CN107351087A - A kind of crawl response control mehtod and system - Google Patents
A kind of crawl response control mehtod and system Download PDFInfo
- Publication number
- CN107351087A CN107351087A CN201710754501.2A CN201710754501A CN107351087A CN 107351087 A CN107351087 A CN 107351087A CN 201710754501 A CN201710754501 A CN 201710754501A CN 107351087 A CN107351087 A CN 107351087A
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- China
- Prior art keywords
- axle
- crawl
- trigger signal
- jog command
- low speed
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to the technical field of industrial teaching robot control, embodiment specifically discloses a kind of crawl response control mehtod and system.Crawl response control mehtod provided in an embodiment of the present invention, after triggering low speed location control pattern, the trigger signal of axle jog command is received, exports the control signal that pre-determined distance is moved along axle；Detect that the trigger signal duration of axle jog command is more than or equal to preset time, the control signal of pre-determined distance is moved in continuous output along axle；The trigger signal of axle jog command is not received, stops the method for output control signal, is solved the problems, such as that worker can not be accurately positioned processing head to target taught point, is improved the speed and accuracy of worker's alignment target taught point.
Description
Technical field
The present invention relates to industrial teaching robot control technical field, and in particular to a kind of crawl response control mehtod and
System.
Background technology
The present invention relates to the application field of industrial teaching robot control, dispensing, plastic drop device particular for desktop type
Processing teaching application.The application field in general workflow is such：1st, tool is fixed and is placed in workbench by worker
On, then workpiece to be processed is fixed in tool；2nd, operation machine, processing head alignment pieces track is subjected to traversal and shown
Religion；3rd, teaching, which is completed to form processed file, is processed.
Above-mentioned workflow 2 is to determine the main influence step of machining accuracy, and prior art shows processing head alignment target
Religion point has differences, and the problem to be solved in the present invention is exactly by the speed of processing head alignment target taught point when improving worker's teaching
And accuracy.
The content of the invention
In view of this, the application provides a kind of crawl response control mehtod and system, solves above-mentioned problem.
To solve above technical problem, technical scheme provided by the invention is a kind of crawl response control mehtod, including：
The trigger signal of low speed station-keeping mode is received, into low speed location control pattern；
The trigger signal of axle jog command is received, exports the control signal that pre-determined distance is moved along axle；
Detect that the trigger signal duration of axle jog command is more than or equal to preset time, continuous output is transported along axle
The control signal of dynamic pre-determined distance；
The trigger signal of axle jog command is not received, stops output control signal.
Preferably, the trigger signal for receiving low speed station-keeping mode, into before low speed location control mode step, bag
Include：
The trigger signal of fast positioning pattern is received, into fast positioning control model；
The trigger signal of axle jog command is received, exports the control signal moved along axle by pre-set velocity；
The trigger signal of axle jog command is not received, stops output control signal.
Preferably, the axle jog command includes X-axis jog command, Y-axis jog command and Z axis jog command.
Preferably, the preset time is in the range of 70-140 milliseconds.
The embodiment of the present invention also provides a kind of crawl response control system, including：
Operation module, for exporting the trigger signal of low speed station-keeping mode, fast positioning pattern and axle jog command；
Monitoring module, it is connected with operation module, for receiving low speed station-keeping mode, fast positioning pattern and axle jog command
Trigger signal, and be sent to processing module；
Detection module, under low speed station-keeping mode, detecting the duration of axle jog command trigger signal, and send
To processing module；
Processing module, it is connected respectively with monitoring module and detection module, for receiving monitoring module and detection module input
Signal, and output control signal.
Preferably, the operation module includes pattern Cao Zuoanjian and axle crawl Cao Zuoanjian.
Preferably, the pattern Cao Zuoanjian includes fast positioning pattern Cao Zuoanjian and the operation of low speed station-keeping mode is pressed
Key.
Preferably, the axle crawl button includes X-axis crawl button, Y-axis crawl button and Z axis crawl button.
Compared with prior art, its advantage describes in detail as follows the application：The provided in an embodiment of the present invention sound of something astir
Control method is answered, by after low speed location control pattern is entered, receiving the trigger signal of axle jog command, exporting and transported along axle
The control signal of dynamic pre-determined distance；Detect that the trigger signal duration of axle jog command is more than or equal to preset time,
The control signal of pre-determined distance is moved in continuous output along axle；The trigger signal of axle jog command is not received, stops output control
The method of signal, solve the problems, such as that worker can not be accurately positioned processing head to target taught point, improve worker's alignment target
The speed and accuracy of taught point.
