CN100509307C - Six-axis force sensor assembled mechanical hand guise and force control method thereof - Google Patents
Six-axis force sensor assembled mechanical hand guise and force control method thereof Download PDFInfo
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- CN100509307C CN100509307C CNB2007100456175A CN200710045617A CN100509307C CN 100509307 C CN100509307 C CN 100509307C CN B2007100456175 A CNB2007100456175 A CN B2007100456175A CN 200710045617 A CN200710045617 A CN 200710045617A CN 100509307 C CN100509307 C CN 100509307C
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Abstract
The invention relates to a pose and force control method for a six-dimension force sensor assembly mechanical hand, belonging to the electromechanical control technical field. Steps are as follows: step 1: an operating platform of three-linkage rod in parallel is set up, which comprises an upper platform, a lower platform and adjusting actuator arms. The upper platform and the lower platform are flat boards, the upper platform is fixed as a rack and the lower platform is provided with a six-dimension force sensor; step 2: the poses and assembly force of a micro switch and workpieces tested by a six-dimension force sensor is transmitted to an industrial controlling machine which processes and transfers the poses and assembly force to a control command and sends the control command to a motion control card. Motion command from the motion control card drives a DC motor via an amplifier. During the adjustment of the poses of the workpieces, the adjusting positions of the actuator arms are fed back to the industrial controlling machine and realize the precise control of the actions of the actuator arms via PID control. Hence, the length of the three actuator arms of the parallel platform is continuously adjusted according to the output of the six-dimension force sensor so as to realize the precise and automatic adjustment of the assembly poses of the workpieces.
Description
Technical field
What the present invention relates to is a kind of control method of mechanical engineering technical field, specifically is the control method of a kind of six-dimension force sensor assembly manipulator attitude and power.
Background technology
In the automobile exhaust purifier production process, clarifier ceramic core carrier and metal shell fitted position gap are little, have slightly that very ceramic core will be broken, in assembling process, need to adjust the assembling attitude automatically according to ceramic core carrier stress state, at present domestic all is by artificial assembling, each workman will assemble several thousand every day, works long hours easily to produce to be weary of fatigue, causes each product of discord to occur., also often occur manually to assemble during relatively stricter occasion mechanical automation is produced to size and distortion, force request at some other, reduced production efficiency and quality because of the automation assembling device that does not meet the demands.In the automated production process, be badly in need of the high accuracy assembly manipulator of attitude-adaptive, the feel of band power, and in assembling process, workpiece assembling attitude and assembly force controlled in real time.
Find through literature search prior art, Chinese invention patent " attitude control method of robot and robot ", application number 200410087422.3, publication number CN1590039, this patent disclosure a kind of robot pose control method: one or more phase generators are used for robot system, and select in a plurality of controllers one according to the phase place that produces, controller is according to the driving of continuous phase information control moveable part.This essence of an invention is still the precision that improves each moving component by control accuracy, realizes the precision control of robot pose.Have the following disadvantages: [1] attitude adjustment belongs to traditional method of adjustment, can not obtain higher precision from principle; [2] adopt serial mechanism to exist attitude to adjust accumulated error.[3] adopt the rigidity of serial mechanism system own, thereby cause the multiple degrees of freedom assembly precision low.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, at lacking precision workpiece attitude and power control in the accurate assembling process of production line, propose the control method of a kind of six-dimension force sensor assembly manipulator attitude and power, improved the quality of workpiece automation assembling.
The present invention is achieved by the following technical solutions, the present invention includes following steps:
The first step is set up three link rods parallel operation platform
In the described three link rods parallel operation platform, upper mounting plate and lower platform are dull and stereotyped, are the sleeve mechanism of axial stretching but adjust actuating arm, adjust actuating arm and connect with upper mounting plate and lower platform by spherical hinge.Upper mounting plate is fixed as frame, realizes the attitude adjustment of lower platform by the telescopic variation of adjusting actuating arm.Six-dimension force sensor is installed on the lower platform, and the following paw formula clamping manipulator of installing of six-dimension force sensor is installed microswitch as the piece-holder sensory perceptual system on the clamping manipulator;
Second goes on foot, and controls the control of lower platform pose realization to workpiece attitude and assembly force according to the output of six-dimension force sensor in the three link rods parallel operation platform by adjusting
After manipulator clips workpiece, microswitch and six-dimension force sensor detect workpiece attitude and assembly force and are sent to Industrial Control Computer, after Industrial Control Computer is handled, become control instruction and send to motion control card, the movement instruction that motion control card sends drives direct current generator through amplifier, the adjusting position of actuating arm feeds back to Industrial Control Computer in workpiece attitude adjustment process, realize the precision control of actuating arm action through PID control, like this, constantly adjust the length of three actuating arms of parallel connection platform according to the output of six-dimension force sensor, realize that workpiece assembling attitude is accurate to adjust automatically.
