CN204390096U - Track stops the executor group of at least one executor conditionally - Google Patents
Track stops the executor group of at least one executor conditionally Download PDFInfo
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- CN204390096U CN204390096U CN201420821947.4U CN201420821947U CN204390096U CN 204390096 U CN204390096 U CN 204390096U CN 201420821947 U CN201420821947 U CN 201420821947U CN 204390096 U CN204390096 U CN 204390096U
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Abstract
The utility model relates to a kind of executor group, it has at least one executor (10) and at least one control device (20), wherein, this at least one executor (10) is set to, in the upper traveling of track (100), described track (100) has halt (101), and described at least one control device (20) is set to, speed (v) according to executor (10) calculates the braking point (102) corresponding to described halt (101), wherein, described braking point (102) is the point on described track (100).
Description
Technical field
The utility model relates to a kind of for stopping the executor group of at least one executor on track conditionally.This executor group such as can use in commercial Application, wherein, when the driving conditions of satisfied definition, just can cross intactly track by programming.
Background technology
There is such commercial Application (such as pressing machine link (Pressenverkettung), zone of protection), when driving conditions (such as pressing machine (Presse) is opened) of satisfied definition, executor intactly can cross the track of programming.If no enough row sails condition, then executor can only travel to certain halt.Executor must be fully static at halt place, namely stops.Executor is waited at halt, until meet driving conditions.Therefore, the stopping of executor is the braking completely of all axles of executor.When the speed of all axles is equal to zero, executor stops.
According to DIN EN ISO 8373, executor (robot or industrial robot) is the multifunctional operating device automatically guiding, be equipped with the kinematic axis of three or more freely programmable, will be applied in commercial Application regularly or movably.Executor can guide clamp or instrument (end effector) or workpiece.
Stop at halt to make executor, the position that executor must be made enough to shift to an earlier date at track epipodium, namely start at so-called braking point place braking, therefore, preferred braking point is the point that must start to brake, and brakes completely when reaching halt to enable executor.From prior art, braking point carries out teaching or programming and the point fixedly provided in advance by user to executor.Equally, halt be executor track on through the point of teaching.
As is well known, making executor stop conditionally can by realizing programme controlled change of speed governing (Override).Stopping conditionally for executor is interpreted as, and when meeting corresponding condition, executor just stops.Such condition such as can be defined by the following driving conditions variable being about to describe.Speed governing is interpreted as, executor motion telescopic amount in time.If speed governing is 100%, then the motion of programming implemented by executor with the time of initial program.If speed governing is such as 50%, then the motion of programming implemented by executor with the time of twice.If do not meet driving conditions when arriving braking point, then can postpone the movement of executor by correspondingly reducing speed governing, and executor is braked.Be in this shortcoming, must find braking point by user, this braking point as far as possible near halt, and independently can make executor brake completely at halt with actual speed simultaneously.Therefore braking point must be chosen as, compared with the distance needed for the actual speed for executor, further from the position of halt, this can cause clock time to extend.
Equally, also known by leap
halt realizes stopping with good conditionsi.At this, halt and braking point are equally by user's teaching or programming.When executor arrives braking point and no enough row sails condition, then executor starts braking, and drives towards halt.On the contrary, if meet driving conditions, then do not drive towards halt, but with the leap of fixing leap radius.At this, also braking point must be chosen as and can observe halt, and this can cause clock time to extend.In addition, track during braking can depart to some extent with not having the track braked, and namely cannot to realize track consistent in braking.
Utility model content
The purpose of this utility model is, proposes a kind of executor group stopping at least one executor on track conditionally, eliminates above-mentioned shortcoming.
At least one executor and at least one control device is comprised according to executor group of the present utility model, wherein, at least one executor described is set to, sail track is up, described track has halt, and is set to by least one control device described, and the braking point corresponding to described halt calculated by the velograph according to executor, wherein, described braking point is the point on described track.
According to executor group of the present utility model, described control device is also for checking the state travelling conditional-variable; And when the conditions dictate braking of described driving conditions variable, send the order for braking described executor.
According to executor group of the present utility model, described control device is also for periodically monitoring the state of described driving conditions variable, and if during described executor braking, the state of described driving conditions variable changes, then in the executor braking procedure introduced, send the order that described executor is accelerated.
According to executor group of the present utility model, the braking effect in braking procedure can mate according to described driving conditions variable, thus described executor is stopped completely at halt at the latest.
