CN107891422A - A kind of method for controlling steering wheel - Google Patents
A kind of method for controlling steering wheel Download PDFInfo
- Publication number
- CN107891422A CN107891422A CN201711078111.4A CN201711078111A CN107891422A CN 107891422 A CN107891422 A CN 107891422A CN 201711078111 A CN201711078111 A CN 201711078111A CN 107891422 A CN107891422 A CN 107891422A
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- steering wheel
- output shaft
- pattern
- torque
- programming
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of method for controlling steering wheel, the steering wheel has teaching pattern, and methods described includes：Under the teaching pattern, when steering wheel output shaft is acted on by moment of face, if the moment of face exceedes the output torque set by the steering wheel, the set torque output of the steering wheel output shaft holding simultaneously rotates along the direction of moment of face, then when the moment of face is decreased to be no more than the output torque set by the steering wheel, the set torque output of the steering wheel output shaft holding is simultaneously maintained at current location, simultaneously, it is allowed to which external equipment obtains the current location information of steering wheel output shaft in real time.The method have the benefit that：The action programming of steering wheel robot is more convenient.
Description
Technical field
The present invention relates to a kind of electromechanical equipment, more particularly to a kind of method for controlling steering wheel.
Background technology
Steering wheel is a kind of servomotor of angle position servo, needs angle constantly to change and can keep suitable for those
Control system.Steering wheel is commonly used in robot.
The action programming of steering wheel robot typically has two ways：First way is off-line programing pattern, and programmer exists
External control devices, as controlled in computer or mobile phone, rotational angle, the rotation time of each steering wheel in robot are compiled
Row, final robot perform successively according to the sequence of movement of advance layout；The second way is teaching pattern, and programmer is grasped manually
Make robot, rotate each steering wheel so that robot is located at state after the execution of a certain action, then by the output shaft of each steering wheel
Angular position information pass to external control devices and preserve, so as to complete one action programming.
Existing steering wheel robot is programmed under teaching pattern and had one disadvantage in that.Under teaching pattern, in order to allow programmer
The rotation of the manually operated steering wheel output shaft of energy, the output torque of steering wheel output shaft are closed.Due to lacking output torque, steering wheel machine
Device people can not keep shape.So, it is very inconvenient to steering wheel robotic programming in teaching pattern, it usually needs more individuals are simultaneously
Cooperating, the action programming that " inadequate " more steering wheel robots could be completed.The steering wheel of robot is more, and programming is not square
Just.
The content of the invention
In view of the drawbacks described above of prior art, the invention provides a kind of method of new control steering wheel, to be solved
Technical problem is：So that the action programming of steering wheel robot is more convenient.
To solve the above problems, the present invention adopts the technical scheme that：A kind of method for controlling steering wheel, the steering wheel have
Teaching pattern, methods described include：Under the teaching pattern, when steering wheel output shaft is acted on by moment of face, if described
Moment of face exceedes the output torque set by the steering wheel, and the steering wheel output shaft keeps set torque output and along outer
The direction of torque rotates, then when the moment of face is decreased to be no more than the output torque set by the steering wheel, the rudder
The set torque output of machine output shaft holding is simultaneously maintained at current location；Simultaneously, it is allowed to which it is defeated that external equipment obtains steering wheel in real time
The current location information of shaft.
Preferably, methods described also includes, and under the teaching pattern, torque output limit is set in external control devices
Value, the steering wheel keep torque output according to set torque output limit value in external control devices.
Preferably, methods described also includes, and when the steering wheel is switched to teaching pattern, the steering wheel is according to original institute
The torque output limit value of setting keeps torque output.
Preferably, methods described also includes：When the steering wheel is switched to teaching pattern, the steering wheel is according to teaching mould
Formula default torque output limit value keeps torque output, and the information storage of teaching pattern default torque output limit value is in described control
In the memory of unit, or, provided by the external control devices.
Preferably, methods described also includes, and under the teaching pattern, repeats step A：By working as steering wheel output shaft
Target location of the front position as steering wheel output shaft, to realize the steering wheel output shaft holding torque output and be maintained at target position
Put.
Preferably, step A execution condition is the current location of steering wheel output shaft and the target location of steering wheel output shaft
Difference is more than preset value；When the difference of the target location of current location and the steering wheel output shaft of steering wheel output shaft is less than preset value,
Step A is not performed.
Preferably, the preset value is fixed value.
Preferably, methods described also includes, under the teaching pattern, it is allowed to which user sets institute in external control devices
The size of preset value is stated, the steering wheel determines whether to hold according to the size of the preset value set in external control devices
Row step A.
Preferably, methods described also includes：Step A is repeated by the program in described control unit.
Preferably, the steering wheel also has off-line programing pattern.
Preferably, methods described also includes：When the steering wheel is switched to off-line programing pattern, the steering wheel according to from
Line programming mode default torque output limit value keeps torque output, and the off-line programing pattern default torque output limit value is described
The peak torque output of steering wheel, or, it is stored in the memory of described control unit, or, set in the outside control
Standby middle setting.