Described microswitch and six-dimension force sensor detect workpiece attitude and assembly force, be meant: catching robot is installed microswitch, when the tight grabbing workpiece of manipulator, the microswitch action, output signal, expression manipulator and workpiece become one, and can realize the adjustment of workpiece attitude by adjusting three actuating arms of parallel connection platform; Active force in the assembling process between workpiece and the assembling shell and the distortion six-dimension force sensor output by installing on the lower platform, six-dimension force sensor output three moments of torsion of expression and three force components are represented suffered external torque of workpiece and power in the assembling process respectively.
Described workpiece assembling attitude is accurate to be adjusted automatically, is meant:
(1) determines workpiece attitude adjustment direction.Workpiece attitude direction is stressed with institute and moment of torsion vector direction is opposite, workpiece institute receipts power and moment of torsion are detected by six-dimension force sensor, six-dimension force sensor output X, Y, the power of three directions of Z and around the moment of torsion of X-axis, Y-axis and three directions of Z axle, workpiece attitude are adjusted the opposite direction of direction and moment of torsion vector stressed by workpiece.
(2) determine the parallel connection platform actuating arm unit adjustment amount that the adjustment of workpiece attitude realizes.Remember each actuating arm length of parallel connection platform and the current attitude parameter of parallel connection platform lower platform under the current attitude, add that the workpiece attitude adjusts the targeted attitude that required unit deformation attitude obtains new parallel connection platform lower platform.Determine to obtain required each actuating arm length of parallel connection platform of targeted attitude of parallel connection platform lower platform by matrixing, subtract each other, can obtain the adjustment amount of each actuating arm of parallel connection platform with each the actuating arm length of parallel connection platform in the memory.
(3) each actuating arm length is adjusted by (2) described adjustment amount.The actuating arm drive motors that controller need be adjusted length sends control instruction, realizes the accurate control of actuating arm length adjustment by position-speed double closed loop.
(4) detect six-dimension force sensor output, repeat (1) to (3) up to workpiece attitude and stressed meeting the demands.
The advantage that compared with prior art has, the present invention adopts parallel institution and six-dimension force sensor to carry out the control of workpiece assembling attitude and power, can realize the adjustment of workpiece six degree of freedom attitude by three platform actuating arms, and guiding mechanism is simple relatively; Do not have accumulated error in the attitude adjustment process, rigidity is big, thereby adjusts the precision height, adopts same driving element simultaneously, can reach than high 5-10 times precision of assembly manipulator that adopts Di Kaer plane right-angle coordinate system.
Description of drawings
Fig. 1 is an embodiment of the invention performing step block diagram;
Fig. 2 is an embodiment of the invention implementation structure schematic diagram;
Fig. 3 transmits schematic diagram for information and action that the embodiment of the invention realizes.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment adjusts direction by piece-holder and assembly force perception detection → workpiece attitude and determines → and parallel connection platform actuating arm unit adjustment amount determines → and each actuating arm length adjustment → six-dimension force sensor detects output → assembling attitude and assembly force detection → attitude and assembly force and meets the demands, attitude adjustment and assembling finish/and attitude and assembly force do not meet the demands, and readjusts the precision control that realizes workpiece attitude and assembly force.
As shown in Figure 2, the control platform of present embodiment employing comprises three link rod parallel connection platforms, sextuple power sensor-based system, piece-holder sensory perceptual system.Described three link rod parallel connection platforms mainly comprise upper mounting plate, lower platform, adjustment actuating arm, direct current generator etc.Adjusting actuating arm connects with upper mounting plate, lower platform by spherical hinge, adjusting actuating arm is the sleeve mechanism that can stretch vertically, the axial stretching of adjusting actuating arm is driven by direct current generator, and upper mounting plate is fixed as frame, realizes the attitude adjustment of lower platform by the telescopic variation of adjusting actuating arm.Described piece-holder sensory perceptual system comprises paw formula clamping manipulator and superincumbent microswitch is installed, microswitch output signal behind the good workpiece of manipulator clamping.Upper mounting plate coordinate system O
0-X
0Y
0Z
0Be reference frame, O
1-X
1Y
1Z
1Be lower platform, six-dimension force sensor and workpiece coordinate system, α, beta, gamma represent three amounts of spin that workpiece and lower platform attitude are adjusted respectively.
As shown in Figure 3, information flow is in the present embodiment implementation procedure: at first workpiece attitude and the assembly force according to microswitch and six-dimension force sensor detection is sent to Industrial Control Computer, after Industrial Control Computer is handled, become control instruction and send to motion control card, the movement instruction that motion control card sends drives direct current generator through amplifier, the adjusting position of actuating arm feeds back to Industrial Control Computer in workpiece attitude adjustment process, realizes the precision control of actuating arm action through PID control.
