CN105965512A - Method for motion reappearance of industrial multi-axial mechanical arm - Google Patents
Method for motion reappearance of industrial multi-axial mechanical arm Download PDFInfo
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- CN105965512A CN105965512A CN201610557110.7A CN201610557110A CN105965512A CN 105965512 A CN105965512 A CN 105965512A CN 201610557110 A CN201610557110 A CN 201610557110A CN 105965512 A CN105965512 A CN 105965512A
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- mechanical arm
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- reappearance
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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
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
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Abstract
The invention provides a method for motion reappearance of an industrial multi-axial mechanical arm. According to the method, the multi-axial mechanical arm, a mechanical arm controller, an upper computer and an industrial personal computer need to be provided. Data communication between the upper computer and the mechanical arm controller is achieved through the industrial personal computer and the Ethernet. When the multi-axial mechanical arm runs, motion parameters in the motion process of the multi-axial mechanical arm are collected in real time according to a well set sampling period, and the motion parameters are stored into the upper computer. When motion tracks need to reappear, the recorded motion parameters are sequentially sent to the mechanical arm controller according to the recording sequence and a set data reappearance period, and the complete reappearance of the whole operation process is controlled. According to the method, the technical problems that an existing method for motion reappearance of the industrial multi-axial mechanical arm has high requirements on users' professional requirements, motion tracks in teaching cannot reappear precisely, it is difficult to modify reappearance programs and it is inconvenient to perform trouble shooting are solved.
Description
Technical field
The invention belongs to industrial machine mechanical arm movement control technology field, particularly relate to a kind of industry multi-spindle machining
The motion reappearance method of arm.
Background technology
The teaching playback of mechanically-based arm teaching-programming pendant is that to realize Multi-shaft mechanical arm motion reappearance the most frequently used
Method.The Multi-shaft mechanical arm applied the most in the industry mostly has teaching playback function, repeatable reproduction
The operation routine got up by teaching program storage.The program capability of multi-spindle machining arm system determines greatly
Multi-shaft mechanical arm uses motility and the degree of intelligence of function.
In above-mentioned teaching playback method, common problem has: (1) motion reappearance program must be compiled in advance
System or teaching, the Professional knowledge to the operator of Multi-shaft mechanical arm requires higher, should for Multi-shaft mechanical arm
Obstruction is brought with widening of field；(2) when reproduction program to be changed, user needs operation routine
Modifying and the most again write, this just requires that user possesses certain programming knowledge, when spending a large amount of
Between go learn coding；(3) during teaching, the specific algorithm of employing is generally required, according to
The taught point data of record are calculated corresponding movement locus, are then forwarded to mechanical arm and control its motion,
This can only ensure the precision of recorded taught point pose, but cannot accurately reappear the motion rail between taught point
Mark, it is adaptable to point-to-point and the occasion that need not very exact path control；(4) in motion reappearance process
In, it is impossible to the relevant parameter that real time record mechanical arm runs, it is unfavorable for that when malfunction elimination carrying out fault divides
Analysis.
Prior art discloses " a kind of industrial robot teaching reproducting method ", sees Publication No.:
103778843A, publication date is: the Chinese patent of 2014-05-07, and the method comprises the following steps: 1,
Teaching: 2, reproduce: wherein reproduce the three kinds of modes that are divided into: 2.1, when industrial robot end movement is for closing
During joint motion: when 2.2, industrial robot end movement is for linear motion: 2.3, industrial machine robot end
It is described separately when motion is for circular motion, the invention provides a kind of teaching process teaching simple, accurate
Playback system.Teaching process includes additional information that the record to taught point, robot work and to each
The record of the corresponding operating of taught point.The instruction of the machine humanoid robot include movement instruction, logical order,
Operational order, work order and house-keeping instruction.These instructions integrate and can complete intended work.
The invention provides three kinds of robot motion's Trajectory Arithmetics, and combine robot teaching point A and taught point B
Kinematic parameter (each axle rotational angle, the displacement of each axle and robot end's pose), by analyze
Being calculated three kinds of different movement locus, the movement locus that recycling obtains controls robot and realizes motion
Reproduce.Although the method can guarantee that robot teaching point A and the pose accuracy of taught point B, but machine
The movement locus of people's motor process is calculated by algorithm and forms, it is impossible to accurately reproduce the motion rail in teaching
Mark.And the method can not carry out real time record to the kinematic parameter in robot motion's reproducing processes,
Fault reproduction difficulty is big.