Crawl response control system provided in an embodiment of the present invention, trigger signal is exported by operation module, passes through monitoring
Module detection is received or does not receive trigger signal, and low speed station-keeping mode lower axle jog command triggering letter is detected by detection module
Number duration, by processing module analyze receive signal and output control signal, solving worker can not be accurately positioned
The problem of processing head is to target taught point, improve the speed and accuracy of worker's alignment target taught point.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the crawl response control mehtod of the embodiment of the present invention；
Fig. 2 is the schematic flow sheet of the crawl response control mehtod of another embodiment of the present invention；
Fig. 3 is the schematic diagram of a scenario of the crawl response control mehtod of another embodiment of the present invention；
The structural representation of the crawl response control system of this embodiment of the present invention of Fig. 4.
Embodiment
In order that those skilled in the art more fully understands technical scheme, it is below in conjunction with the accompanying drawings and specific real
Applying example, the present invention is described in further detail.
As shown in figure 1, the embodiment of the present invention provides a kind of crawl response control mehtod, including：Receive low speed positioning mould
The trigger signal of formula, into low speed location control pattern；Receive the trigger signal of axle jog command, export moved along axle it is default
The control signal of distance；Detect that the trigger signal duration of axle jog command is more than or equal to preset time, it is continuous defeated
Go out to move the control signal of pre-determined distance along axle；The trigger signal of axle jog command is not received, stops output control signal.
Wherein, axle jog command includes X-axis jog command, Y-axis jog command and Z axis jog command.
Wherein, preset time is in the range of 70-140 milliseconds.
As shown in Fig. 2 the embodiment of the present invention provides another crawl response control mehtod, based on the above method,
The trigger signal of low speed station-keeping mode is being received, into before low speed location control mode step, including：Receive fast positioning
The trigger signal of pattern, into fast positioning control model；The trigger signal of axle jog command is received, is exported along axle by default
The control signal of speed motion；The trigger signal of axle jog command is not received, stops output control signal.
Wherein, axle jog command includes X-axis jog command, Y-axis jog command and Z axis jog command.
As shown in figure 3, example 1, by processing head from P1 points be moved to target taught point P2 points the step of it is as follows：
S01：Button is switched to fast positioning, and processing head is moved quickly into target taught point P2 by operation XYZ axle crawl keys
Near, because speed has braking section, the deviation of general operation halt and target the taught point distance on axle is 5
In millimeter.
S02：Button is switched to low speed positioning, pins XYZ axle crawls key movement syringe needle, and human eye is determined up to target taught point
Button is unclamped in position, and general operation halt and target the taught point deviation of distance on axle is narrowed down in 2 millimeters.
S03：If processing head also has 1 millimeter from target location in current Z-direction, low speed positioning precision is arranged to 0.01
Millimeter, then 10 Z axis crawl keys of the continuous rapid touch of worker, then the Z axis then continuously motion of 10 0.01 millimeter of output, now
It is still within low speed station-keeping mode, is shortened the difference is that operation Z axis crawl key presses the time lifted, reality output
Effect be exactly to press the distance of fixed output setting every time.
Wherein：After step S03 is entered, worker's teaching operation just only look at processing head, so now requiring operating shaft
The response of crawl key is sensitive, long-press then continuous movement output, quickly clicks and then only moves fixed single step.
Control principle is：1st, software detection axle crawl key is pressed under low speed station-keeping mode, then exports pre-determined distance immediately
Motion；2nd, software detects whether crawl button unclamps in real time, if continued according to reaching preset time, continuous output it is default away from
From motion；If the 3, unclamped in preset time interior axle crawl button, axle point operation control flow terminates；4th, software monitors in real time
Axle crawl button unclamps, and unclamps then stop motion and exports, axle point operation control flow terminates.
Wherein, above-mentioned preset time, i.e. low speed station-keeping mode lower axle crawl button press the time of release.The time
Parameter influences the effect that whole technical scheme is realized.The frequency of the general button of measuring：Common people's frequency be 8-10 per second under,
It is fast can reach 15 under it is per second.With reference to above-mentioned experimental data, the range of set value of preset time is 70-140 milliseconds.It is actual to answer
We fix value as 100 milliseconds in, can meet the needs of worker's fast axis crawl operation, fast defeated by then single step campaign
Go out, slightly press again, be continuous movement output.The experience of operating personnel is reliably can to export list according to his in-mind anticipation
The either continuous motion of step motion.
