CN105598971A - Control system of mechanical arm - Google Patents
Control system of mechanical arm Download PDFInfo
- Publication number
- CN105598971A CN105598971A CN201610077893.9A CN201610077893A CN105598971A CN 105598971 A CN105598971 A CN 105598971A CN 201610077893 A CN201610077893 A CN 201610077893A CN 105598971 A CN105598971 A CN 105598971A
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- CN
- China
- Prior art keywords
- rod member
- mechanical arm
- arm
- control system
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a control system of a mechanical arm. The control system of the mechanical arm comprises a control device and a driving device, wherein the control device is used for controlling the driving device to drive a rod piece to synchronously move along an arm component, and the control device is used for acquiring the current position of the mechanical arm and judging whether the current position is matched with a preset position; if yes, the control device is used for controlling the driving device to lock the position of the rod piece; if not, the control device is used for controlling the driving device to drive the rod piece to synchronously move so as to move the mechanical arm to the preset position. The control system of the mechanical arm synchronously controls the rod piece, the control complexity of the rod piece is reduced, the control precision of the rod piece is improved, and the control cost of the rod piece is reduced; and the control system of the mechanical arm can be suitable for light load occasions having low cost requirement and simple control method.
Description
Technical field
The present invention relates in robot field, more specifically, relate to a kind of control system of mechanical arm.
Background technology
At present, in many connecting rods Drive Control Technique, power-driven system mainly comprises two kinds of hydraulic-driven and electric drives.Usually, the driving of large-scale engineering machinery adopts fluid power system to bear large load mostly, but due to hydraulic-drivenAdopt fluid pressure to change and carry out transmission, in whole transmission process, links all can produce huge energy loss, leadsCause actual transmission efficiency low, energy consumption is huge.
Current for multi-link structure in industrial robot field and adopt power drive system (as servo drive system)Main flow. Although the control type of drive of this many link robots becomes the main flow of present industrial robot, its systemComplexity, therefore and be not suitable for some little running spaces, low cost require, may need man-computer symbiosis in same opereating specification,The simple occasion of easy to maintenance, control method.
Summary of the invention
Embodiment of the present invention is intended at least solve one of technical problem existing in prior art. For this reason, the invention processMode need to provide a kind of control system of mechanical arm.
Embodiment of the present invention provides a kind of control system of mechanical arm. This mechanical arm comprises two arm members and barPart, these two arm members are rotationally connected, the two ends of this rod member be flexibly connected with these two arm members respectively and for pointThe other axially-movable along these two arm members is to drive this mechanical arm folding, and the control system of this mechanical arm comprises controlDevice processed and drive unit. This control device is used for controlling this drive unit and drives this rod member synchronously to transport along this arm memberMoving, this control device is for obtaining the current location of this mechanical arm and judging whether phase of this current location and predeterminated positionSymbol. If so, this control device locks the position of this rod member for controlling this drive unit. If not, this control device is used forControlling this drive unit drives this rod member to be synchronized with the movement to make this mechanical arm move to this predeterminated position.
The control system of the mechanical arm of embodiment of the present invention, carries out Synchronization Control to rod member, has reduced the control of rod memberComplexity, thereby also can improve the control accuracy of rod member and reduce controlling cost of rod member, the control system of this mechanical armSystem requires and the simple underload occasion of control method applicable to low cost.
In some embodiments, this drive unit comprises servo drive system, and this control device is used for controlling this servo drivingMoving this rod member of system drive is synchronized with the movement along this arm member, and drives this rod member same for controlling this servo drive systemStep motion makes this mechanical arm move to this predeterminated position.
In some embodiments, this servo drive system comprises motor, transmission device and position sensor, this transmission dressPut and connect this motor and this rod member, this motor is used for driving this transmission device to drive this rod member motion, and this position sensor is usedIn the real time kinematics state that detects this motor;
This control device is used for the position of this motor that locks connection corresponding to this rod member to lock the position of this rod member.
In some embodiments, this position sensor is incremental encoder or absolute value encoder.
In some embodiments, this transmission device comprises screw structure and slide block, or belt module and slide block, this screw mandrelStructure connects this motor and this slide block, and this slide block connects this rod member actively, or this belt module connects this motor and this cunningPiece, this slide block connects this rod member actively;
This control device is used for controlling this motor and drives this slide block to move to drive by this screw structure or this belt moduleThis rod member is synchronized with the movement along this arm member, and drives by this screw structure or this belt module for controlling this motorThis slide block moves to drive this rod member to be synchronized with the movement to make this mechanical arm move to this predeterminated position.
In some embodiments, this rod member comprises four rod member mechanisms.
In some embodiments, this four rod members mechanism comprises Bennett mechanism.
In some embodiments, this slide block, as the connection basis of Gai Nei Bennett mechanism, makes two of this four rod members mechanismTwo single poles have the movement relation of mutual restriction.
In some embodiments, this control device is used for obtaining the angle that this mechanical arm is, and judges and deserve with thisWhether front position conforms to this predeterminated position.
In some embodiments, the control system of this mechanical arm comprises absolute value encoder, and this control device connects shouldAbsolute value encoder, the angle that this absolute value encoder is for detection of this mechanical arm.
In some embodiments, this mechanical arm comprises multiple these rod members or multiple rod member group of serial or parallel connection, this controlDevice processed drives several of multiple these rod members of serial or parallel connection or multiple these rod member groups for controlling this drive unitThis rod member or several this rod member groups or all this rod member or all this rod member group motion.