Summary of the invention
The technical problem to be solved in the present invention, is to provide the motion reappearance side of a kind of industry Multi-shaft mechanical arm
Method, the motion reappearance method solving existing industry Multi-shaft mechanical arm requires height to user's specialty, it is impossible to accurately
The technology reproducing the movement locus in teaching, reproduction modification of program difficulty and trouble shoot inconvenient is asked
Topic.
The present invention is achieved in that a kind of motion reappearance method of industry Multi-shaft mechanical arm, described method
Multi-shaft mechanical arm, mechanical arm controller, host computer and industrial computer need to be provided；Utilize industrial computer and ether
Net achieves the data communication between host computer and mechanical arm controller；
When Multi-shaft mechanical arm is run, according to the sampling period set, Real-time Collection Multi-shaft mechanical arm is transported
Kinematic parameter during Dong, and kinematic parameter is stored in host computer；When needs reproduction of moving track
Time, the kinematic parameter of record is reappeared the cycle according to the order of record and the data of setting, is sent to successively
Mechanical arm controller, controls the whole operation process of complete reproduction.
Further, described method farther includes: after breaking down in Multi-shaft mechanical arm operation, will
The described kinematic parameter being stored in host computer is sent to Multi-shaft mechanical arm successively so that it is reproduce whole operation
Process, it is simple to user investigates fault.
Further, in all motor processs of Multi-shaft mechanical arm, can Real-time Collection and preservation multiaxis machine
Kinematic parameter in mechanical arm motor process, described kinematic parameter includes: the mechanical arm anglec of rotation, end position
Put data, each axis angular displacement and angular velocity.
Further, described in all motor processs of Multi-shaft mechanical arm, can Real-time Collection and preserve many
Kinematic parameter in shaft mechanical arm motor process, particularly as follows:
In Multi-shaft mechanical arm motor process, according to the sampling period arranged, host computer passes through configuration software
Real-time Collection Multi-shaft mechanical arm, including the mechanical arm anglec of rotation, terminal position data, each axis angular displacement and
Angular velocity is at interior kinematic parameter, and kinematic parameter corresponds to corresponding time quantum, is sequentially stored in
In host computer；
During Multi-shaft mechanical arm carries out motion reappearance, also can be according to the sampling period arranged, by machine
The anglec of rotation of mechanical arm, terminal position data and each axis angular displacement and angular velocity record successively and store supreme
In the machine of position.
Further, described method farther includes: can at any time, under free position, utilize note
Record historical data in host computer, quickly reproduces the three-dimensional motion process of mechanical arm random time section, institute
When the original state of mechanical arm, end-state and the course motion track reproduced is any with reproduction mechanical arm
Between three-dimensional motion process completely the same of section, be embodied as step as follows:
After mechanical arm completes certain set, host computer reads the relative motion ginseng of storage in host computer
Number, according to the putting in order of time quantum in time zone, successively by corresponding mechanical arm rotational angle,
Terminal position, each axis angular displacement and angular velocity parameter send to mechanical arm controller, control each axle of mechanical arm
Motion, thus completely reproduce mechanical arm and complete the motor process of certain set, repetitive positioning accuracy is high；
User also can only choose certain time period in this be subordinate to time zone of group action, to control machinery
Arm reproduces some action in this group action or multiple action, thus realizes the flexible change of motion reappearance
Change.
Further, when motion reappearance, realize motion history by the regulation data recovery refresh cycle
The acceleration and deceleration of process reproduce；It is embodied as step as follows:
When needing the acceleration or deceleration realizing robot section motion history process to reproduce, data are reappeared
Cycle is modified, and host computer is by the ratio according to data reproduction cycle with sampling period, respectively to data
Time interval and each axis angular rate recorded of transmission carry out the amplification of equal proportion and reduce；
Host computer is according to the data transmission time intervals after change, successively by mechanical arm rotational angle, end
Angular velocity after position, each axis angular displacement and scaling sends to mechanical arm controller, controls each axle of mechanical arm
Motion, thus the acceleration and deceleration realizing motion history process reproduce.
Further, when Multi-shaft mechanical arm break down need reproduction time, be stored in host computer therefore
Described kinematic parameter in Downtime region controls parameter as mechanical arm and is sent to mechanical arm controller, control
Mechanical arm processed reproduces whole failure process；It specifically comprises the following steps that
Step 1, according to time of failure, selected need the time zone carrying out motion reappearance；
Step 2, host computer by described fault time of being stored in host computer of kinematic parameter in region,
Mechanical arm controller it is sent to successively according to the sequence of time quantum；
Step 3, mechanical arm controller, according to the control received and kinematic parameter, drive mechanical arm to reproduce
Operation process, thus realize recurrence of failure.
