Sliding-mode-controlled mechanical arm system and sliding-mode control method thereof

Abstract

The invention relates to the technical field of sliding mode control mechanical arm systems and sliding mode control methods thereof, and discloses a sliding mode control mechanical arm system and a sliding mode control method thereof.The sliding mode control mechanical arm system comprises a base electric cabinet, an aluminum alloy profile is fixedly arranged on the base electric cabinet through bolts, and an upper end block is fixedly arranged at the upper end of the aluminum alloy profile through bolts; a lead screw is rotationally arranged between the base electric control box and the upper end block, a motor is arranged in the base electric control box and used for driving the lead screw, a sliding rail is fixedly arranged on the aluminum alloy profile, a sliding rail sliding block is fixedly arranged at one end of the auxiliary plate and used for being connected to the sliding rail in a sliding mode. The controller in the base electric cabinet controls the first-stage motor to drive the first-stage driving synchronous wheel to drive the first-stage hinge arm to rotate by an angle through the first-stage synchronous belt, and the second-stage motor controls the second-stage driving synchronous wheel to drive the second-stage synchronous belt to drive the second-stage hinge arm to rotate so as to control the position of the executing end of the mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of a sliding mode controlled mechanical arm system and a sliding mode control method thereof, and in particular to a sliding mode controlled mechanical arm system and a sliding mode control method thereof. Background Art

[0002] The traditional sliding mode controlled robotic arm system uses a servo motor for drive control. However, since the servo motor has angular displacement error during the electronic control process, and the movement control of the transmission is controlled by controlling the angular momentum of the servo motor, this may cause errors in each step and the errors will accumulate. Therefore, maintenance and adjustment are required after regular use to eliminate the error offset. Obviously, the above technical solution has average accuracy.

[0003] This case is proposed to solve or improve the shortcomings or deficiencies of the prior art. Summary of the invention

[0004] The present invention solves the technical problem by adopting the following technical solutions: A sliding mode controlled robotic arm system and a sliding mode control method thereof, comprising a base electric control box, on which an aluminum alloy profile is fixed by bolts, an upper end block is fixed by bolts on the upper end of the aluminum alloy profile, a screw rod is rotatably arranged between the base electric control box and the upper end block, a motor is arranged in the base electric control box for driving the screw rod, and a slide rail is fixed on the aluminum alloy profile, and also comprises a sub-plate, one end of the sub-plate is fixedly provided with a slide rail slider for sliding connection to the slide rail, a screw nut is also fixed on the sub-plate by bolts for cooperating with the screw rod, when the motor in the base electric control box rotates, the sub-plate moves up and down in the rotational cooperation between the screw nut and the screw rod and the sliding cooperation between the slide rail slider and the slide rail, a multi-stage adjusting arm is arranged on the sub-plate, and a sliding mode controller is also arranged between the base electric control box and the sub-plate for improving the accuracy of the movement of the sub-plate and avoiding cumulative errors.

[0005] In a preferred embodiment, the sliding mode controller includes a sliding brake module fixed on the base electrical control box and a telescopic rod inserted in the sliding brake module, a connecting block is fixedly provided at the upper end of the telescopic rod, the connecting block is fixedly connected to the sub-plate by bolts, and a rubber plug is fixedly provided at the lower end of the telescopic rod, an electromagnetic on-off valve is embedded in the rubber plug.

[0006] In a preferred embodiment, the two flow ports of the electromagnetic check valve are respectively located at the upper and lower ends of the rubber plug. When the electromagnetic check valve is opened, the hydraulic oil arranged in the sliding brake module can flow up and down through the electromagnetic check valve. When the electromagnetic check valve is closed, the hydraulic oil in the sliding brake module cannot flow, so that the telescopic rod cannot move, thereby limiting the sub-plate.

[0007] In a preferred embodiment, a signal line adapter is provided in the connecting block, and a spiral control line is provided at the lower end of the signal line adapter, which is connected to the electromagnetic on-off valve after passing through the telescopic rod, and the outer end of the signal line adapter is connected to the controller in the base electrical control box through a spiral telescopic data electric control line.

[0008] In a preferred embodiment, a laser rangefinder is fixedly provided on the sub-board, and the laser rangefinder marks a laser mark downward on a designated mark position on the base electric control box to measure the real-time relative height of the sub-board and transmits the data to a controller in the base electric control box through a data line. When the controller reaches a designated threshold, a corresponding trigger instruction is issued to the electromagnetic on / off valve.

[0009] In a preferred embodiment, the drive motor in the electric control box of the base and the lead screw are connected via a flexible coupling.

