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Integrated joint and integrated joint multi-sensor control system and method

A control system and multi-sensor technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of inaccurate integrated joint control, and achieve the effect of precise control

Pending Publication Date: 2020-04-28
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem mainly solved by the present invention is that the existing integrated joint control is not accurate enough, this embodiment provides the following technical solutions

Method used

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  • Integrated joint and integrated joint multi-sensor control system and method
  • Integrated joint and integrated joint multi-sensor control system and method
  • Integrated joint and integrated joint multi-sensor control system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] This embodiment provides an integrated joint multi-sensor control system. The integrated joint includes a motor, a reducer 106 connected to the output shaft of the motor 107, and a driver 105 electrically connected to the motor 107 and the control end of the reducer 106. The multi-sensor control system includes a central control unit 104 and a Hall sensor 101 , an incremental encoder 102 and an absolute encoder 103 electrically connected thereto.

[0046]Wherein, the Hall sensor 101 is arranged on the electronics of the motor 107 for measuring the electrical angle information of the motor. The Hall sensor 101 can feed back the electrical angle position of the motor 107, the electrical angle determined by the Hall is a rough electrical angle, and the zero-crossing signal determines a specific electrical angle. Generally, the zero-crossing signal of the motor corresponds to the zero position of the electrical angle of the motor. After the zero-crossing signal is detected,...

Embodiment 2

[0065] This embodiment provides an integrated joint control method. The integrated joint includes a motor 107 , a reducer 106 connected to the output shaft of the motor 107 , and a driver 105 electrically connected to the control end of the motor 107 and the reducer 106 . Please refer to figure 2 , the control method includes:

[0066] Step 201: Obtain the electrical angle information of the motor 107 by using the Hall sensor 101;

[0067] Step 202: Obtain the position information of the motor 107 by using the incremental encoder 102;

[0068] Step 203: Obtain the position information of the reducer 106 by using the absolute encoder 103;

[0069] Step 204: Use the position information of the motor 107 to correct the position information and electrical angle information of the reducer to obtain the corrected position information and electrical angle information, and generate a control signal to the driver 105 according to the corrected position information and electrical ang...

Embodiment 3

[0078] This embodiment provides an integrated joint. The integrated joint includes the multi-sensor control system provided in Embodiment 1, and various encoders based on the system are used together to realize high-precision and stable control of the integrated joint.

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Abstract

The invention relates to the technical field of robot control, in particular to an integrated joint and an integrated joint multi-sensor control system and method. The system comprises a center control unit and further comprises a hall sensor, an incremental encoder and an absolute value encoder which are electrically connected with the center control unit, and the incremental encoder and the absolute value encoder are used for collecting position information of a motor and a speed reducer. The center control unit corrects the position information and electrical angle information of the speedreducer according to the position information of the motor, and the corrected position information and electrical angle information are obtained. The incremental encoder arranged at the output shaft end of the motor has a higher resolution ratio, data measured by the incremental encoder are adopted for correcting data measured by the absolute value encoder at the speed reducer end, and high-precision position information is obtained. On the basis of the corrected high-precision position information, control signals are generated and sent to a driver, the driver controls the motor to run according to the control signals, and integrated joint stable and accurate control is achieved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an integrated joint and an integrated joint multi-sensor control system and method. Background technique [0002] Integrated joints have a wide range of application scenarios in the field of robotics, so how to achieve precise control of integrated joints is particularly important. The existing integrated joint part uses a single encoder, which is installed at the motor end. When the power is turned on, the precise position of the output end of the reducer cannot be predicted. In fact, it is not a full-closed-loop control in the true sense, and the control is not accurate enough. Contents of the invention [0003] The technical problem mainly solved by the present invention is that the existing integrated joint control is not accurate enough, and this embodiment provides the following technical solutions. [0004] An integrated joint multi-sensor control system, the inte...

Claims

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Application Information

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IPC IPC(8): B25J17/02B25J13/08B25J13/00B25J9/16
CPCB25J17/02B25J13/08B25J13/00B25J9/1694
Inventor 刘培超庄飞飞刘主福郎需林
Owner SHENZHEN YUEJIANG TECH CO LTD