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Anti-skid control system and method for grabbing manipulator

A technology for grasping manipulators and control systems, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor anti-skid performance of grasping manipulators, achieve the effect of improving grasping accuracy and reducing slippage

Inactive Publication Date: 2021-11-19
YANCHENG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a gripping manipulator anti-skid control system and method to solve the technical problem of poor gripping manipulator anti-skid performance in the prior art

Method used

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  • Anti-skid control system and method for grabbing manipulator
  • Anti-skid control system and method for grabbing manipulator
  • Anti-skid control system and method for grabbing manipulator

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Embodiment 1

[0026] Such as figure 1 As shown, an anti-skid control system for a grasping manipulator is composed of a slip sensor, a signal conditioning circuit, an upper computer PC, a single-chip microcomputer, and a driving motor. The slip sensor is installed on the grasping manipulator, and the slip sensor is connected to the signal conditioning circuit. The computer PC is connected with the signal conditioning circuit, and the single-chip microcomputer system is respectively connected with the upper computer PC and the driving motor electromechanically. The anti-skid control system of the grasping manipulator adjusts the grasping force according to the pressure detected by the sensor, and then according to the information obtained by the feedback system, so as to realize the grasping of objects of different materials with different strengths.

[0027] The slip sensor preferably used in the present invention is a piezoresistive sensor. Compared with the piezoelectric sensor, the piezo...

Embodiment 2

[0030] The present invention also provides a grasping manipulator, which adopts the anti-slip control system of the grasping manipulator for anti-slip control. While effectively improving the grasping accuracy of the manipulator, the slippage of the manipulator during the grasping operation is reduced.

Embodiment 3

[0032] The embodiment of the present invention provides a control method for the anti-skid control system of the grasping manipulator, the specific process is as follows image 3 As shown, the specific steps are as follows: the grasping manipulator realizes grasping through the steering gear; the sliding force is generated when grasping; the sliding sensor detects the sliding signal; the upper computer PC converts the force signal into a digital signal through the signal conditioning circuit; the single-chip microcomputer accepts the digital signal signal to control the servo to adjust the clamping force; the clamping is completed after eliminating the slippage. The whole control process adjusts the grasping force according to the pressure detected by the slip sensor, and then adjusts the grasping force according to the information obtained by the feedback system, so as to realize the grasping of objects of different materials with different strengths, effectively reducing the ...

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Abstract

The invention discloses an anti-skid control system for a grabbing manipulator. The anti-skid control system comprises a slip sensor mounted on the manipulator, a signal conditioning circuit connected with the slip sensor, an upper computer PC connected with the signal conditioning circuit, a single-chip microcomputer system connected with the upper computer PC, and a driving motor connected with the single-chip microcomputer system and mounted on a manipulator steering engine. By means of the anti-skid control system, the grabbing precision of the manipulator is effectively improved, and meanwhile the slippage condition of the manipulator in the grabbing operation process is relieved.

Description

technical field [0001] The invention relates to an anti-slip control system and method for a grasping manipulator, belonging to the technical field of industrial automation equipment. Background technique [0002] As an indispensable part of modern industrial production, manipulators have provided great convenience for industrial production. The production of vehicles as small as fruit grabbing is inseparable from the help of manipulators. However, whether it is from the perception system or the control system , and the feedback system, there is still a huge gap between manipulators and manipulators, and the current related research has been trying to narrow this gap. [0003] With the increasing application range of the manipulator, the precision requirements for the manipulator are also getting higher and higher. In the actual production process, when encountering high-precision operations, the manipulator will produce a certain slip when grabbing different parts, resultin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1669
Inventor 刘玮程锦经成马永恒万平
Owner YANCHENG INST OF TECH
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