Present invention have the advantage that 1, the present invention can be by the machinery in Multi-shaft mechanical arm motor process
The arm anglec of rotation, terminal position data, each axis angular displacement and angular velocity are recorded, and are stored in upper
In machine, provide great convenience for research Multi-shaft mechanical arm motor process.
2, under the present invention can be implemented in random time, free position, the complete Multi-shaft mechanical arm that reproduces is appointed
Three-dimensional motion process in meaning time zone, and can ensure that playback accuracy.And the programming of user's need not have
Basis also operating robotic arm can realize motion reappearance, and operating process is simple, and work efficiency is high, thus favorably
In robot application in actual production and popularization.
3, when motion reappearance, motion history mistake can be realized by the regulation data recovery refresh cycle
The acceleration and deceleration reproduction of journey, it is achieved the multiformity of motion reappearance, expands robot utilization in actual production
Scope.
4, after Multi-shaft mechanical arm sends fault, fault can be called time zone belonging to the moment occurs
Record data, it is achieved the complete replication of fault, it is simple to user carries out fault diagnosis, repairs and analyze.
Accompanying drawing explanation
Fig. 1 is the inventive method schematic flow sheet.
Fig. 2 is the Organization Chart that the present invention relates to hardware.
Fig. 3 is kinematic parameter Stored Procedure figure of the present invention.
Fig. 4 is motion reappearance flow chart of the present invention.
Detailed description of the invention
Refer to shown in Fig. 1 to Fig. 4, the motion reappearance method of a kind of industry Multi-shaft mechanical arm of the present invention,
Described method need to provide Multi-shaft mechanical arm, mechanical arm controller, host computer and industrial computer；Utilize industry control
Machine and Ethernet achieve the data communication between host computer and mechanical arm controller；
When Multi-shaft mechanical arm is run, according to the sampling period set, Real-time Collection Multi-shaft mechanical arm is transported
Kinematic parameter during Dong, and kinematic parameter is stored in host computer；
When needs reproduction of moving track, by the kinematic parameter of record according to the order recorded and the number of setting
According to the reproduction cycle, it is sent to mechanical arm controller successively, controls the whole operation process of complete reproduction, can be real
The most accurate reproduction of fixed track.
After breaking down in Multi-shaft mechanical arm operation, the described kinematic parameter that will be stored in host computer depends on
Secondary it is sent to Multi-shaft mechanical arm so that it is reproduce whole operation process, it is simple to user investigates fault.
As in figure 2 it is shown, the whole system framework of the present invention by Multi-shaft mechanical arm, its controller of mechanical arm,
Host computer and industrial computer composition, system utilizes industrial computer and Ethernet to achieve host computer and Multi-shaft mechanical arm
Data communication between controller, enables host computer Real-time Collection current just in the Multi-shaft mechanical arm of action
Kinematic parameter, and save it in host computer.Described kinematic parameter include the mechanical arm anglec of rotation,
Terminal position data, each axis angular displacement and angular velocity.Control and fortune in addition to this it is possible to timing sends
Dynamic supplemental characteristic realizes the motor control to mechanical arm to Multi-shaft mechanical arm.
In all motor processs of Multi-shaft mechanical arm, can be moved through with preserving Multi-shaft mechanical arm by Real-time Collection
Kinematic parameter in journey, described kinematic parameter includes: the mechanical arm anglec of rotation, terminal position data, each
Axis angular displacement and angular velocity.
It is embodied as step as follows:
1) in Multi-shaft mechanical arm motor process, according to the sampling period arranged, host computer is soft by configuration
Part Real-time Collection mechanical arm includes the mechanical arm anglec of rotation, terminal position data, each axis angular displacement and angle speed
Degree is at interior kinematic parameter, and is corresponded to corresponding time quantum, is sequentially stored in host computer；
2) during Multi-shaft mechanical arm carries out motion reappearance, also can be according to the sampling period arranged, will
The anglec of rotation of mechanical arm, terminal position data and each axis angular displacement and angular velocity record successively and store to
In host computer.
Example 1, the record of kinematic parameter and storage mode example.See table 1: manipulator motion parameter is deposited
Storage example.
Table 1
It addition, the present invention can at any time, under free position, utilize record history in host computer
Data, quickly reproduce the three-dimensional motion process of mechanical arm random time section, the mechanical arm reproduced initial
State, end-state and course motion track and the three-dimensional motion process reproducing mechanical arm random time section
Completely the same, the accurate reproduction of whole motor process can be realized.
