Force servo-controlled power-driven manipulator

Abstract

The invention discloses a force servo-controlled power-driven manipulator comprising a manipulator body with a hoisting hand, a control hand and a force feedback control system connected with the control hand; wherein the control hand comprises at least one pulling pressure sensor; the force feedback control system comprises at least one force servo controller, at least one driver and at least one electric motor. The pulling pressure sensor in the control hand receives a signal of a control force and transmits the signal to the force servo controller in the force feedback control system, the force servo controller starts the driver according to the magnitude and the direction of the control force, the driver drives the electric motor to drive the manipulator body to move, and then a hoisted piece hoisted on the hoisting hand of the manipulator body moves on the basis of the speed and the direction controlled by the force servo controller. The pulling pressure sensor can reflect the control requirement of an operator on the power-driven manipulator in real time so that the power-driven manipulator acts like the hand of the operator per se, and the force servo-controlled power-driven manipulator has the characteristics of accuracy in location, sensitivity in response and smoothness and steadiness in motion and is free of impacting shakes.

Description

technical field [0001] The invention relates to an electric manipulator, in particular to an electric manipulator controlled by force servo. Background technique [0002] At present, semi-automatic or manual manipulators are widely used in industrial production. The main control methods of existing manipulators are: according to the working path, the program for controlling the movement part of the manipulator is pre-programmed, and when used, it is executed according to the prepared program to automatically realize the corresponding exercise requirements. Other parts or all adopt manual control. Most of the existing manipulator manual control uses buttons to control the movement of lifting or walking direction. Button control usually only has single speed or double speed. This structure cannot meet the requirements for precise positioning and fast movement in industrial control, and the operation is very difficult. Inconvenient; in addition, there is also a method of usin...

AI Technical Summary

Problems solved by technology

Most of the existing manipulator manual control uses buttons to control the movement of lifting or walking direction. Button control usually only has single speed or double speed. This structure cannot meet the requirements for precise positioning and fast movement in industrial control, and the operation is very difficult. Inconvenient; in addition, there is also a method of using a potentiometer to control the movement speed of the manipulator, but there are disadvantages of large mechanical transmission errors, limited life, and inability to respond quickly in real time

Therefore, none of the manipulators in the existing control mode can respond to the real-time movement requirements of the manipulator to the machine in real time. laborious and time consuming

Images