CN104985609B - A kind of vibration intelligent compensation mechanical arm, robot and its vibration measurement method - Google Patents
A kind of vibration intelligent compensation mechanical arm, robot and its vibration measurement method Download PDFInfo
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- CN104985609B CN104985609B CN201510317112.4A CN201510317112A CN104985609B CN 104985609 B CN104985609 B CN 104985609B CN 201510317112 A CN201510317112 A CN 201510317112A CN 104985609 B CN104985609 B CN 104985609B
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Abstract
The present invention discloses a kind of vibration intelligent compensation mechanical arm, robot and its vibration measurement method, belong to mechanical engineering field, the vibration intelligent compensation mechanical arm includes body frame, piezoelectric actuator and strain transducer, the body frame is the quasi-truss formula structure of integral type processing, the strain transducer is installed in the body frame, for measuring deformation condition of the body frame in motor process and by measurement feedback to control system, the piezoelectric actuator is installed in the body frame, it is used for compensating deformation of the body frame in motor process in the presence of control system.The mechanical arm of the present invention solves the problems, such as the mechanical arm vibration suppression of high-speed high-precision underloading mechanical field, it is intended to by way of intelligent element of the vibration detection with compensation is installed in mechanical arm realize the Active vibration suppression to mechanical arm, and finally improves the execution precision of system.
Description
Technical field
The present invention relates to mechanical arm, and in particular to a kind of vibration intelligent compensation mechanical arm.
The invention further relates to being provided with the robot of above-mentioned vibration intelligent compensation mechanical arm.
The invention further relates to the vibration measurement method of above-mentioned vibration intelligent compensation mechanical arm.
Background technology
The universal precision of industrial robot is 0.1mm at present, but leads in the application of the underloading high speed and precision such as IC package, laser welding
Domain, needs robot reach the precision of more than 0.03mm.Main cause is that mechanical arm produces bullet in high speed motions
Property vibration, although using the light material of high rigidity, due to material inherent character, and the dynamic load excitation during driving,
Especially in high speed jerk operating mode, the Vibration Condition of above-mentioned robotic arm is often more violent.
For solving above-mentioned mechanical arm vibration problem, common method has：（1）Designed using the mechanical arm body of high rigidity,
Mitigate by the motion deformation of robot；（2）Increase the waiting time of vibration decay, it is ensured that execute precision；（3）Using digital filtering
Deng vibration suppression control strategy.
Above-mentioned solution is primarily adapted for use in the relatively low field of precision or rate request.Exist high accelerate high-speed working condition and
The underloading application of high-accuracy positioning requirements, above-mentioned solution are suffered from the drawback that：Method（1）Shortcoming be to adopt Gao Gang
The restricted application of the mechanical arm body design of degree, the consistent adaptability to the mechanical arm that many poses change are poor.Additionally, right
In high speed machine people's application, the inertia effects of mechanical arm can not be ignored, and the design rigidity so as to cause mechanical arm is limited；Side
Method（2）The shortcoming of presence reduces production efficiency for increasing the Motor execution time；Method（3）The shortcoming of presence exists for robot
In motor process, the position and attitude of mechanical arm can have greatly changed, and the dynamicss such as rotary inertia of each section of mechanical arm are joined
Number can have greatly changed, and digital filtering cannot adapt to dynamic characteristic change occasion.
Content of the invention
Present invention aim at proposing a kind of mechanical arm of vibration intelligent compensation, it is mainly used in solving high-speed high-precision underloading
The mechanical arm vibration suppression problem of mechanical field, it is intended to by installing vibration detection in mechanical arm with the intelligent element of compensation
Mode is realizing the Active vibration suppression to mechanical arm, and finally improves the execution precision of system.
Another object of the present invention is to providing a kind of robot of the mechanical arm for being provided with above-mentioned vibration intelligent compensation.