As shown in figure 4, the embodiment of the present invention also provides a kind of crawl response control system, including：Operation module, for defeated
Go out the trigger signal of low speed station-keeping mode, fast positioning pattern and axle jog command；Monitoring module, it is connected, uses with operation module
In the trigger signal of reception low speed station-keeping mode, fast positioning pattern and axle jog command, and it is sent to processing module；Detect mould
Block, under low speed station-keeping mode, detecting the duration of axle jog command trigger signal, and it is sent to processing module；Place
Module is managed, is connected respectively with monitoring module and detection module, for receiving the signal of monitoring module and detection module input, and it is defeated
Go out control signal.
Wherein, operation module includes pattern Cao Zuoanjian and axle crawl Cao Zuoanjian.Pattern Cao Zuoanjian includes quick fixed
Bit pattern Cao Zuoanjian and low speed station-keeping mode Cao Zuoanjian.Axle crawl button includes X-axis crawl button, Y-axis crawl button and Z
Axle crawl button.
It the above is only the preferred embodiment of the present invention, it is noted that above-mentioned preferred embodiment is not construed as pair
The limitation of the present invention, protection scope of the present invention should be defined by claim limited range.For the art
For those of ordinary skill, without departing from the spirit and scope of the present invention, some improvements and modifications can also be made, these change
Enter and retouch and also should be regarded as protection scope of the present invention.
Claims (8)
- A kind of 1. crawl response control mehtod, it is characterised in that including：The trigger signal of low speed station-keeping mode is received, into low speed location control pattern；The trigger signal of axle jog command is received, exports the control signal that pre-determined distance is moved along axle；Detect that the trigger signal duration of axle jog command is more than or equal to preset time, continuous output is moved pre- along axle If the control signal of distance；The trigger signal of axle jog command is not received, stops output control signal.
- 2. crawl response control mehtod according to claim 1, it is characterised in that the low speed station-keeping mode that receives Trigger signal, into before low speed location control mode step, including：The trigger signal of fast positioning pattern is received, into fast positioning control model；The trigger signal of axle jog command is received, exports the control signal moved along axle by pre-set velocity；The trigger signal of axle jog command is not received, stops output control signal.
- 3. crawl response control mehtod according to claim 1 or 2, it is characterised in that the axle jog command includes X-axis Jog command, Y-axis jog command and Z axis jog command.
- 4. crawl response control mehtod according to claim 1, it is characterised in that the preset time is in 70-140 millis In the range of second.
- A kind of 5. crawl response control system, it is characterised in that including：Operation module, for exporting the trigger signal of low speed station-keeping mode, fast positioning pattern and axle jog command；Monitoring module, it is connected with operation module, for receiving touching for low speed station-keeping mode, fast positioning pattern and axle jog command Signal, and be sent to processing module；Detection module, under low speed station-keeping mode, detecting the duration of axle jog command trigger signal, and it is sent to place Manage module；Processing module, it is connected respectively with monitoring module and detection module, for receiving the letter of monitoring module and detection module input Number, and output control signal.
- 6. crawl response control system according to claim 5, it is characterised in that the operation module operates including pattern Button and axle crawl Cao Zuoanjian.
- 7. crawl response control system according to claim 6, it is characterised in that the pattern Cao Zuoanjian includes quick Station-keeping mode Cao Zuoanjian and low speed station-keeping mode Cao Zuoanjian.
- 8. crawl response control system according to claim 6, it is characterised in that the axle crawl button includes X-axis point Dynamic button, Y-axis crawl button and Z axis crawl button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710754501.2A CN107351087A (en) | 2017-08-29 | 2017-08-29 | A kind of crawl response control mehtod and system |
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|---|---|---|---|
| CN201710754501.2A CN107351087A (en) | 2017-08-29 | 2017-08-29 | A kind of crawl response control mehtod and system |
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| CN107351087A true CN107351087A (en) | 2017-11-17 |
Family
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| CN201710754501.2A Pending CN107351087A (en) | 2017-08-29 | 2017-08-29 | A kind of crawl response control mehtod and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666795A (en) * | 2019-09-29 | 2020-01-10 | 珠海格力智能装备有限公司 | Robot control method and device, storage medium and processor |
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Application publication date: 20171117 |