In some embodiments, this control device is used for judging whether this rod member or this rod member group need motion;
If not, this control device locks the position of this rod member or this rod member group for controlling this drive unit;
If so, this control device be used for controlling this drive unit drive this rod member or this rod member group synchronous along this arm memberMotion.
In some embodiments, this rod member comprises single-bar mechanism or many rod members mechanism.
In some embodiments, Gai Duo rod member mechanism comprises two rod member mechanisms, three rod member mechanisms or four rod member mechanisms.
In some embodiments, this four rod members mechanism comprises Bennett mechanism.
The additional aspect of embodiment of the present invention and advantage in the following description part provide, and part is by from retouching belowIn stating, become obviously, or recognize by the practice of embodiment of the present invention.
Brief description of the drawings
The description of accompanying drawing to embodiment below combination of the above-mentioned and/or additional aspect of embodiment of the present invention and advantageMiddle becoming obviously and easily understood, wherein:
Fig. 1 is the schematic flow sheet of the control method of the mechanical arm of preferred embodiments according to the present invention;
Fig. 2 is the structural representation of the drive unit of preferred embodiments according to the present invention;
Fig. 3 is the structural representation of the mechanical arm of the preferred embodiments according to the present invention rod member mechanism used;
Fig. 4 is the another schematic flow sheet of the control method of the mechanical arm of preferred embodiments according to the present invention;
Fig. 5 is the module diagram of the control system of the mechanical arm of preferred embodiments according to the present invention;
Fig. 6 is another module diagram of the control system of the mechanical arm of preferred embodiments according to the present invention;
Fig. 7 is a module diagram again of the control system of the mechanical arm of preferred embodiments according to the present invention;
Fig. 8 is the structural representation of the control system of the mechanical arm of preferred embodiments according to the present invention;
Fig. 9 is the another module diagram of the control system of the mechanical arm of preferred embodiments according to the present invention;
Figure 10 is the structural representation of the mechanical arm of the preferred embodiments according to the present invention rod member mechanism used;
Figure 11 is the module diagram more again of the control system of the mechanical arm of preferred embodiments according to the present invention.
Detailed description of the invention
Describe embodiments of the present invention below in detail, the example of described embodiment is shown in the drawings, wherein ad initio extremelyWhole same or similar label represents same or similar element or has the element of identical or similar functions. Below by ginsengThe embodiment of examining accompanying drawing description is exemplary, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " first ", " second " be only for describing object, andCan not be interpreted as instruction or hint relative importance or the implicit quantity that indicates indicated technical characterictic. Thus, limitThere is the feature of " first ", " second " can express or impliedly comprise one or more described features. At thisIn the description of invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In description of the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation "," be connected ", " connection " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, orConnect integratedly; Can be mechanical connection, can be also electrically connected or can intercom mutually; Can be to be directly connected, alsoCan indirectly be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned term specifically containing in the present inventionJustice.
Disclosing below provides many different embodiments or example to be used for realizing different structure of the present invention. For letterChange of the present invention openly, hereinafter the parts to specific examples and setting are described. Certainly, they are only example,And object does not lie in restriction the present invention. In addition, the present invention can repeat reference numerals and/or reference in different examplesLetter, this repetition is in order to simplify and object clearly, itself not indicate discussed various embodiment and/or establishRelation between fixed. In addition, the various specific technique the invention provides and the example of material, but this area is commonTechnical staff can recognize the application of other techniques and/or the use of other materials.
Please refer to the drawing 1, preferred embodiments of the present invention provides a kind of control method of mechanical arm. This mechanical arm comprises twoIndividual arm member and rod member, these two arm members are rotationally connected, the two ends of this rod member respectively with these two arm membersBe flexibly connected and for respectively along the axially-movable of these two arm members to drive this mechanical arm folding. This mechanical armIt was for example redundant mechanical arm.
The control method of this mechanical arm comprises step:
S11, drives this rod member to be synchronized with the movement along this arm member;
S12, obtains the current location of this mechanical arm and judges whether this current location conforms to predeterminated position;
If so, S13, locks the position of this rod member;
If not, S14, drives this rod member to be synchronized with the movement and makes this mechanical arm move to this predeterminated position.
The control method of above-mentioned mechanical arm, carries out Synchronization Control to rod member, has reduced the control complexity of rod member, therebyAlso can improve the control accuracy of rod member and reduce controlling cost of rod member, the control method of this mechanical arm is applicable to lowThe simple underload occasion of cost requirement and control method.
Preferably, in some embodiments, this rod member of described driving is synchronized with the movement along this arm member, comprises step:
Utilize servo drive system to drive this rod member to be synchronized with the movement along this arm member;
This rod member of described driving is synchronized with the movement and makes this mechanical arm move to this predeterminated position, comprises step:
Utilizing this servo drive system to drive this rod member to be synchronized with the movement makes this mechanical arm move to this predeterminated position.
Therefore, servo drive system can provide position, speed and the Torque Control of degree of precision, to improve mechanical armTransmission efficiency and control accuracy, can practical requirement.
Particularly, in some embodiments, incorporated by reference to Fig. 2, this servo drive system comprises motor 202, transmission device204 and position sensor 206, this transmission device 204 connects this motor 202 and this rod members 300, this motor 202 forDrive this transmission device 204 to drive this rod member 300 to move, this position sensor 206 is for detection of the reality of this motor 202Time motion state.
The position of described this rod member of locking, comprises step:
Lock the position of axle of this motor 202 of connection corresponding to this rod member 300 to lock the position of this rod member 300.