It is embodied as step as follows:
1) after mechanical arm completes certain set, host computer reads the relative motion ginseng of storage in host computer
Number, according to the putting in order of time quantum in time zone, successively by corresponding mechanical arm rotational angle,
Terminal position, each axis angular displacement and angular velocity parameter send to mechanical arm controller, control each axle of mechanical arm
Motion, thus completely reproduce mechanical arm and complete the motor process of certain set, repetitive positioning accuracy is high.
2) certain time period in user can also only choose this be subordinate to time zone of group action, to control
Mechanical arm reproduces some action in this group action or multiple action, thus realizes the flexible of motion reappearance
Change.
A kind of motion reappearance method of the industry Multi-shaft mechanical arm of the present invention, when motion reappearance, Ke Yitong
Overregulate the data recovery refresh cycle realize motion history process acceleration and deceleration reproduce.
It is embodied as step as follows:
1) when needing the acceleration or deceleration realizing robot section motion history process to reproduce, can be right
The data reproduction cycle is modified, and host computer, by the ratio according to data reproduction cycle with sampling period, divides
The other time interval to data transmission and each axis angular rate recorded carry out the amplification of equal proportion and reduce.
2) host computer according to change after data transmission time intervals, successively by mechanical arm rotational angle,
Angular velocity after terminal position, each axis angular displacement and scaling sends to mechanical arm controller, controls mechanical arm
Each axle moves, thus the acceleration and deceleration realizing motion history process reproduce.
Need exist for explanation: the present invention, after Multi-shaft mechanical arm breaks down, can call this time
The record data of section, it is achieved fault reappears, it is simple to user carries out malfunction elimination.
When Multi-shaft mechanical arm break down need reproduction time, can be the fault time being stored in host computer
Described kinematic parameter in region controls parameter as mechanical arm and is sent to mechanical arm controller, controls machinery
Arm reproduces whole failure process.
It specifically comprises the following steps that
Step 1, according to time of failure, selected need the time zone carrying out motion reappearance；
Step 2, host computer by described fault time of being stored in host computer of kinematic parameter in region,
Sequence according to time quantum is sent to the controller of mechanical arm successively；
Step 3, controller, according to the control received and kinematic parameter, drive mechanical arm to reproduce operation
Journey, thus realize recurrence of failure.
In a word, the present invention is for solving the motion reappearance method of existing industry Multi-shaft mechanical arm to user's specialty
Require height, it is impossible to accurately reproduce the movement locus in teaching, reproduce modification of program difficulty and trouble shoot
Inconvenient technical problem.
The foregoing is only presently preferred embodiments of the present invention, all according to scope of the present invention patent done equal
Deng change and modification, the covering scope of the present invention all should be belonged to.
Claims (7)
1. the motion reappearance method of an industrial Multi-shaft mechanical arm, it is characterised in that: described method need to carry
For Multi-shaft mechanical arm, mechanical arm controller, host computer and industrial computer；Utilize industrial computer and Ethernet real
Show the data communication between host computer and mechanical arm controller；
When Multi-shaft mechanical arm is run, according to the sampling period set, Real-time Collection Multi-shaft mechanical arm is transported
Kinematic parameter during Dong, and kinematic parameter is stored in host computer；When needs reproduction of moving track
Time, the kinematic parameter of record is reappeared the cycle according to the order of record and the data of setting, is sent to successively
Mechanical arm controller, controls the whole operation process of complete reproduction.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 1, it is special
Levy and be: described method farther includes: after Multi-shaft mechanical arm operation is broken down, will be stored in
Described kinematic parameter in host computer is sent to Multi-shaft mechanical arm successively so that it is reproduce whole operation process,
It is easy to user and investigates fault.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 1, it is special
Levy and be: in all motor processs of Multi-shaft mechanical arm, can Real-time Collection and preservation Multi-shaft mechanical arm fortune
Kinematic parameter during Dong, described kinematic parameter includes: the mechanical arm anglec of rotation, terminal position data,
Each axis angular displacement and angular velocity.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 3, it is special
Levy and be: be described in all motor processs of Multi-shaft mechanical arm, can Real-time Collection and preservation multi-spindle machining
Kinematic parameter in arm motor process, particularly as follows:
In Multi-shaft mechanical arm motor process, according to the sampling period arranged, host computer passes through configuration software
Real-time Collection Multi-shaft mechanical arm, including the mechanical arm anglec of rotation, terminal position data, each axis angular displacement and
