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Six-joint robot control system

A control system and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of insufficient arm length, degradation of robot end joints, etc., and achieve the effect of insufficient arm length

Pending Publication Date: 2021-09-28
上海秀茂自动化系统有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a six-joint robot control system, which is used to solve the problem that the arm length of the six-joint robot in the prior art cannot satisfy all actual situations, and it is urgent to solve the problems of walking and Problems with working with joints and kinematically degenerate behavior of the robot's end joints when working on the boundaries of the working range

Method used

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Embodiment Construction

[0034] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic ideas of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the compo...

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Abstract

The invention provides a six-joint robot control system, and relates to the technical field of industrial robots. The system comprises a robot, a main control module, a walking control module and a joint control module; the robot comprises moving wheels and six joints; the walking control module comprises a visual positioning unit, a communication unit, a model building unit, an infrared detecting unit and a speed monitoring unit; the visual positioning unit comprises a camera and an image acquiring card; the camera is used for acquiring area environment images; and the area environment images are sent to the model building unit through the image acquiring card. The six-joint robot control system is used for solving the problems of incapability of meeting all actual conditions by the arm length of a six-joint robot in the prior art and needs to urgently solve the walking and joint matching work and the kinematic degradation behavior of tail end joints of the robot in work on the working range boundary.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a six-joint robot control system. Background technique [0002] Robot joints, also known as articulated arm robots or articulated robotic arms, is one of the most common forms of industrial robots in the industrial field today. It is suitable for mechanical automation operations in many industrial fields, such as automatic assembly, painting, handling, welding and other work. [0003] The six-joint robot has the following advantages: 1) Compact structure, large working range and small footprint for installation. 2) It has high accessibility. 3) Since there are no moving joints, no rails are required. The rotary joint is easy to seal, and since the bearing is a mass-produced standard part, the friction is small, the inertia is small, and the reliability is good. 4) The required joint driving torque is small, and the energy consumption is small. 5) Replace a lot of c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00B25J19/02
CPCB25J9/1602B25J9/1605B25J9/1664B25J5/007B25J19/023
Inventor 朱茂华
Owner 上海秀茂自动化系统有限公司
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