Particularly, motor 202 can be servomotor. For example, can be by the built-in band brake apparatus of motor 202 and to electricityThe control of machine 202, in the time that rod member 300 needs static, stop motion and stable position, the position of the axle of lock out motor 202Put to provide the lock function to rod member 300.
In some embodiments, this rod member 300 comprises single-bar mechanism or many rod members mechanism.
Further, in some embodiments, Gai Duo rod member mechanism comprises two rod member mechanisms, three rod member mechanisms or fourRod member mechanism. More specifically, in some embodiments, this four rod members mechanism comprises the (Bennetts of Bennett mechanismmechanism)。
For example, in the example shown in Fig. 2, rod member 300 comprises two rod member mechanisms, and two rod member mechanisms comprise flexible connectionTwo single poles 302, one of them single pole 302 is flexibly connected one of them arm member, another one single pole 302 is livedAnother arm member is dynamically connected.
That is to say, in the example shown in Fig. 2, each single pole 302 can be corresponding to a transmission device 204, oneMotor 202 and a position sensor 206. Like this, each single pole 302 is all with independently servo drive unit and transmissionMechanism, can independent operating.
Between two single poles 302, be integrated by the bindiny mechanism such as hinge, slide rail, think two activities between single pole 302Connect and provide firmly, connect reliably, while ensureing that motor 202 at each single pole 302 is out of service, whole mechanical arm eachBetween individual parts, can, because of the exert an influence relative motion of positioning precision of mechanism's problem, not there is stable relative position.
Meanwhile, drive rod member 300 to be synchronized with the movement, the position of rod member 300 each motions is identical, whereby by high-precisionBindiny mechanism between Synchronous motion control and each single pole 302, provide mechanical arm fast, stable, wide-angle, highThe stretching routine of support force and thrust.
In addition, owing to adopting servomotor as crucial power part, its high reliability, high efficiency, high control precision also improveThe reliability of complete machine, reduced whole mechanical arm vibrative may, simultaneously also can in servo drive system, adopt and shakeMoving inhibit feature, for suppressing resonance.
In some embodiments, this position sensor 206 is incremental encoder. Motor 202 carries out SERVO CONTROL mustMust have position feedback accurately just can normally move, therefore, incremental encoder is in order to ensure that servomotor can be steadyDetermine the basis of operation, and the real time kinematics state of motor 202 is provided. The control method of mechanical arm of the present invention can adoptCommon incremental encoder can meet the detecting requirement to motor 202 motion states. So not only reduce system one-tenthThis, and, owing to no longer needing that absolute position is resolved, also reduce the design difficulty of control method, there is exploitation dimensionProtect the advantages such as simple, cost is low. Certainly, in other embodiments, this position sensor 206 also can be absolute encoderDevice, to facilitate the real time kinematics state that obtains motor.
In some embodiments, this transmission device 204 comprises screw structure 208 and slide block 210, this screw structure 208Connect this motor 202 and this slide block 210, this slide block 210 connects this rod member 300 actively. Screw structure 208 can be consolidatedSurely be housed in corresponding arm member. In an example, screw structure 208 can be fixed on arm member by bearingIn, so also can keep the turnability of screw structure 208.
This rod member of described driving is synchronized with the movement along this arm member, comprises step:
This motor 202 drives this slide block 210 to move to drive this rod member 300 along this arm by this screw structure 208Member is synchronized with the movement;
This rod member of described driving is synchronized with the movement and makes this mechanical arm move to this predeterminated position, comprises step:
This motor 202 drives this slide block 210 to move to drive this rod member 300 to be synchronized with the movement by this screw structure 208 and makesThis mechanical arm moves to this predeterminated position.
Particularly, in the example shown in Fig. 2, a corresponding single pole 302, the slide block 210 of connecting of each transmission device 204Connection wire rod structure 208 is also moved along the length direction of screw structure 208 under the driving of screw structure 208. Slide block 210Connect actively one end of single pole 302, in the time that slide block 210 moves along screw structure 208, slide block 210 drives single pole 302An end motion, and then the arm member being connected with single pole 302 is turned around the place of being rotationally connected of two arm membersMoving, realize the folding of mechanical arm.
In some embodiments, this transmission device comprises belt module and slide block, and this belt module connects this motor and is somebody's turn to doSlide block, this slide block connects this rod member actively;
This rod member of described driving is synchronized with the movement along this arm member, comprises step:
This motor drives this slide block to move to drive this rod member to be synchronized with the movement along this arm member by this belt module;
This rod member of described driving is synchronized with the movement and makes this mechanical arm move to this predeterminated position, comprises step:
This motor drives this slide block to move to drive this rod member to be synchronized with the movement by this belt module and makes this mechanical arm motionTo this predeterminated position.
In embodiments of the present invention, transmission device 304 utilizes screw structure 208 or belt module can replace industrial robotGear-box used, has greatly reduced the cost of mechanical arm, can meet underload applications completely, and have brightAobvious cost advantage.
In some embodiments, please refer to the drawing 3, rod member comprises four rod member mechanisms 400, especially, four rod member mechanism bagsWhile drawing together Bennett mechanism, this slide block 210, as the connection basis of this Bennett mechanism, makes two of this four rod members mechanism 400Two single poles 402 have the movement relation of mutual restriction.
Particularly, in Bennett mechanism, four single poles 402 are connected to form quadrilateral structure, at the angle of quadrilateral structureDropping place is put to form and is rotated 404, and each single pole 402 is connection of rotating 404 actively, wherein, is being positioned at diagonal positionBe set up two rotate in 404, one of them rotate 404 can with an arm member on fixing company of slide block 210Connect, another rotates 404 and can be fixedly connected with the slide block 210 on another arm member.
