechanical arm joint arms in the mechanical arm, and has good usability.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to an external angle feedback device for a mechanical arm and a mechanical arm. Background technique [0002] In the tandem manipulator, the articulated arms of each stage in the tandem manipulator are connected sequentially. Under the prior art, the attitude control and attitude monitoring of the articulated manipulator in the tandem manipulator mainly depend on high Precision servo motor components are achieved. [0003] Specifically, the motion accuracy of the servo motor in the servo motor assembly is determined by the corresponding encoder, and the indexing accuracy of the encoder is achieved based on the subdivision of the signal. However, in actual implementation, the subdivision of the signal will introduce errors and Enlarging the error, excessive subdivision will not be able to guarantee the running accuracy of the encoder; correspondingly, the higher the quality of the cod...

AI Technical Summary

Problems solved by technology

[0005] In the tandem mechanical arm, for the incremental encoder, the loss of the counting pulse of the incremental encoder will cause the motion error of the corresponding articulated arm of the articulated arm, resulting in the position of the working end of the tandem mechanical arm Error, therefore, it is necessary to further monitor the swing angle of the jointed arm of the manipulator

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