Still a further object of the present invention is the vibration measurement method for providing vibration intelligent compensation mechanical arm.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
A kind of vibration intelligent compensation mechanical arm, including body frame, piezoelectric actuator and strain transducer, described
Body framework is the quasi-truss formula structure of integral type processing, and the strain transducer is installed in the body frame, for measuring
Deformation condition of the body frame in motor process and by measurement feedback to control system, piezoelectric actuator peace
It is loaded in the body frame, is used for compensating deformation of the body frame in motor process in the presence of control system.
Used as a kind of improvement of present invention vibration intelligent compensation mechanical arm, the body frame is cuboid engraved structure,
It is made up of a series of basic beam, the basic beam includes four side of basic beam and body frame along body frame length direction
On the basic beam of intersection, at least provided with a hole slot on each basic beam, piezoelectric actuator is installed in the hole slot.
The cuboid engraved structure that body frame is shaped for integral type, not only low manufacture cost, modularized design, be easily installed,
And stabilized structure, light weight, robot can flexible motions.
As another kind of improvement of present invention vibration intelligent compensation mechanical arm, this is installed at the two ends of the body frame
Body connecting plate.
Used as another improvement of present invention vibration intelligent compensation mechanical arm, the control system is PID（Proportional, integral-
Differential）Control system.
A kind of robot, its pass through modularized joint and are provided with vibration intelligent compensation mechanical arm described above.
A kind of vibration measurement method of vibration intelligent compensation mechanical arm, specifically includes following steps：
S1. the deformation condition of body frame, and the result feedback by measurement are measured by a series of strain transducers
Into PID control system；
S2. being arranged on the piezoelectric actuator in body frame, displacement output is produced in the presence of PID control system,
Force body frame that the deformation contrary with measured deformation condition in step 1 occurs；
The common work of the measurement-execution close loop control circuit for S3. constituting in strain transducer and piezoelectricity pottery actuator joint
With under, the stiffness equivalent of body frame is realized.
In a word, the present invention compared with prior art, with following beneficial effect：
The vibration intelligent compensation mechanical arm of the present invention is by being provided with compressive strain sensor and piezoelectricity pottery in body frame
Porcelain actuator, measures itself bulk deformation situation of the body frame in motor process by compressive strain sensor, then first
Piezoelectric actuator produces the power contrary with deformation direction so that body frame produces reciprocal deformation, so as to compensate
Self-deformation of the body frame in motor process, changes the rigidity of structure of body frame, realizes the rigidity of body frame
Adjust, so as to improve the operating accuracy of robot；Simultaneously the mechanical arm of the present invention can standard modular manufacture, not only into
This is low, and can improve the standardization level of robot.
Description of the drawings
Structural representations of the Fig. 1 for the vibration intelligent compensation mechanical arm of embodiment one；
Fig. 2 is the enlarged diagram for vibrating the basic hole slot of intelligent compensation mechanical arm in embodiment one；
Structural representations of the Fig. 3 for the vibration intelligent compensation mechanical arm of embodiment two；
Fig. 4 is the enlarged diagram for vibrating the basic hole slot of intelligent compensation mechanical arm in embodiment two；
Fig. 5 is the structural representation of the robot for being provided with present invention vibration intelligent compensation mechanical arm in example IV；
Fig. 6 is the structural representation of modularized joint in example IV；
Control block diagrams of the Fig. 7 for PID control system figure；
In figure：1 vibration intelligent compensation mechanical arm, 2 modularized joints, 101 body connecting plates, 102 body frames, 103 pressures
Electroceramics actuator, 104 strain transducers, 201 joint connecting seats, 202 universal gear axles, 203 gear trains, 204 fix pivot pin.
Specific embodiment
Accompanying drawing being for illustration only property explanation, it is impossible to be interpreted as the restriction to this patent.
To those skilled in the art, it is to be appreciated that in accompanying drawing, some known features and its explanation may be omitted
's.