Therefore, rod member is in the time being synchronized with the movement, and motor 202 drives screw structure 208 to rotate and is with movable slider 210 to move,The slide block 210 of motion drives four single poles 402 to move. Because four single poles 402 are by rotating 404 connection, makeSingle pole 402 has the movement relation of mutual restriction between two.
In some embodiments, described in obtain this current location of this mechanical arm, comprise step:
Obtain the angle that this mechanical arm is, and judge with this whether this current location conforms to this predeterminated position.
Particularly, because two arm members connect rotationally, therefore, and in some embodiments, mechanical arm instituteThe angle being can be understood as the angle Φ that two arm members open. The angle Φ's that two arm members open is largeThe little position having determined away from the arm member end of the rotating connector of two arm members, and then determined mechanical armPosition.
In some embodiments, described in obtain the angle that this mechanical arm is, comprising:
Utilize absolute value encoder 212 to detect and obtain the angle that this mechanical arm is.
Particularly, in the example shown in Fig. 2, the rotation that absolute value encoder 212 can be arranged on two arm members connectsMeet place, and the angle Φ opening for detection of two arm members. Position using this angle-data as rod member 300 Synchronization ControlPut closed loop, the particular location according to this angle-data in conjunction with mechanical arm, makes the range ability of slide block 210 in transmission device 204There is mathematical relationship definite, that can calculate according to trigonometric function formula with the angle of opening, and corresponding one definiteThe angle Φ opening, slide block 210 present positions have uniqueness, absoluteness.
Therefore, embodiment of the present invention by absolute position encoder 212 for realizing absolute angular position closed loop, and then realizeEach motor 202 the control method controlled of slide block 210 absolute positions, reduced overall cost, optimized control system, reduceControl development difficulty.
In some embodiments, this mechanical arm comprises multiple these rod members or multiple rod member group of serial or parallel connection, this machineThe control method of tool arm comprises:
Several these rod members or several this rod members in multiple these rod members or multiple this rod member group of driving serial or parallel connectionGroup or all this rod member, or all this rod member group motions.
Particularly, in one example, incorporated by reference to Fig. 2 and Fig. 3, rod member group can comprise 4 rod members, upper in Fig. 3Lower two are rotated 404 place and are connected with two slide blocks 210 up and down in Fig. 2 respectively, if with upper and lower two rotations 404Connecting line as cut-off rule, so each side have two rod members 402, form respectively two rod member groups, each barPart group 402 to be to rotate 404 for cradle head is connected to form rod member chain, based on this, and the bar of every group of formation rod member chainPart 402 is to be connected in series, and two rod member groups 402 are for being connected in parallel.
Mechanical arm can comprise plural arm member, connects rotationally two of rod member 300 between arm memberEnd is flexibly connected two arm members. Therefore, two corresponding rod members 300 of arm member.
Therefore, can be according to the driving situation of mechanical arm, optionally drive in all rod members 300 one, two orPlural rod member motion, or drive all rod member motions.
In addition, controlling when design, can be using two or more rod members 300 as a rod member group, can be according to machineThe driving situation of tool arm, optionally drives one, the motion of two or more rod member group in all rod member groups,Or drive all rod member groups to move. Definition rod member group can be simplified the control method of mechanical arm.
The mechanical arm of embodiment of the present invention, connects or association by multiple rod members, or multiple rod member group series connection or associated, canMore increase the scope that mechanical arm stretches.
In some embodiments, please refer to the drawing 4, the control method of mechanical arm also comprises step:
S21, judges whether this rod member or this rod member group need motion;
If not, S22, locks the position of this rod member or this rod member group;
If so, S23, drives this rod member or this rod member group to be synchronized with the movement along this arm member.
Particularly, in some application scenarios, be not that the motion of all rod members 300 of demand motive or all rod member groups reachesBecome the operation of mechanical arm. Therefore, can be according to the ruuning situation of mechanical arm, judge which rod member 300 or rod member group areNo needs moves. For rod member 300 or rod member group without motion, lockable is without rod member 300 or the rod member group of motionPosition. For example, can be by the built-in band brake apparatus of motor 202 and the control to motor 202, at rod member 300 orWhen rod member group needs static, stop motion and stable position, the position of the axle of lock out motor 202 is to provide rod member 300Or the lock function of rod member group. Be appreciated that in the example depicted in fig. 4, the control method of mechanical arm is with rod member300 describe for example.
If when rod member 300 or rod member group need to be moved, can utilize the servo drive system of above embodiment to drive rod member300 or rod member group be synchronized with the movement along arm member.
Therefore, in embodiment of the present invention, in control procedure, according to the service requirement of mechanical arm, to temporarily not needingRod member 300 or the rod member group of motion are carried out locking position, avoid because the motion of other rod members 300 or rod member group causes being used to accordinglyQuantitative change, and then bring the small change in location of static rod member 300 or rod member group, avoids therefore causing mechanical armEntirety vibrations.
In sum, the control method of the mechanical arm of embodiment of the present invention, carries out Synchronization Control to rod member 300, subtractsLack the control complexity of rod member 300, thereby also can improve the control accuracy of rod member 300 and reduce being controlled to of rod memberThis, the control method of this mechanical arm requires and the simple underload occasion of control method applicable to low cost.
Further, the control method of the mechanical arm of embodiment of the present invention, has proposed the real-time synchronization control of rod member 300System, combining of multiple rod members 300 or rod member group drives control, and the control modes such as the fixed point locking of rod member 300, have improved machineryThe control accuracy of arm and complete machine degree of stability. Meanwhile, the control method of the mechanical arm of embodiment of the present invention, by absolutelyTo value encoder 212 to realize absolute angular position closed loop, and then realize each motor 202 the control of slide block 210 absolute positions,Reduce the overall cost of mechanical arm, optimized control method, reduced control development difficulty.