Industrial PC selects for use Taiwan to grind the IPPC-9120 of China in this embodiment, and the four-axis movement control card PCI-8164 that motion control card adopts Ling Hua company can control four axis servomotors simultaneously.Parallel connection platform axle link rod actuating arm direct current generator adopts the linear electric motors of Japanese Sha Dike (SODICK) to constitute the control of full cut-off ring.Six-dimension force sensor adopts the Smart300 six-dimension force sensor of the Anhui peaceful Science and Technology Ltd. of the rising sun.The piece-holder sensory perceptual system adopts the D2SW-3 microminiature microswitch of OMRON company to realize.
The present invention adopts based on the workpiece assembling attitude of parallel connection platform and the control method of power, manipulator holding workpiece at first, workpiece clips the D2SW-3 microminiature microswitch action of back piece-holder sensory perceptual system, output signal, the expression manipulator has clamped workpiece, become one with workpiece, can realize the adjustment of workpiece attitude by adjusting three actuating arms of parallel connection platform, simultaneously the stressed six-dimension force sensor Smart300 that is delivered in the workpiece assembling process; Active force in the assembling process between workpiece and the assembling shell and distortion are by six-dimension force sensor Smart300 output, six-dimension force sensor Smart300 exports Tx, Ty, Tz represents the suffered external torque of workpiece in the assembling process, six-dimension force sensor Smart300 exports Fx, Fy, Fz represent the suffered external force of workpiece in the assembling process, and the six-dimension force sensor output signal is delivered to Industrial Control Computer IPPC-9120 in the RS232 mode.Industrial Control Computer IPPC-9120 is according to the Tx of six-dimension force sensor output, and Ty, Tz, Fx, Fy, Fz determine workpiece attitude adjustment direction, make Tx, Ty, and Tz, Fx, the direction that Fy, Fz reduce is that correct attitude is adjusted direction.
Adjust direction according to the attitude of determining, carry out the adjustment of workpiece attitude, at first remember each actuating arm length l of current attitude parallel connection platform
01, l
02, l
03And the current attitude matrix of parallel connection platform lower platform:
Wherein the 1st, 2,3 row are represented lower platform coordinate system reference axis O down respectively
1X
1, O
1Y
1, O
1Z
1Direction cosines at the upper mounting plate coordinate system; [dx, dy, dz]
TBe lower platform origin of coordinates O
1Position vector at the upper mounting plate coordinate system.Adjust the targeted attitude that required unit deformation attitude obtains new parallel connection platform lower platform according to the workpiece attitude:
Wherein lower platform and workpiece pose matrix after the attitude adjustment specifically have following six kinds of situations: when lower platform around self reference axis O
1X
1During rotation θ, k
x=1, k
y=k
z=0; Lower platform is around self reference axis O
1Y
1During rotation θ, k
y=1, k
x=k
z=0; Lower platform is around self reference axis O
1Z
1During rotation θ, k
z=1, k
x=k
y=0; Lower platform is along self reference axis O
1X
1During mobile δ x, k
x=k
y=k
z=θ=0, δ y=δ z=0; Lower platform is along self reference axis O
1Y
1During mobile δ y, k
x=k
y=k
z=θ=0, δ x=δ z=0; Lower platform is along self reference axis O
1Z
1Mobile δ
zThe time, k
x=k
y=k
z=θ=0, δ x=δ y=0.
Determine to obtain the targeted attitude of parallel connection platform lower platform, obtain each actuating arm length of required parallel connection platform
Be the coordinate of each actuating arm end points on the parallel connection platform upper mounting plate,
Coordinate for each actuating arm end points on the parallel connection platform lower platform.Each the actuating arm length l that obtains
1iWith each the actuating arm raw footage l of parallel connection platform in the memory
0iSubtract each other, can obtain the momentum of doing of each actuating arm of parallel connection platform.Industrial Control Computer IPPC-9120 sends the motor-driven instruction according to the momentum of doing of each actuating arm to motion control card PCI-8164, accurately adjusts through each actuating arm length of position PID control realization.Continue to detect the output of six-dimension force sensor Smart300, repeat said process, up to Tx, Ty, Tz, Fx, Fy, Fz finishes the adjustment of workpiece attitude and assembly force less than thresholding separately.
Present embodiment can be realized the fast precise automation assembling of clarifier ceramic core carrier and housing, has replaced original hand assembled.30 of per minute assembling workpiece, assembly force control≤3N, assembling qualification rate 〉=97%.