Especially, according to the utility model, wherein at least one executor sails the track with halt into, and wherein, the braking point corresponding to halt calculated by the velograph according to executor, is the point on track in this braking point.Preferred trajectories be the executor programming of sailing into and/or predefined track or movement locus.
Preferably heart point (Tool Center Point, TCP) is analyzed the speed of executor in the tool.In order to calculate braking point, preferably use executor to the setting speed of some computing time.Particularly preferably consider the present speed of executor.
Calculate braking point by the speed according to executor, the position of the braking point on executor track can be defined as, with halt, there is such distance: executor is more safely stopped at halt.In addition, the clock time of executor near halt, thus can be shortened in the position of braking point.Preferred cycle ground calculates braking point.The position of current brake point can be obtained thus according to the present speed of executor.Preferred computation period is not bound with fixed time interval, but can regulate.
In addition, the brake parameters making it possible to the calculating of braking point optimize is to implement braking procedure.Different from the solution of the braking point provided in advance that aforesaid utilization is fixed, brake parameters (as damping force) need not be mated and stop at halt to make executor.But calculating braking point like this: the brake parameters making to optimize carries out braking executor is stopped at halt.At this, can be optimized with regard to regeneration (Rekuperation), braking time, wearing and tearing or other known Optimal Parameters brake parameters.
At this, such as can based on point-to-point planning (Point-to-Point, PTP) and/or continuous path planning (Continuous Path, CP) to the track of executor.Executor (robot) travels on the setting track of planning like this.The halt that executor should stop thereon being positioned on this setting track, and is sailed into exactly.Usually by setting trajectory calculation braking point.Due to inertia or other disturbing factor, the track (actual path) of the actual travel of executor can depart to some extent relative to setting track.Preferably consider actual path when calculating braking point and set departing from of track, thus preferably making braking point be positioned on actual path.
Preferably at least one executor is stopped also comprising conditionally: after calculating braking point, inspection travels the state of conditional-variable; If after exceeding the braking point of calculating, the state representation of driving conditions variable needs braking, then brake operators.
Before the braking point actually above calculating, preferably determine the time point of the braking point exceeding calculating., calculate from the current point of executor on track for this reason, if start braking in ensuing control cycle, executor whether can also be made to stop before the halt through teaching.If not this situation, then executor will exceed braking point when next control cycle starts at the latest, if the state representation of driving conditions variable needs braking, then must start the braking to executor.
Whether preferred driving conditions variable is Boolean, and it shows the need of brake operators, or can continue to sail track is up.Such driving conditions variable is such as the state of pressing machine in pressing machine link application.If pressing machine is (the driving conditions variable=true) opened in this example, then workpiece can insert in pressing machine or therefrom and take out by executor.Executor can as plan sail track is up.On the contrary, if pressing machine cuts out (driving conditions variable=vacation), then the traveling on track of planning can cause executor and pressing machine to bump against.Namely need brake operators.
Alternatively, driving conditions variable may not be Boolean.Like this be not the information that the variable of Boolean such as can comprise about required brake latency.Brake latency is negative acceleration, and determines the intensity of braking.
It is favourable that inspection travels conditional-variable, because so only brake operators when needs are braked.If now do not need braking, then executor can travel on the track of planning without the need to reduction of speed.
The state of preferred cycle ground monitoring driving conditions variable, at this, when during executor braking, when the state of driving conditions variable changes, then makes executor again accelerate in the braking procedure started.Such as can with 10 times per second, or with other suitable time interval monitor state.
The interruption flexibly of braking procedure can be realized the periodicity monitoring of driving conditions variable, thus when no longer can need braking in the state representation travelling conditional-variable, make executor again accelerate immediately.Make executor again accelerate to the speed of original plan subsequently, and travel on the track of plan.Thus limit by the time of introducing braking and loss, thus shorten the clock time of executor.
Preferably stop at least one executor to comprise conditionally, carry out the braking effect during adjustable brake process according to driving conditions variable, thus executor is stopped completely at halt at the latest.
Adjustable brake effect is favourable, because additionally provide another parameter except the position of braking point itself, this parameter directly affects the point of the actual stopping of executor.Therefore, even if when needing to exceed the optimization braking point for present speed, and executor with optimize brake parameters cannot again through teaching and/or programming halt on stop time point braking time, also can make executor through teaching and/or programming halt on stop.Although preferably start to brake more late, executor can be stopped before arrival halt by braking more consumingly.Particularly preferably halt should not be exceeded.If make this no longer possibility owing to starting to brake evening, also can there is possible collision with the speed reduced in that.