Please refer to the drawing 5, preferred embodiments of the present invention provides a kind of control system 100 of mechanical arm. This mechanical arm comprises twoIndividual arm member 502 and rod member 504, these two arm members 502 are rotationally connected, the two ends of this rod member 504 respectively withThese two arm members 502 be flexibly connected and for respectively along the axially-movable of these two arm members 502 to drive this machineThe folding of tool arm, the control system 100 of this mechanical arm comprises control device 102 and drive unit 104.
This control device 102 drives this rod member 504 to be synchronized with the movement along this arm member for controlling this drive unit 104,This control device 102 is for obtaining the current location of this mechanical arm and judging whether phase of this current location and predeterminated positionSymbol.
If so, this control device 102 is for controlling the position of these drive unit 104 these rod members 504 of locking.
If not, this control device 102 drives these rod members 504 to be synchronized with the movement to make this machinery for controlling this drive unit 104Arm motion is to this predeterminated position.
The control system of above-mentioned mechanical arm, control device 102 carries out Synchronization Control to rod member 504, has reduced rod member 504Control complexity, thereby also can improve the control accuracy of rod member 504 and reduce the controlling cost of rod member 504, this machineThe control system of tool arm requires and the simple underload occasion of control method applicable to low cost.
Preferably, in some embodiments, please refer to the drawing 6, this drive unit 104 comprises servo drive system 106,This control device 102 drives this rod member 504 synchronous along this arm member 502 for controlling this servo drive system 106Motion, and drive these rod members 504 to be synchronized with the movement to make this mechanical arm move to this for controlling this servo drive system 106Predeterminated position.
Therefore, servo drive system 106 can provide position, speed and the Torque Control of degree of precision, to improve manipulatorThe transmission efficiency of arm and control accuracy, can practical requirement.
Particularly, in some embodiments, please refer to the drawing 7 and Fig. 8, this servo drive system 106 comprise motor 108,Transmission device 110 and position sensor 112, this transmission device 110 connects this motor 108 and this rod member 504, this electricityMachine 108 is for driving this transmission device 110 to drive this rod member 504 to move, and this position sensor 112 is for detection of this electricityThe real time kinematics state of machine 108.
This control device 102 for lock connection corresponding to this rod member 504 this motor 108 axle position with locking shouldThe position of rod member 504.
Particularly, motor 108 can be servomotor. For example, control device 102 can pass through the built-in band-type brake of motor 108Device and control to motor 108, in the time that rod member 504 needs static, stop motion and stable position, lock out motorThe position of 108 axle is to provide the lock function to rod member 504.
In some embodiments, this rod member 504 comprises single-bar mechanism or many rod members mechanism.
Further, in some embodiments, Gai Duo rod member mechanism comprises two rod member mechanisms, three rod member mechanisms or fourRod member mechanism.
More specifically, in some embodiments, this four rod members mechanism comprises the (Bennetts of Bennett mechanism mechanism)。
For example, in the example depicted in fig. 8, rod member 504 comprises two rod member mechanisms, and two rod member mechanisms comprise flexible connectionTwo single poles 506, one of them single pole 506 is flexibly connected one of them arm member, another one single pole 506 is livedAnother arm member is dynamically connected.
That is to say, in the example depicted in fig. 8, each single pole 506 can be corresponding to a transmission device 110, oneMotor 108 and a position sensor 112. Like this, each single pole 506 is all with independently servo drive unit and transmissionMechanism, can independent operating.
Between two single poles 506, be integrated by the bindiny mechanism such as hinge, slide rail, think two activities between single pole 506Connect and provide firmly, connect reliably, while ensureing that motor 108 at each single pole 506 is out of service, whole mechanical arm eachBetween individual parts, can, because of the exert an influence relative motion of positioning precision of mechanism's problem, not there is stable relative position.
Meanwhile, control device 102 is controlled motor 108 and is driven rod member 504 to be synchronized with the movement, and the position of rod member 504 each motions is completeEntirely identical, by the bindiny mechanism between high-precision Synchronous motion control and each single pole 506, provide mechanical arm wherebyThe stretching routine of stable, wide-angle, high support force and thrust fast.
In addition, owing to adopting servomotor as crucial power part, its high reliability, high efficiency, high control precision also improveThe reliability of complete machine, reduced whole mechanical arm vibrative may, simultaneously also can in servo drive system, adopt and shakeMoving inhibit feature, for suppressing resonance.
In some embodiments, this position sensor 112 is incremental encoder. Motor 108 carries out SERVO CONTROL mustMust have position feedback accurately just can normally move, therefore, incremental encoder is in order to ensure that servomotor can be steadyDetermine the basis of operation, and the real time kinematics state of motor 108 is provided. The control system 100 of mechanical arm of the present invention canAdopt common incremental encoder can meet the detecting requirement to motor 108 motion states. So not only reduce and beSystem cost, and, owing to no longer needing that absolute position is resolved, also reduce the design difficulty of control method, have outSend out the advantages such as simple, cost is low of safeguarding. Certainly, in other embodiments, this position sensor 112 also can be absolute valueEncoder, to facilitate the real time kinematics state that obtains motor.