Claims (7)
1, the control method of a kind of six-dimension force sensor assembly manipulator attitude and power is characterized in that, comprises following two steps:
The first step is set up three link rods parallel operation platform
Described three link rods parallel operation platform comprises upper mounting plate, lower platform, adjust actuating arm, upper mounting plate and lower platform are dull and stereotyped, but adjusting actuating arm is the sleeve mechanism of axial stretching, adjusting actuating arm is connected with lower platform with upper mounting plate by spherical hinge, upper mounting plate is fixed as frame, realize the attitude adjustment of lower platform by the telescopic variation of adjusting actuating arm, on the lower platform of three link rods parallel operation platform, a six-dimension force sensor is installed, the following paw formula clamping manipulator of installing of six-dimension force sensor is installed microswitch as the piece-holder sensory perceptual system on the clamping manipulator;
Second goes on foot, and controls the control of lower platform pose realization to workpiece attitude and assembly force according to the output of six-dimension force sensor in the three link rods parallel operation platform by adjusting
After manipulator clips workpiece, microswitch and six-dimension force sensor detect workpiece attitude and assembly force and are sent to Industrial Control Computer, after Industrial Control Computer is handled, become control instruction and send to motion control card, the movement instruction that motion control card sends drives direct current generator through amplifier, the adjusting position of actuating arm feeds back to Industrial Control Computer in workpiece attitude adjustment process, realize the precision control of actuating arm action through PID control, like this, constantly adjust the length of three actuating arms of parallel connection platform according to the output of six-dimension force sensor, realize that workpiece assembling attitude is accurate to adjust automatically.
2, the control method of six-dimension force sensor assembly manipulator attitude according to claim 1 and power, it is characterized in that, described microswitch and six-dimension force sensor detect workpiece attitude and assembly force, be meant: when the tight grabbing workpiece of manipulator, the microswitch action of installing on the manipulator, output signal, expression manipulator and workpiece become one, and can realize the adjustment of workpiece attitude by adjusting three actuating arms of parallel connection platform; Active force in the assembling process between workpiece and the assembling shell and the distortion six-dimension force sensor output by installing on the lower platform, six-dimension force sensor output three moments of torsion of expression and three force components are represented suffered external torque of workpiece and power in the assembling process respectively.
3, the control method of six-dimension force sensor assembly manipulator attitude according to claim 1 and power is characterized in that, described workpiece assembling attitude is accurate to be adjusted automatically, is meant:
(1) determines workpiece attitude adjustment direction;
(2) determine the parallel connection platform actuating arm unit adjustment amount that the adjustment of workpiece attitude realizes;
(3) each actuating arm length is adjusted by (2) described adjustment amount;
(4) detect six-dimension force sensor output, repeat (1) to (3) up to workpiece attitude and stressed meeting the demands.
4, the control method of six-dimension force sensor assembly manipulator attitude according to claim 3 and power, it is characterized in that, described workpiece attitude, its direction is stressed with institute and the moment of torsion direction vector is opposite, workpiece institute receipts power and moment of torsion are detected by six-dimension force sensor, six-dimension force sensor output X, Y, the power of three directions of Z and around the moment of torsion of X-axis, Y-axis and three directions of Z axle, workpiece attitude are adjusted the opposite direction of direction and moment of torsion vector stressed by workpiece.
5, the control method of six-dimension force sensor assembly manipulator attitude according to claim 3 and power, it is characterized in that, described workpiece attitude is adjusted, remember each actuating arm length of parallel connection platform and the current attitude parameter of parallel connection platform lower platform under the current attitude, add that the workpiece attitude adjusts the targeted attitude that required unit deformation attitude obtains new parallel connection platform lower platform.
6, the control method of six-dimension force sensor assembly manipulator attitude according to claim 5 and power, it is characterized in that, described parallel connection platform actuating arm unit adjustment amount, be meant: required each actuating arm length of parallel connection platform of targeted attitude of determining to obtain the parallel connection platform lower platform by matrixing, subtract each other with each actuating arm length of parallel connection platform under the current attitude of memory, can obtain the adjustment amount of each actuating arm of parallel connection platform.
7, the control method of six-dimension force sensor assembly manipulator attitude according to claim 3 and power, it is characterized in that, described step (3), be meant: the actuating arm drive motors that controller need be adjusted length sends control instruction, realizes the accurate control of actuating arm length adjustment by position-speed double closed loop.
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| CNB2007100456175A CN100509307C (en) | 2007-09-06 | 2007-09-06 | Six-axis force sensor assembled mechanical hand guise and force control method thereof |
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| CN103568015A (en) * | 2012-07-25 | 2014-02-12 | 发那科株式会社 | Force-controlled electric hand |
| CN108656118A (en) * | 2018-06-07 | 2018-10-16 | 宁波东浩铸业有限公司 | A method of based on force sensor Intelligent assembly end cover of automobile generator |
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