At least one executor and at least one control device is comprised according to executor of the present utility model, at least one executor is sailed track is up, track has halt, being set to by least one control device calculate braking point corresponding to halt according to the speed of executor, is the point on track in this braking point.
Control device controls executor.Control device from executor Received signal strength, and sends instruction to executor.In addition, also can receive external signal by control device, and be converted to the instruction to executor.Preferably by external signal determination driving conditions variable.
Preferably control device is set to check the state travelling conditional-variable, and when the state representation travelling conditional-variable needs braking, sends instruction with brake operators.
Particularly preferably, also control device is set to the state periodically monitoring driving conditions variable, if the state of driving conditions variable changes during executor braking, then sends instruction in the braking procedure started at executor, executor is accelerated.
Braking effect preferably during braking procedure can mate according to driving conditions variable, thus executor is stopped at halt at the latest.
Particularly preferably the realization of executor braking is that track is accurate.During braking, executor travels on the track of plan, and can not leave track.This is favourable, because can avoid bumping against with the article being positioned at surrounding.In addition, after track is braked accurately, executor can by accelerating again to perform motion by programming.Therefore, after having accelerated, executor has continued to travel on the track of plan with the speed of programming.Executor, without the need to refunding on the track of plan, can save clock time thus.
Preferred trajectories comprises the path portion that at least one is SPL (Spline).The function that SPL is made up of polynomial of degree n segmentation.The position merging (zusammensto β en) at two Polynomial Terms at this provides specific condition, and such as SPL can (n-1) secondary continuous differential.SPL can such as by multiple programming or the point of teaching define, the point mentioned can be crossed exactly at this executor.
The path portion being defined as SPL is favourable, because this path portion exists as the mathematical expression closed, and can provide the current location of executor on this path portion according to the track advance variable of stepped (skalar).Track advance variable provides the distance of the defining point from the current location of executor to track, and this distance is given in the tolerance on track.Point that is that this defining point is normally programmed or teaching.
The position of the braking point on track is preferably calculated by the track advance variable of track.This is favourable, because can calculate braking point especially simply, because track advance variable is scalar.
Accompanying drawing explanation
By accompanying drawing, preferred implementation of the present utility model is elaborated below; At this illustrate:
Fig. 1 is the figure of the executor group with executor and control device;
Fig. 2 illustrates the track of executor, and it comprises halt and braking point;
Fig. 3 A to Fig. 3 C illustrates in normal operation, the correlativity of executor velocity variations and driving conditions variable, and
Fig. 4 A to Fig. 4 B is when emergent stopping, the correlativity of executor velocity variations and driving conditions variable.
Wherein, Reference numeral represents:
1 executor group
10 executors
20 control device
100 tracks
101 halts
102 braking points
200 driving conditions variablees
V executor speed
X track advance variable
P
1, P
2, P
3track definition point.
Embodiment
Fig. 1 shows executor group 1, and it comprises executor 10 and control device 20.Shown executor 10 is designed to travel on the track 100 being defined as SPL.Track 100 is by a P
1, P
2, P
3definition.The halt 101 illustrated is positioned on track 100, and determines at the point needing should executor maybe must be made to stop when braking.Braking point 102 corresponds to halt 101.The position of braking point 102 is calculated according to the speed of executor 10 by control device 20 and obtains; Namely this braking point does not provide regularly, but with the velocity correlation of executor.Braking point 102 is the points when needing to start when braking to brake.
Fig. 2 diagrammatically illustrates the illustrative trace 100 of executor 10, and this track is by a P
1, P
2, P
3be defined as SPL.Show the figure of the relation of speed v and the track advance variable x marking executor wherein in addition.Figure should be interpreted as schematic figure, and wherein not consistent with ratio.As seen in Fig., executor 10 travels on track 100 with constant speed.Should along from a P to track
1to a P
3direction running.In the present case, be set to need braking in the state of calculated braking point 102 place driving conditions variable.Therefore, executor is braked, and stops at halt 101 place.As shown, equal zero in the speed of halt place executor.
Fig. 3 A to Fig. 3 C shows the figure of stop conditionally three kinds of typical case according to the brake parameters optimized, Fig. 4 A and Fig. 4 B shows the figure of the two kinds of typical case stopped conditionally, both of these case needs to brake, to make executor 10 stop at halt 101 place with the braking effect changed.First the state of driving conditions variable 200 is marked in each figure at this.Under this sample situation, driving conditions variable 200 adopted value "True" and "false".State "True" does not require to brake executor 10, otherwise state "false" then requires to brake executor 10.Below traveling conditional-variable 200, the speed v of mark executor 10.In the case of this example, the speed v of the executor 10 of plan equals 1m/s.Braking point 102 on the corresponding track of the vertical dotted line indicated with Reference numeral 102, the corresponding halt 101 of the vertical dotted line indicated with Reference numeral 101.