In some embodiments, please refer to the drawing 9, this transmission device 110 comprises screw structure 114 and slide block 116, shouldScrew structure 114 connects this motor 108 and this slide block 116, and this slide block 116 connects this rod member 504 actively. Screw mandrelStructure 114 can fixedly be housed in corresponding arm member. In an example, screw structure 114 can be consolidated by bearingFix in arm member, so also can keep the turnability of screw structure 114.
This control device 102 drives this slide block 116 to move to drive for controlling this motor 108 by this screw structure 114Moving this rod member 504 is synchronized with the movement along this arm member 502, and for controlling this motor 108 by this screw structure 114Driving this slide block 116 to move to drive this rod member 504 to be synchronized with the movement makes this mechanical arm move to this predeterminated position.
Particularly, in the example shown in Fig. 8 and Fig. 9, a single pole 506 of each transmission device 110 corresponding connections,Slide block 116 connection wire rod structures 114 are also moved along the length direction of screw structure 114 under the driving of screw structure 114.Slide block 116 connects one end of single pole 506 actively, and in the time that slide block 116 moves along screw structure 114, slide block 116 is withOne end motion of moving single pole 506, and then make the arm member 502 being connected with single pole 506 around two arm members502 the place of being rotationally connected rotates, and realizes the folding of mechanical arm.
In some embodiments, this transmission device comprises belt module and slide block, and this belt module connects this motor and is somebody's turn to doSlide block, this slide block connects this rod member actively.
This control device is used for controlling this motor and drives this slide block to move to drive this rod member along this by this belt moduleArm member is synchronized with the movement, and drives this slide block to move to drive this rod member same for controlling this motor by this belt moduleStep motion makes this mechanical arm move to this predeterminated position.
In embodiments of the present invention, transmission device 110 utilizes screw structure 114 or belt module can replace industrial robotGear-box used, has greatly reduced the cost of mechanical arm, can meet underload applications completely, and have brightAobvious cost advantage.
In some embodiments, please refer to the drawing 10, rod member comprises four rod member mechanisms 600, especially, four rod member mechanisms 600While comprising Bennett mechanism, this slide block 116 is as the connection basis of this Bennett mechanism, makes this four rod members mechanism 600Single pole 602 has the movement relation of mutual restriction between two.
Particularly, in Bennett mechanism, four single poles 602 are connected to form quadrilateral structure, at the angle of quadrilateral structureDropping place is put to form and is rotated 604, and each single pole 602 is connection of rotating 604 actively, wherein, is being positioned at diagonal positionBe set up two rotate in 604, one of them rotate 604 can with an arm member 502 on slide block 116 solidFixed connection, another rotates 604 and can be fixedly connected with the slide block 116 on another arm member 502.
Therefore, rod member is in the time being synchronized with the movement, and motor 108 drives screw structure 114 to rotate and is with movable slider 116 to move,The slide block 116 of motion drives four single poles 602 to move. Because four single poles 602 are by rotating 604 connection, makeSingle pole 602 has the movement relation of mutual restriction between two.
In some embodiments, the angle that this control device 102 is for obtaining this mechanical arm, and judge with thisWhether this current location conforms to this predeterminated position.
Particularly, because two arm members 502 connect rotationally, therefore, and in the example depicted in fig. 8, machineryThe angle that arm is can be understood as the angle θ that two arm members 502 open. Two arm members 502 are openedThe size of the angle θ opening has determined the position away from arm member 502 ends of the rotating connector of two arm members 502Put, and then determined the position of mechanical arm.
In some embodiments, please refer to the drawing 11, the control system 100 of this mechanical arm comprises absolute value encoder 118,This control device 102 connects this absolute value encoder 118, and this absolute value encoder 118 is for detection of this mechanical arm instituteThe angle θ being.
Particularly, in the example depicted in fig. 8, absolute value encoder 118 can be arranged on turning of two arm members 502Place the angle θ opening for detection of two arm members 502 are dynamically connected. Same as rod member 504 using this angle-dataThe position closed loop that step is controlled, the particular location according to this angle-data in conjunction with mechanical arm, makes slide block 116 in transmission device 110Range ability and the angle θ that opens there is mathematical relationship definite, that can calculate according to trigonometric function formula, and rightAnswer a definite angle θ who opens, slide block 116 present positions have uniqueness, absoluteness.
Therefore, embodiment of the present invention by absolute position encoder 118 for realizing absolute angular position closed loop, and then realizeEach motor 108 the control method controlled of slide block 116 absolute positions, reduced overall cost, optimized control system, reduceControl development difficulty.
In some embodiments, this mechanical arm comprises multiple these rod members 504 or multiple rod member group of serial or parallel connection.This control device 102 drives multiple these rod members 504 or multiple this bar of serial or parallel connection for controlling this drive unit 104This rod member 504 of several in part group or several this rod member groups or all this rod member 504 or all this rod member groupMotion.
Particularly, in one example, incorporated by reference to Fig. 8 and Figure 10, rod member group can comprise 4 rod members, in Figure 10Upper and lower two rotation 604 places are connected with two slide blocks 116 up and down in Fig. 8 respectively, if rotate width with upper and lower two604 connecting line, as cut-off rule, so each side has two rod members 602, forms respectively two rod member groups, everyIndividual rod member group 602 to be to rotate 604 for cradle head is connected to form rod member chain, based on this, and every group of formation rod member chainRod member 602 be to be connected in series, two rod member groups 602 are for being connected in parallel.
Mechanical arm can comprise plural arm member 502, connects rotationally rod member between arm member 502504 two ends are flexibly connected two arm members 502. Therefore, two corresponding rod members 504 of arm member 502.
