Multi-shaft synchronous operator and control system thereof

Abstract

The invention provides a multi-shaft synchronous operator and an operating system thereof. The multi-shaft synchronous operator comprises an operator body, wherein the operator body comprises a base,shaft bodies and a handle; the shaft bodies are arranged on the base and correspond to all joints of a multi-shaft robot; the handle is used for controlling all the shaft bodies to rotate; angle sensors are arranged at all the shaft bodies; a transition point key and a target point key are arranged on the operator body; and the angle sensors, the transition point key and the target point key transmit information with a control system of the multi-shaft robot through a microcontroller in the operator body. The invention further provides the operating system of the multi-shaft synchronous operator. The multi-shaft synchronous operator provided by the invention has the beneficial effects that on the one hand, the manual operating action and the robot running action can be synchronously coordinated, thereby effectively achieving the operating smoothness and accuracy; and on the other hand, the calculating quantity is small and the lagging phenomenon is avoided.

Description

technical field [0001] The invention relates to the technical field of multi-axis robot control, in particular to a multi-axis synchronous manipulator and an operating system thereof. Background technique [0002] Multi-axis robots are typical manufacturing equipment in the field of industrial automation. Multi-axis robots are usually four to six-axis robots that can perform tasks such as handling, palletizing, welding, spraying, and assembly. A multi-axis robot usually includes an "arm" and a "wrist" joint. Multiple rotatable axes are arranged at the arm and wrist joints, and the rotation of each axis is controlled by a motor, thereby forming a multi-axis robot. [0003] The existing input trajectory operation mode of multi-axis robots mainly has the following defects: (1) The required trajectory is usually set by writing the operation program, which requires high professional skills of the operator and is not efficient , it is more difficult to popularize. (2) The robot ...

AI Technical Summary

Problems solved by technology

[0003]The existing multi-axis robot input trajectory operation method mainly has the following defects: (1) The required trajectory is usually set by writing the operation program, which This method has high requirements on the professional skills of operators, is not efficient, and is difficult to popularize

(2) The robot arm (usually on a collaborative robot) can be directly moved by hand to make the multi-axis robot reach the target position to perform tasks and determine the running trajectory; however, due to the heavy weight of the multi-axis robot itself, relatively large forces are required It can only be moved, which makes it difficult to get to the exact position and low work efficiency

(3) Using the attitude sensor tied to the arm to control the robot is difficult, with low precision, poor reliability, and large hysteresis

(4) The technology of controlling the robot by scanning the posture changes of the human body through the camera, which is technically difficult, high cost, low precision, and has a large lag

Images