Fig. 3 A shows driving conditions variable 200 and is in state "True" all the time, and does not therefore need the situation of braking.In the example of pressing machine link, the pressing machine opened all the time of this correspondence.Correspondingly, as visible in velocity diagram, executor travels on track without velocity variations.
Fig. 3 B shows the situation that driving conditions variable 200 is in state "false" all the time.In the example of pressing machine link, this correspondence pressing machine of closing all the time.Therefore, when exceeding calculated braking point 102, need braking.As visible in velocity diagram, executor is braked from braking point 102, and stops at halt 101.
Fig. 3 C shows the situation that first driving conditions variable 200 is in state "false".After exceeding braking point 102, the state of driving conditions variable 200 changes into "True" by "false".In the example of pressing machine link, after executor has exceeded calculated optimal brake point 102, this correspondence pressing machine has been opened.Owing to meeting now driving conditions variable, no longer need braking, therefore braking procedure interrupts.Executor accelerates to the speed 1m/s of plan again.
Fig. 4 A shows the situation that first driving conditions variable 200 is in state "True".After exceeding braking point 102, the state of driving conditions variable 200 changes into "false" by "True".In the example of pressing machine link, after exceed calculated braking point 102, this correspondence erroneous condition, this erroneous condition is such as attributed to and starts closing presure machine.If the state change of such driving conditions variable 200 detected to the periodically monitoring period of driving conditions variable 200, then in order to make executor 10 still can stop at halt 101, must realize braking with the braking effect that improve compared with the brake parameters optimized.When Fig. 4 A illustrates, due to the braking effect that improve, executor was stopped before reaching halt 101.
Fig. 4 B shows driving conditions variable 200 and is first in state "false", and needs the situation of braking.As visible in velocity diagram, this braking procedure is from reaching braking point 102.The state of driving conditions variable 200 changes into "True" by "false" subsequently.Therefore, braking is no longer needed now.Similar with the situation shown in Fig. 3 C, braking procedure interrupts, and executor accelerates again.But in the presented situation, the state of driving conditions variable 200 changes again, namely becomes "false" from "True".Therefore, (consumingly) brake operators 10 is again needed now.In order to executor 10 can be made to stop at halt 101, need now to brake with the braking effect that improve.In the presented situation, due to better braking effect, executor 10 is stopped at halt 101.
Claims (4)
1. an executor group (1), it comprises at least one executor (10) and at least one control device (20), it is characterized in that, described at least one executor (10) is set to, in the upper traveling of track (100), described track (100) has halt (101), and described at least one control device (20) is set to, speed (v) according to executor (10) calculates the braking point (102) corresponding to described halt (101), wherein, described braking point (102) is the point on described track (100).
2. executor group (1) according to claim 1, is characterized in that, described control device (20) is also for checking the state travelling conditional-variable (200); And when the conditions dictate braking of described driving conditions variable (200), send the order for braking described executor (10).
3. executor group (1) according to claim 2, it is characterized in that, described control device (20) is also for periodically monitoring the state of described driving conditions variable (200), and if during described executor (10) braking, the state of described driving conditions variable (200) changes, then in the executor braking procedure introduced, send the order that described executor (10) is accelerated.
4. the executor group (1) according to aforementioned Claims 2 or 3, it is characterized in that, braking effect in braking procedure can mate according to described driving conditions variable (200), thus described executor (10) is stopped completely at halt (101) at the latest.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420821947.4U CN204390096U (en) | 2014-12-22 | 2014-12-22 | Track stops the executor group of at least one executor conditionally |
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|---|---|---|---|
| CN201420821947.4U CN204390096U (en) | 2014-12-22 | 2014-12-22 | Track stops the executor group of at least one executor conditionally |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553484A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of robot manipulating task trajectory path planning method and system |
| CN110891742A (en) * | 2017-05-08 | 2020-03-17 | 库卡德国有限公司 | Robot calibration |
-
2014
- 2014-12-22 CN CN201420821947.4U patent/CN204390096U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553484A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of robot manipulating task trajectory path planning method and system |
| CN110891742A (en) * | 2017-05-08 | 2020-03-17 | 库卡德国有限公司 | Robot calibration |
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