Figure of description in below in conjunction with the present invention, to invention in technical scheme be clearly and completely described,
Obviously, described embodiment is only a part of embodiment of the invention, rather than whole embodiment.In based on the present invention
Embodiment, the every other embodiment obtained under the premise of creative work is not made by those of ordinary skill in the art, all
Belong to the scope of protection of the invention.
Embodiment one
As shown in figure 1, in the present embodiment vibrate intelligent compensation mechanical arm structural representation, including body connecting plate
101st, body frame 102, piezoelectric actuator 103 and strain transducer 104, wherein body connecting plate 101 are installed on body
The two ends of framework 102, the body frame 102 is as shown in Fig. 2 truss-like structure for integral type processing, concrete form is for rectangular
Body engraved structure, the body frame 101 of hollow processing are made up of a series of basic beam in form, and basic beam is included along body
The basic beam in lengths of frame direction（Four sides of rectangle）With the basic beam of intersection on four side of body frame（The diagonal of rectangle）.
As shown in Fig. 2 being provided with basic hole slot on each basic beam, the length direction of basic hole slot is along basic beam
Length direction；Again as shown in figure 1, piezoelectric actuator 103 is installed in the basic hole slot, strain transducer 104 is arranged at
On the side adjacent with the piezoelectric actuator 103.
Embodiment two
As shown in figure 3, the structure of the vibration intelligent compensation mechanical arm in the present embodiment is basic and embodiment is consistent, institute
Except for the difference that as shown in figure 4, the basic hole slot for installing piezoelectric actuator in body frame 102 is set to set in pairs
The diplopore groove that puts；Piezoelectric actuator is separately installed with paired diplopore groove, can be produced along basic beam section length side
To displacement output.
Embodiment three
A kind of vibration measurement method of vibration intelligent compensation mechanical arm, specifically includes following steps：
S1. the deformation condition of body frame, and the result feedback by measurement are measured by a series of strain transducers
Into PID control system；
S2. being arranged on the piezoelectric actuator in body frame, displacement output is produced in the presence of PID control system,
Force body frame that the deformation contrary with measured deformation condition in step 1 occurs；
The common work of the measurement-execution close loop control circuit for S3. constituting in strain transducer and piezoelectricity pottery actuator joint
With under, the stiffness equivalent of body frame is realized.
Wherein, the control block diagram of PID control system is as shown in fig. 7, its control flow is specific as follows：
1）. reference input is 0;
2）. the strain of each basic beam measured by the strain transducer on mechanical arm, calculates bending and torsional deflection；
3）. bending, torsional deflection and reference input deviation, by PID arithmetic, the reversible deformation power of each basic beam is calculated,
It is applied on corresponding basic beam by piezoelectric actuator；
4）. repeat 2）, 3）, until deviation is 0, realize the compensation of basic beam deformation.
Example IV
The present embodiment be provided with the present invention vibration intelligent compensation mechanical arm robot, its structure as shown in figure 5, this
Bright vibration intelligent compensation mechanical arm is connected into multi-freedom robot by modularized joint 2.
As shown in fig. 6, the modularized joint 2 includes a pair of joint connecting seats 201, universal gear axle 202, a pair of gear trains
203 and fixed pivot pin 204, in cross setting wherein between a pair of joint connecting seats 201, universal gear axle 202 is arranged at
The bottom of joint connecting seat 201, a pair of gear trains 203 are installed on a pair of joints by fixed pivot pin 204 and connect in cross
It is meshed between joint chair 201 and with the universal gear axle 202, the gear train 203 is in respective joint motor（Not shown）Under can
Rotated against with 201 relative universal gear axle 202 of band movable joint connecting seat, and then drive is connected with joint connecting seat 201
The intelligent machine arm 1 for connecing realizes multifreedom motion.Wherein joint motor（Not shown）Can be installed in joint connecting seat 201
Or in intelligent machine arm 1.
In sum, as embodiment of the present invention content, and obviously embodiments of the present invention are not limited to which can
According to different application environment, using functions implementing the present invention corresponding demand.