Therefore, can be according to the driving situation of mechanical arm, optionally drive in all rod members 504 one, two orPlural rod member 504 moves, or drives all rod members 504 to move.
In addition, controlling when design, can be using two or more rod members 504 as a rod member group, can be according to machineThe driving situation of tool arm, optionally drives one, the motion of two or more rod member group in all rod member groups,Or drive all rod member groups to move. Definition rod member group can be simplified the control method of mechanical arm.
The mechanical arm of embodiment of the present invention, connects or association by multiple rod members 504, or multiple rod member group series connection or associated,Can more increase the scope that mechanical arm stretches.
In some embodiments, this control device is used for judging whether this rod member or this rod member group need motion.
If not, this control device locks the position of this rod member or this rod member group for controlling this drive unit.
If so, this control device be used for controlling this drive unit drive this rod member or this rod member group synchronous along this arm memberMotion.
Particularly, in some application scenarios, be not that the motion of all rod members 504 of demand motive or all rod member groups reachesBecome the operation of mechanical arm. Therefore, can be according to the ruuning situation of mechanical arm, control device judge which rod member 504 orWhether rod member group needs motion. For rod member 504 or rod member group without motion, control device 102 lockables are without fortuneMoving rod member 504 or the position of rod member group. For example, control device 102 can by the built-in band brake apparatus of motor 108 withAnd control to motor 108, in the time that rod member 504 or rod member group need static, stop motion and stable position, locking electricityThe position of the axle of machine 108 is to provide the lock function to rod member 504 or rod member group.
If when rod member 504 or rod member group need to be moved, can utilize the servo drive system of above embodiment to drive rod member504 or rod member group be synchronized with the movement along arm member.
Therefore, in embodiment of the present invention, in control procedure, according to the service requirement of mechanical arm, to temporarily not needingRod member 504 or the rod member group of motion are carried out locking position, avoid because the motion of other rod members 504 or rod member group causes being used to accordinglyQuantitative change, and then bring the small change in location of static rod member 504 or rod member group, avoids therefore causing mechanical armEntirety vibrations.
In sum, the control system 100 of the mechanical arm of embodiment of the present invention, carries out Synchronization Control to rod member 504,Reduce the control complexity of rod member 504, thereby also can improve the control accuracy of rod member 504 and reduce rod member 504Control cost, the control system 100 of this mechanical arm requires and the simple underload of control method field applicable to low costClose.
Further, the control system 100 of the mechanical arm of embodiment of the present invention, has proposed the real-time synchronization of rod member 504Control, combining of multiple rod members 504 or rod member group drives control, and the control modes such as the fixed point locking of rod member 504, have improved machineThe control accuracy of tool arm and complete machine degree of stability. Meanwhile, the control system 100 of the mechanical arm of embodiment of the present invention,By absolute value encoder 118 to realize absolute angular position closed loop, and then realize each motor 108 slide block 116 absolute positionsControl, reduced the overall cost of mechanical arm, optimized control system, reduced control development difficulty.
In the description of this description, reference term " embodiment ", " some embodiments ", " schematicallyEmbodiment ", the descriptions of " example ", " concrete example " or " some examples " etc. means in conjunction with described enforcement sideSpecific features, structure, material or feature that formula or example are described are contained at least one embodiment of the present invention or showIn example. In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And specific features, structure, material or the feature of description can be in any one or more embodiments or exampleIn with suitable mode combination.
In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint phase counterweightThe property wanted or the implicit quantity that indicates indicated technical characterictic. Thus, be limited with the feature of " first ", " second "Can express or impliedly comprise feature described at least one. In description of the invention, the implication of " multiple " be toFew two, for example two, three etc., unless otherwise expressly limited specifically.
Any process of otherwise describing in flow chart or at this or method are described and can be understood to, represent to comprise oneIndividual or more for realizing module, fragment or the portion of code of executable instruction of step of specific logical function or processPoint, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can be not according to shown or discussSequentially, comprise according to related function by the mode of basic while or by contrary order, carry out function, this should be byEmbodiments of the present invention person of ordinary skill in the field understands.
The logic and/or the step that in flow chart, represent or otherwise describe at this, for example, can be considered to useIn the sequencing list of executable instruction that realizes logic function, may be embodied in any computer-readable medium, withFor instruction execution system, device or equipment (as computer based system, comprise that the system of processor or other can be fromInstruction execution system, device or equipment instruction fetch are also carried out the system of instruction) use, or in conjunction with these instruction execution systems,Device or equipment and use. With regard to this description, " computer-readable medium " can be anyly can comprise, store,Communication, propagation or transmission procedure are for instruction execution system, device or equipment or in conjunction with these instruction execution systems, deviceOr equipment and the device that uses. The example more specifically (non-exhaustive list) of computer-readable medium comprises following: toolThere is the electrical connection section (mobile terminal) of one or more wirings, portable computer diskette box (magnetic device), arbitrary accessMemory (RAM), read-only storage (ROM), the erasable read-only storage (EPROM or flash memory) of editing,Fiber device, and portable optic disk read-only storage (CDROM). In addition, computer-readable medium can be evenCan print paper or other suitable media of described program thereon, because can be for example by paper or other media are carried outOptical scanner, then edits, decipher or process in electronics mode and obtain institute with other suitable methods if desiredState program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination. Above-mentionedIn embodiment, multiple steps or method can be with being stored in carry out in memory and by suitable instruction execution system softPart or firmware are realized. For example, if realized with hardware, with the same in another embodiment, available this area public affairsAny one in the following technology of knowing or their combination realize: have for data-signal being realized to patrolling of logic functionCollect the discrete logic of gate circuit, there is the special IC of suitable combinational logic gate circuit, programmable gate array(PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that and realize all or part of step that above-mentioned embodiment method is carriedSuddenly be can carry out the hardware that instruction is relevant by program to complete, described program can be stored in a kind of computer-readable storageIn medium, described program, in the time carrying out, comprises step of method embodiment one or a combination set of.