[0010] In a preferred embodiment, a primary motor is fixed to the sub-plate by bolts, a primary articulated arm is rotated on the sub-plate and a primary driven synchronous wheel is fixed on the primary articulated arm, a primary active synchronous wheel is fixed on the shaft end of the primary motor, a primary synchronous belt is connected between the primary active synchronous wheel and the primary driven synchronous wheel, a secondary motor is fixed on the primary articulated arm, a secondary articulated arm is rotatably provided on the primary articulated arm, a secondary driven synchronous wheel is fixed on the secondary articulated arm, a secondary active synchronous wheel is fixed on the shaft end of the secondary motor, a secondary synchronous belt is provided between the secondary active synchronous wheel and the secondary driven synchronous wheel, and a mechanical arm execution end is provided at the end of the secondary articulated arm.

[0011] A control method for a sliding mode controlled robotic arm system, wherein the controller in the base electric control box controls the primary motor to drive the primary active synchronous wheel to drive the primary articulated arm to rotate through the primary synchronous belt, and the secondary motor controls the secondary active synchronous wheel to drive the secondary synchronous belt to drive the secondary articulated arm to rotate, thereby controlling the position of the robotic arm execution end; in addition, the controller in the base electric control box receives the distance signal of the laser rangefinder; when it is necessary to move a specified height in a specified direction, the controller first calculates the measurement threshold of the laser rangefinder after the movement and then opens the electromagnetic check valve; when the control of the sliding brake module is released, the lead screw rotates synchronously; when the sub-plate moves to the specified position, the laser rangefinder measures the specified threshold and triggers the controller to close the electromagnetic check valve to lock the height; and the control accuracy can be adjusted by controlling the flow rate of the electromagnetic check valve.

[0012] The advantages and positive effects of the present invention are: the controller in the base electric control box controls the primary motor to drive the primary active synchronous wheel to drive the primary articulated arm to rotate through the primary synchronous belt, and the secondary motor controls the secondary active synchronous wheel to drive the secondary synchronous belt to drive the secondary articulated arm to rotate so as to control the position of the execution end of the mechanical arm; in addition, the controller in the base electric control box receives the distance signal of the laser rangefinder; when it is necessary to move a specified height in a specified direction, the controller first calculates the measurement threshold of the laser rangefinder after the movement and then opens the electromagnetic stop valve; when the control of the sliding brake module is released, the lead screw rotates synchronously; when the sub-plate moves to the specified position, the laser rangefinder measures the specified threshold and triggers the controller to close the electromagnetic stop valve and lock the height; and the control accuracy can be adjusted by controlling the flow rate of the electromagnetic stop valve. Compared with the servo motor control of the transmission, the device can obtain precise control by real-time measurement through the laser rangefinder and will not generate cumulative errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0014] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 Schematic diagram of the internal structure of the taxiing brake module 19.

[0015] Markings in the figure: 10, upper end block; 11, aluminum alloy profile; 12, lead screw; 13, base electric control box; 14, flexible coupling; 15, slide rail; 16, slide rail slider; 17, main moving plate; 18, sub-plate; 19, sliding brake module; 20, signal line adapter; 21, primary motor; 22, primary articulated arm; 23, primary driven synchronous wheel; 24, primary synchronous belt; 25, secondary articulated arm; 26, secondary synchronous belt; 27, secondary motor; 28, robot arm execution end; 29, primary active synchronous wheel; 30, secondary active synchronous wheel; 31, rubber plug; 32, electromagnetic check valve; 33, telescopic rod; 34, connecting block; 35, spiral control line; 36, laser rangefinder; 37, secondary driven synchronous wheel. DETAILED DESCRIPTION

[0016] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention. The embodiments of the present invention will be described in further detail with reference to the accompanying drawings: like Figure 1-2 As shown, a sliding mode controlled robot arm system and a sliding mode control method thereof according to the present invention comprises a base electric control box 13, an aluminum alloy profile 11 is fixedly provided on the base electric control box 13 by bolts, an upper end block 10 is fixedly provided on the upper end of the aluminum alloy profile 11 by bolts, a screw rod 12 is rotatably provided between the base electric control box 13 and the upper end block 10, a motor is provided in the base electric control box 13 for driving the screw rod 12, a slide rail 15 is fixedly provided on the aluminum alloy profile 11, and a sub-plate 18 is also included, one end of which is fixedly provided with The slide rail slider 16 is used for sliding connection on the slide rail 15, and the sub-plate 18 is also fixed with a screw nut by bolts for cooperating with the screw 12. When the motor in the base electric control box 13 rotates, the sub-plate 18 moves up and down in the rotational cooperation between the screw nut and the screw 12 and the sliding cooperation between the slide rail slider 16 and the slide rail 15. A multi-stage adjustment arm is provided on the sub-plate 18, and a sliding mode controller is also provided between the base electric control box 13 and the sub-plate 18 to improve the accuracy of the movement of the sub-plate 18 and avoid cumulative errors.

