Control system based on hand-push teaching type five-shaft horizontal joint robot

Abstract

The invention discloses a control system based on a hand-push teaching type five-shaft horizontal joint robot. The control system comprises a three-dimensional shift sensing module system, a master control unit module, a communication module, a driving motor interface module, a photoelectric isolation I / O interface module and a peripheral memory module. Through the mode, as the control system based on the hand-push teaching type five-shaft horizontal joint robot adopts virtual hand push, the motion of the robot is still substantially powered by a joint motor, and the problem that the end of the clumsy robot is difficult to operate by the hand of a person is well solved. The control system is simple, practical and efficient. At the same time, as the joint structure is fully consistent with that of a robot which does not adopt the hand push scheme, neither a clutch nor an encoder is required, and the reliability is ensured to a great degree. Besides, as only software setting and debugging need to be carried out in a controller, the comprehensive manufacture, maintenance and debugging costs are all very low.

Description

technical field [0001] The invention relates to the field of robot control systems, in particular to a control system based on a hand-push teaching type five-axis horizontal joint robot. Background technique [0002] At present, the internationally accepted robot teaching method is basically the teaching pendant operation accounting for the absolute majority. This solution is simple and easy to implement, but it is not intuitive. Although it is not difficult for skilled workers with good professional qualities to master, In view of the national conditions, it is difficult for operators of many enterprises to adapt under the current situation. [0003] In response to this problem, someone in Europe designed a joint force-sensing hand-push teaching robot. The principle is to sense and judge the torque ring of the servo motor driver, and separate the hand-push torque, and then make the motor follow the hand through the control software. Push movement, this solution perfectly s...

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Problems solved by technology

[0002] At present, the internationally accepted robot teaching method is basically the teaching pendant operation accounting for the absolute majority. This solution is simple and easy to implement, but it is not intuitive. Although it is not difficult for skilled workers with good professional qualities to master, In view of the national conditions, it is difficult for operators of many enterprises to adapt under the current situation

[0003] In response to this problem, someone in Europe designed a joint force-sensing hand-push teaching robot. The principle is to sense and judge the torque ring of the servo motor driver, and separate the hand-push torque, and then make the motor follow the hand through the control software. Push movement, this solution perfectly solves the problem of hand push teaching from a purely technical point of view, but its foothold is the servo motor driver technology of the robot joint, which requires a high technical level, high manufacturing costs, and difficult maintenance and debugging technology Very large, even in Europe and the United States, it has not been widely used

[0004] For this problem, domestic counterparts have designed a simple solution using a mechanical clutch with an encoder. The principle is to add a clutch to the joint of the robot and release the clutch when teaching, so that the joint will not be dragged down by the motor system. , to obtain a relatively loose joint effect, and then use the encoder to memorize the current joint angle to obtain the teaching position. This solution has low technical difficulty, and the control software is easy to implement, but the mechanical structure is complex, the clutch failure rate is high, and the most fatal shortcoming Yes, even with the clutch released, the robot's bulky arm still makes it difficult for the hand to push accurately

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