Angular velocity is at interior kinematic parameter, and kinematic parameter corresponds to corresponding time quantum, is sequentially stored in
In host computer；
During Multi-shaft mechanical arm carries out motion reappearance, also can be according to the sampling period arranged, by machine
The anglec of rotation of mechanical arm, terminal position data and each axis angular displacement and angular velocity record successively and store supreme
In the machine of position.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 1, it is special
Levy and be: described method farther includes: can at any time, under free position, utilize record upper
Historical data in the machine of position, quickly reproduces the three-dimensional motion process of mechanical arm random time section, is reproduced
The original state of mechanical arm, end-state and course motion track and reproduction mechanical arm random time section
Three-dimensional motion process completely the same, is embodied as step as follows:
After mechanical arm completes certain set, host computer reads the relative motion ginseng of storage in host computer
Number, according to the putting in order of time quantum in time zone, successively by corresponding mechanical arm rotational angle,
Terminal position, each axis angular displacement and angular velocity parameter send to mechanical arm controller, control each axle of mechanical arm
Motion, thus completely reproduce mechanical arm and complete the motor process of certain set, repetitive positioning accuracy is high；
User also can only choose certain time period in this be subordinate to time zone of group action, to control machinery
Arm reproduces some action in this group action or multiple action, thus realizes the flexible change of motion reappearance
Change.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 1, it is special
Levy and be: when motion reappearance, realize motion history process by the regulation data recovery refresh cycle
Acceleration and deceleration reproduce；It is embodied as step as follows:
When needing the acceleration or deceleration realizing robot section motion history process to reproduce, data are reappeared
Cycle is modified, and host computer is by the ratio according to data reproduction cycle with sampling period, respectively to data
Time interval and each axis angular rate recorded of transmission carry out the amplification of equal proportion and reduce；
Host computer is according to the data transmission time intervals after change, successively by mechanical arm rotational angle, end
Angular velocity after position, each axis angular displacement and scaling sends to mechanical arm controller, controls each axle of mechanical arm
Motion, thus the acceleration and deceleration realizing motion history process reproduce.
The motion reappearance method of a kind of industry Multi-shaft mechanical arm the most according to claim 1, it is special
Levy and be:
When Multi-shaft mechanical arm break down need reproduction time, region fault time being stored in host computer
Interior described kinematic parameter controls parameter as mechanical arm and is sent to mechanical arm controller, controls mechanical arm again
Existing whole failure process；It specifically comprises the following steps that
Step 1, according to time of failure, selected need the time zone carrying out motion reappearance；
Step 2, host computer by described fault time of being stored in host computer of kinematic parameter in region,
Mechanical arm controller it is sent to successively according to the sequence of time quantum；
Step 3, mechanical arm controller, according to the control received and kinematic parameter, drive mechanical arm to reproduce
Operation process, thus realize recurrence of failure.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346478A (en) * | 2016-11-09 | 2017-01-25 | 广州视源电子科技股份有限公司 | control method and device of mechanical arm |
| CN107247854A (en) * | 2017-07-03 | 2017-10-13 | 京东方科技集团股份有限公司 | Method and device, the system restored for equipment fault |
| CN107270854A (en) * | 2017-05-12 | 2017-10-20 | 哈工大机器人集团有限公司 | A kind of robot repetitive positioning accuracy detection means |
| CN107717983A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of apery mechanical arm teaching control method |
| CN108000519A (en) * | 2017-11-24 | 2018-05-08 | 中国船舶重工集团公司第七〇九研究所 | One kind perceives memory-type mechanical arm and its application method |
| CN110370262A (en) * | 2018-04-13 | 2019-10-25 | 江门市印星机器人有限公司 | Mechanical arm action recording device |
| CN112720502A (en) * | 2021-01-11 | 2021-04-30 | 深圳市正运动技术有限公司 | Control method of single-multi-axis manipulator |
| CN114697635A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Scene reproduction method and system for arm support equipment, electronic equipment and storage medium |
| CN114905500A (en) * | 2021-02-06 | 2022-08-16 | 赣州创格自动化设备有限公司 | Simple robot control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106346478A (en) * | 2016-11-09 | 2017-01-25 | 广州视源电子科技股份有限公司 | control method and device of mechanical arm |
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| CN114697635A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Scene reproduction method and system for arm support equipment, electronic equipment and storage medium |
| CN114697635B (en) * | 2020-12-31 | 2023-11-10 | 三一汽车制造有限公司 | Scene reproduction method and system of boom equipment, electronic equipment and storage medium |
| CN112720502A (en) * | 2021-01-11 | 2021-04-30 | 深圳市正运动技术有限公司 | Control method of single-multi-axis manipulator |
| CN114905500A (en) * | 2021-02-06 | 2022-08-16 | 赣州创格自动化设备有限公司 | Simple robot control method |
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