[0017] In a preferred embodiment, the sliding mode controller includes a sliding brake module 19 fixed on the base electric control box 13 and a telescopic rod 33 inserted in the sliding brake module 19, and a connecting block 34 is fixedly provided at the upper end of the telescopic rod 33, and the connecting block 34 is fixedly connected to the sub-plate 18 by bolts, and a rubber plug 31 is fixedly provided at the lower end of the telescopic rod 33, and an electromagnetic check valve 32 is embedded in the rubber plug 31.

[0018] In a preferred embodiment, the two flow ports of the electromagnetic check valve 32 are respectively located at the upper and lower ends of the rubber plug 31. When the electromagnetic check valve 32 is opened, the hydraulic oil arranged in the sliding brake module 19 can flow up and down through the electromagnetic check valve 32. When the electromagnetic check valve 32 is closed, the hydraulic oil in the sliding brake module 19 cannot flow, so that the telescopic rod 33 cannot move, thereby limiting the sub-plate 18.

[0019] In a preferred embodiment, a signal line adapter 20 is provided in the connecting block 34, and a spiral control line 35 is provided at the lower end of the signal line adapter 20, which is connected to the electromagnetic on-off valve 32 after passing through the telescopic rod 33, and the outer end of the signal line adapter 20 is connected to the controller in the base electric control box 13 through a spiral telescopic data electric control line.

[0020] In a preferred embodiment, a laser rangefinder 36 is fixedly provided on the sub-plate 18. The laser rangefinder 36 marks a laser mark downward on a designated mark position on the base electrical control box 13 to measure the real-time relative height of the sub-plate 18 and transmits the data to a controller in the base electrical control box 13 through a data line. When the controller reaches a designated threshold, a corresponding trigger instruction is issued to the electromagnetic on / off valve 32.

[0021] In a preferred embodiment, the drive motor in the base electric control box 13 and the lead screw 12 are connected via a flexible coupling 14 .

[0022] In a preferred embodiment, a primary motor 21 is fixedly provided on the sub-plate 18 by bolts, a primary articulated arm 22 is rotated on the sub-plate 18 and a primary driven synchronous wheel 23 is fixedly provided on the primary articulated arm 22, a primary active synchronous wheel 29 is fixedly provided on the shaft end of the primary motor 21, a primary synchronous belt 24 is connected between the primary active synchronous wheel 29 and the primary driven synchronous wheel 23, a secondary motor 27 is fixedly provided on the primary articulated arm 22, a secondary articulated arm 25 is rotatably provided on the primary articulated arm 22, a secondary driven synchronous wheel 37 is fixedly provided on the secondary articulated arm 25, a secondary active synchronous wheel 30 is fixedly provided on the shaft end of the secondary motor 27, a secondary synchronous belt 26 is provided between the secondary active synchronous wheel 30 and the secondary driven synchronous wheel 37, and a mechanical arm execution end 28 is provided at the end of the secondary articulated arm 25.

[0023] A control method for a sliding mode controlled manipulator system, wherein the controller in the base electric control box 13 controls the primary motor 21 to drive the primary active synchronous wheel 29 to drive the primary articulated arm 22 to rotate through the primary synchronous belt 24, and controls the secondary active synchronous wheel 30 to drive the secondary synchronous belt 26 to drive the secondary articulated arm 25 to rotate through the secondary motor 27 to control the position of the manipulator execution end 28. In addition, the controller in the base electric control box 13 receives the distance signal of the laser rangefinder 36. When it is necessary to move a specified height in a specified direction, the controller first calculates the measurement threshold of the laser rangefinder 36 after the movement and then opens the electromagnetic check valve 32. When the control of the sliding brake module 19 is released, the lead screw 12 rotates synchronously. When the auxiliary plate 18 moves to the specified position, the laser rangefinder 36 measures the specified threshold and triggers the controller to close the electromagnetic check valve 32 to lock the height, and the control accuracy can be adjusted by controlling the flow rate of the electromagnetic check valve 32.

[0024] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive, and therefore the present invention is not limited to the embodiments described in the specific implementation manners. Any other implementation manners derived by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. A sliding mode controlled robotic arm system, characterized in that: The invention comprises a base electric control box (13), an aluminum alloy profile (11) is fixedly provided on the base electric control box (13) by bolts, an upper end block (10) is fixedly provided on the upper end of the aluminum alloy profile (11) by bolts, a screw rod (12) is rotatably provided between the base electric control box (13) and the upper end block (10), a motor is provided in the base electric control box (13) for driving the screw rod (12), a slide rail (15) is fixedly provided on the aluminum alloy profile (11), and a sub-plate (18) is also included, one end of the sub-plate (18) is fixedly provided with a slide rail slider (16) for sliding connection On the slide rail (15), a screw nut is fixedly provided on the auxiliary plate (18) by bolts for cooperating with the screw rod (12). When the motor in the base electric control box (13) rotates, the auxiliary plate (18) moves up and down in the rotational cooperation between the screw nut and the screw rod (12) and the sliding cooperation between the slide rail slider (16) and the slide rail (15). A multi-stage adjustment arm is provided on the auxiliary plate (18), and a sliding mode controller is also provided between the base electric control box (13) and the auxiliary plate (18) for improving the accuracy of the movement of the auxiliary plate (18) and avoiding cumulative errors.

