Delta robot control system with traction visual teaching function

A control system and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor site adaptability and single trajectory, and achieve the effects of low maintenance cost, convenient control operation, and high speed

Active Publication Date: 2016-08-24
PHASE MOTION CONTROL SOLUTION WUHAN CO LTD
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

Although this method improves the accuracy of trajectory control, its field adaptability is still poor, and the trajectory provided is still relatively simple.

Method used

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  • Delta robot control system with traction visual teaching function
  • Delta robot control system with traction visual teaching function
  • Delta robot control system with traction visual teaching function

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0028] Embodiments of the present invention relate to a Delta robot control system with a traction video teaching function, such as figure 1 shown, including a motion controller, multiple servo drives, motors, I / O expansion modules, and a vision tracking system. The motion controller of the present invention controls multiple servo drives, motors, I / O expansion modules and vision systems through Ehtercat / CANopen bus. The four ...

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Abstract

The invention relates to a Delta robot control system with the traction visual teaching function. The Delta robot control system comprises a motion controller. The motion controller controls multiple servo drivers and motors through a bus. The position control mode is adopted for the servo drivers and the motors. The motion controller comprises a position receiving unit, a point table generation unit and a position control unit. The position receiving unit is used for receiving position signals fed back by encoders of the motors. The point table generation unit is used for converting the position signals into coordinate points and generating a point table according to the coordinate points. The position control unit completes closed-loop control over the positions of the motors according to the generated point table, and the target position of a Delta robot is kept consistent with the actual position, so that the traction visual teaching function is achieved. By the adoption of the Delta robot control system with the traction visual teaching function, the field adaptability of the Delta robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a Delta robot control system with a traction visual teaching function. Background technique [0002] The Delta robot is a high-speed, light-load parallel robot, which generally captures the target object through teaching programming or vision system, and determines the spatial position of the gripper center (TCP) by three or four parallel servo axes to realize the transportation of the target object. processing, etc. [0003] The general Delta robot control system is composed of a controller, a servo system, a visual tracking system and a conveyor belt tracking system, but the topological connection methods of each component of the control system are very different, and its internal core control algorithm and tracking algorithm are also different. Therefore, the versatility is not high. Especially in terms of trajectory planning, the trajectory planning methods of various...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0081B25J9/1623B25J9/163
Inventor 周浙天陈宗雨贺东升夏风杨合跃陈开亮
Owner PHASE MOTION CONTROL SOLUTION WUHAN CO LTD
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