In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing module, also canBe that the independent physics of unit exists, also can be integrated in a module two or more unit. Above-mentioned integratedModule both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize. Described integrated mouldIf piece is realized and during as production marketing independently or use, also can be stored in one using the form of software function moduleIn computer read/write memory medium.
The above-mentioned storage medium of mentioning can be read-only storage, disk or CD etc. Although illustrated above and describedEmbodiments of the present invention, be understandable that, above-mentioned embodiment is exemplary, can not be interpreted as the present inventionRestriction, those of ordinary skill in the art can change above-mentioned embodiment within the scope of the invention, revises,Replace and modification.
Claims (15)
1. a control system for mechanical arm, is characterized in that, this mechanical arm comprises two arm members and rod member,These two arm members are rotationally connected, and the two ends of this rod member are flexibly connected with these two arm members respectively and for edge respectivelyThe axially-movable of these two arm members is to drive this mechanical arm folding, and the control system of this mechanical arm comprises controls dressPut and drive unit;
This control device is used for controlling this drive unit and drives this rod member to be synchronized with the movement along this arm member, this control deviceFor obtaining the current location of this mechanical arm and judging whether this current location conforms to predeterminated position;
If so, this control device locks the position of this rod member for controlling this drive unit;
If not, this control device is used for controlling this drive unit and drives this rod member to be synchronized with the movement to make this mechanical arm move to thisPredeterminated position.
2. the control system of mechanical arm as claimed in claim 1, is characterized in that, this drive unit comprises servoDrive system, this control device is used for controlling this servo drive system and drives this rod member to be synchronized with the movement along this arm member,And drive this rod member to be synchronized with the movement to make this mechanical arm move to this predeterminated position for controlling this servo drive system.
3. the control system of mechanical arm as claimed in claim 2, is characterized in that, this servo drive system comprisesMotor, transmission device and position sensor, this transmission device connects this motor and this rod member, and this motor is used for driving this biographyMoving device drives this rod member motion, and this position sensor is for detection of the real time kinematics state of this motor;
This control device is used for the position of this motor that locks connection corresponding to this rod member to lock the position of this rod member.
4. the control system of mechanical arm as claimed in claim 3, is characterized in that, this position sensor is incrementFormula encoder or absolute value encoder.
5. the control system of mechanical arm as claimed in claim 3, is characterized in that, this transmission device comprises screw mandrelStructure and slide block, or belt module and slide block, this screw structure connects this motor and this slide block, and this slide block connects activelyThis rod member, or this belt module connects this motor and this slide block, and this slide block connects this rod member actively;
This control device is used for controlling this motor and drives this slide block to move to drive by this screw structure or this belt moduleThis rod member is synchronized with the movement along this arm member, and drives by this screw structure or this belt module for controlling this motorThis slide block moves to drive this rod member to be synchronized with the movement to make this mechanical arm move to this predeterminated position.
6. the control system of mechanical arm as claimed in claim 5, is characterized in that, this rod member comprises four rod member machinesStructure.
7. the control system of mechanical arm as claimed in claim 6, is characterized in that, this four rod members mechanism comprises shellfishNei Te mechanism.
8. the control system of mechanical arm as claimed in claim 7, is characterized in that, this slide block is as this Nei BeineiThe connection basis of special mechanism, makes the single pole between two of this four rod members mechanism have the movement relation of mutual restriction.
9. the control system of mechanical arm as claimed in claim 1, is characterized in that, this control device is used for obtainingThe angle that this mechanical arm is, and judge with this whether this current location conforms to this predeterminated position.
10. the control system of mechanical arm as claimed in claim 9, is characterized in that, the control system of this mechanical armTurnkey is drawn together absolute value encoder, and this control device connects this absolute value encoder, and this absolute value encoder is for detection of this machineThe angle that tool arm is.
The control system of 11. mechanical arms as claimed in claim 1, is characterized in that, this mechanical arm comprises series connectionOr in parallel multiple these rod members or multiple rod member group, this control device drives serial or parallel connection for controlling this drive unitSeveral these rod members in multiple these rod members or multiple this rod member group or several this rod member groups or all this rod member orAll this rod member group motions.
The control system of 12. mechanical arms as claimed in claim 11, is characterized in that, this control device is used for sentencingWhether disconnected this rod member or this rod member group need motion;
If not, this control device locks the position of this rod member or this rod member group for controlling this drive unit;
If so, this control device be used for controlling this drive unit drive this rod member or this rod member group synchronous along this arm memberMotion.
The control system of 13. mechanical arms as claimed in claim 1, is characterized in that, this rod member comprises single-bar mechanismOr many rod members mechanism.
The control system of 14. mechanical arms as claimed in claim 13, is characterized in that, Gai Duo rod member mechanism comprisesTwo rod member mechanisms, three rod member mechanisms or four rod member mechanisms.
The control system of 15. mechanical arms as claimed in claim 14, is characterized in that, this four rod members mechanism comprisesBennett mechanism.
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| CN201610077893.9A CN105598971A (en) | 2016-02-03 | 2016-02-03 | Control system of mechanical arm |
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| CN201610077893.9A CN105598971A (en) | 2016-02-03 | 2016-02-03 | Control system of mechanical arm |
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