2. A sliding mode controlled robotic arm system according to claim 1, characterized in that: The sliding mode controller comprises a sliding brake module (19) fixed on the base electric control box (13) and a telescopic rod (33) inserted into the sliding brake module (19); a connecting block (34) is fixedly provided at the upper end of the telescopic rod (33); the connecting block (34) is fixedly connected to the sub-plate (18) by bolts; and a rubber plug (31) is fixedly provided at the lower end of the telescopic rod (33); an electromagnetic on-off valve (32) is embedded in the rubber plug (31).

3. A sliding mode controlled robotic arm system according to claim 2, characterized in that: The two flow ports of the electromagnetic check valve (32) are respectively located at the upper and lower ends of the rubber plug (31); when the electromagnetic check valve (32) is opened, the hydraulic oil arranged in the sliding brake module (19) can flow up and down through the electromagnetic check valve (32); when the electromagnetic check valve (32) is closed, the hydraulic oil in the sliding brake module (19) cannot flow, so that the telescopic rod (33) cannot move, thereby limiting the position of the sub-plate (18).

4. A sliding mode controlled robotic arm system according to claim 3, characterized in that: A signal line adapter (20) is provided in the connection block (34); a spiral control line (35) is provided at the lower end of the signal line adapter (20) and is connected to the electromagnetic on / off valve (32) after being inserted into the telescopic rod (33); and an outer end of the signal line adapter (20) is connected to a controller in the base electric control box (13) via a spiral telescopic data electric control line.

5. A sliding mode controlled robotic arm system according to claim 4, characterized in that: A laser rangefinder (36) is also fixedly provided on the sub-plate (18). The laser rangefinder (36) projects a laser mark downward on a designated mark position on the base electric control box (13) to measure the real-time relative height of the sub-plate (18) and transmits the data to a controller in the base electric control box (13) via a data line. When the controller reaches a designated threshold, a corresponding trigger instruction is issued to the electromagnetic on / off valve (32).

6. A sliding mode controlled robotic arm system according to claim 5, characterized in that: The driving motor in the base electric control box (13) and the screw rod (12) are connected via a flexible coupling (14).

7. A sliding mode controlled robotic arm system according to claim 6, characterized in that: A primary motor (21) is fixedly provided on the secondary plate (18) by bolts, a primary articulated arm (22) is rotated on the secondary plate (18) and a primary driven synchronous wheel (23) is fixedly provided on the primary articulated arm (22), a primary active synchronous wheel (29) is fixedly provided on the shaft end of the primary motor (21), a primary synchronous belt (24) is connected between the primary active synchronous wheel (29) and the primary driven synchronous wheel (23), a secondary motor (27) is fixedly provided on the primary articulated arm (22), a secondary articulated arm (25) is rotatably provided on the primary articulated arm (22), a secondary driven synchronous wheel (37) is fixedly provided on the secondary articulated arm (25), a secondary active synchronous wheel (30) is fixedly provided on the shaft end of the secondary motor (27), a secondary synchronous belt (26) is provided between the secondary active synchronous wheel (30) and the secondary driven synchronous wheel (37), and a mechanical arm execution end (28) is provided at the end of the secondary articulated arm (25).

8. A control method for a sliding mode controlled robot arm system, using a sliding mode controlled robot arm system according to any one of claims 1 to 7, controlling the primary motor (21) through a controller in the base electric control box (13) to drive the primary active synchronous wheel (29) to drive the primary articulated arm (22) to rotate through the primary synchronous belt (24), controlling the secondary active synchronous wheel (30) through the secondary motor (27) to drive the secondary synchronous belt (26) to drive the secondary articulated arm (25) to rotate and thus control the position of the robot arm actuator end (28), and further controlling the position of the robot arm actuator end (28) through the base electric control box ( The controller in the control module (13) receives the distance signal of the laser rangefinder (36). When it is necessary to move to a specified height in a specified direction, the controller first calculates the measurement threshold of the laser rangefinder (36) after the movement and then opens the electromagnetic stop valve (32). When the control of the sliding brake module (19) is released, the screw rod (12) rotates synchronously. When the auxiliary plate (18) moves to a specified position, the laser rangefinder (36) measures a specified threshold and triggers the controller to close the electromagnetic stop valve (32) to lock the height. The control accuracy can be adjusted by controlling the flow rate of the electromagnetic stop valve (32).

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