Claims (5)
1. one kind vibrates intelligent compensation mechanical arm, it is characterised in that including body frame, piezoelectric actuator and strain sensing
Device, quasi-truss formula structure of the body frame for integral type processing, the strain transducer are installed in the body frame,
For measuring deformation condition of the body frame in motor process and by measurement feedback to control system, the piezoelectric ceramics
Actuator is installed in the body frame, is used for compensating the body frame in motor process in the presence of control system
Deformation；The body frame is cuboid engraved structure, is made up of a series of basic beam, and the basic beam is included along body
The basic beam of intersection on four side of the basic beam in lengths of frame direction and body frame, at least provided with one on each basic beam
Hole slot, piezoelectric actuator are installed in the hole slot, and strain transducer is arranged at adjacent with the piezoelectric actuator
On side.
2. as claimed in claim 1 vibration intelligent compensation mechanical arm, it is characterised in that the body frame two ends install
There is body connecting plate.
3. as claimed in claim 1 vibration intelligent compensation mechanical arm, it is characterised in that the control system be PID control system
System.
4. the vibration measurement method of vibration intelligent compensation mechanical arm as claimed in claim 3, it is characterised in that including following step
Suddenly：
S1. the deformation condition of body frame is measured by strain transducer, and the result of measurement is fed back to PID control system
In system；
S2. be arranged on the piezoelectric actuator in body frame and displacement output is produced in the presence of PID control system, force
There is the deformation contrary with measured deformation condition in step 1 in body frame；
S3. under the collective effect of measurement-execution close loop control circuit that strain transducer and piezoelectricity pottery actuator joint are constituted,
Realize the stiffness equivalent of body frame.
5. a kind of robot, it is characterised in that the robot is installed arbitrary just like claims 1 to 3 by modularized joint
Described vibration intelligent compensation mechanical arm.
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| CN108038257A (en) * | 2017-11-02 | 2018-05-15 | 中车工业研究院有限公司 | The modularization modeling method and device of intelligent industrial production line |
| CN109202873A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of flexible mechanical arm and its control method of cooperating |
| CN110955968A (en) * | 2019-11-26 | 2020-04-03 | 江西江铃集团新能源汽车有限公司 | Method and system for compensating welding deformation of automobile bent section |
| CN112388636B (en) * | 2020-11-06 | 2022-04-12 | 广州大学 | DDPG multi-target genetic self-optimization triaxial delta machine platform and method |
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| US4453085A (en) * | 1981-05-11 | 1984-06-05 | Diffracto Ltd. | Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines |
| JPS58132493A (en) * | 1982-02-02 | 1983-08-06 | 株式会社豊田中央研究所 | Method and device for measuring origin of movable section of robot |
| CN1233511C (en) * | 2002-05-23 | 2005-12-28 | 河北工业大学 | Recombineable modular 3-6 freedom structure decoupling parallel micro moving robot |
| CN1202937C (en) * | 2003-04-14 | 2005-05-25 | 浙江大学 | Super accurate fine motion work platform with function of restraining vibration. |
| CN100363157C (en) * | 2006-03-17 | 2008-01-23 | 燕山大学 | Six-freedom micro operation robot with complete position and posture feedback |
| CN101038208A (en) * | 2007-02-06 | 2007-09-19 | 重庆大学 | Six-axial micro-exciter system |
| CN103273480B (en) * | 2013-06-14 | 2015-04-22 | 中国科学院自动化研究所 | Vibration simulation, active compensation and vibration restraining system based on force feedback |
| CN203759551U (en) * | 2014-04-09 | 2014-08-06 | 重庆交通大学 | Mechanical arm vibration suppression and accurate differential compensation device |
| CN104006110B (en) * | 2014-05-09 | 2016-01-20 | 华南理工大学 | Rotate flexible, hinged vibration of beam measuring and controlling and method |
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