Preferably, methods described also includes：It is offline to compile when the steering wheel is from teaching pattern switching to off-line programing pattern
Output torque limit value is automatically set into the torque output limit value set in teaching pattern under journey pattern.
Preferably, the steering wheel also has online programming pattern, and methods described also includes, in the online programming pattern
Under, repeat step B：The target position information of the steering wheel output shaft adjusted in real time in external control devices is passed to described
Steering wheel, rotation position of the steering wheel according to the information control steering wheel output shaft of the target location adjusted in real time in external control devices
Put.
Preferably, step B execution condition is the current location of steering wheel output shaft and the target location of steering wheel output shaft
Difference is more than preset value；When the difference of the current location and the target location of steering wheel output shaft of steering wheel output shaft is less than preset value
When, step B is not performed.
Preferably, methods described also includes：Mutually it is switched into action back and forth between teaching pattern and online programming pattern
Program.
Preferably, methods described also includes：When the steering wheel is switched to online programming pattern, the steering wheel foundation exists
Line programming mode default torque output limit value keeps torque output, and online programming pattern default torque output limit value is the steering wheel
Peak torque output, or, be stored in the memory of described control unit, or, in the external control devices
Setting.
Preferably, methods described also includes：It is online to compile when the steering wheel is from teaching pattern switching to online programming pattern
Output torque limit value is automatically set into the torque output limit value set in teaching pattern under journey pattern.
Preferably, methods described also includes：Under the online programming pattern, the moment of torsion that is set in external control devices
Limit value is exported, the steering wheel keeps torque output according to the torque output limit value set in external control devices.
Preferably, methods described also includes：When the steering wheel is from teaching pattern switching to online programming pattern, the rudder
Machine keeps torque output according to the torque output limit value originally set under online programming pattern.
Preferably, methods described also includes, and under the teaching pattern, repeats step B：By in external control devices
The target position information of the steering wheel output shaft adjusted in real time passes to the steering wheel, and steering wheel is according to real-time in external control devices
The turned position of the information control steering wheel output shaft of the target location of adjustment.
Preferably, step B execution condition is the current location of steering wheel output shaft and the target location of steering wheel output shaft
Difference is more than preset value；When the difference of the current location and the target location of steering wheel output shaft of steering wheel output shaft is less than preset value
When, step B is not performed.
Preferably, the steering wheel is digital rudder controller, or, described control unit includes MCU.
Preferably, methods described also includes, and when the steering wheel powers off and restores electricity, the steering wheel is in the following manner
One of the control steering wheel output shaft：
1) using the current location of steering wheel output shaft as origin position when restoring electricity；
2) allow user to set origin position, control output shaft to go to user when the steering wheel restores electricity and set origin position
Putting, the user sets the information storage of origin position in the memory of described control unit, or, by the outside control
Control equipment provides；
3) step C is repeated before powering off：Using the current location of the real-time adjustment of steering wheel output shaft as origin position simultaneously
Stored；When restoring electricity, the servos control output shaft is maintained at current location.
Preferably, step C execution condition is that the current location of steering wheel output shaft is more than with setting the difference of origin position
Preset value；When the difference of the target location of current location and the steering wheel output shaft of steering wheel output shaft is less than preset value, step is not performed
Rapid C.
Preferably, the steering wheel includes housing, motor, angular position sensor, control unit, train of reduction gears, described
Motor, position sensor, control unit, train of reduction gears are installed on the enclosure interior.
Present invention also offers a kind of method of control machine people, the robot includes multiple steering wheels, methods described bag
Include：According to method provided by the present invention, the multiple steering wheel carries out action programming under teaching pattern.
Present invention also offers the method for another control machine people, the robot comprises at least the of the first steering wheel sum
Two steering wheels, methods described include：According to method provided by the present invention, action volume is carried out to the first steering wheel under teaching pattern
Journey, action programming is carried out to the second steering wheel under off-line programing pattern.
Present invention also offers the method for another control machine people, the robot comprises at least the first steering wheel and second
Steering wheel, methods described include：According to method provided by the present invention, the first steering wheel is programmed under teaching pattern,
Action programming is carried out to the second steering wheel under line programming mode.
Beneficial effects of the present invention are：When action programming is carried out under teaching pattern to steering wheel robot, due to steering wheel
Output torque is kept, and during the rotation of the manually operated each steering wheel of programmer, robot can keep shape after operation, so very big
Ground facilitates the action programming of steering wheel robot.
Design, concrete structure and the caused technique effect of the present invention are described further below, to be fully understood from
The purpose of the present invention, feature and effect.
Embodiment
Term as used herein " steering wheel " should be understood that the equipment including at least following structure：Motor, angle position
Put sensor, control unit；In most cases, steering wheel also includes train of reduction gears；In robot application, steering wheel it is upper
State structure and be typically encapsulated in enclosure interior, expose output shaft.Wherein, motor, angular position sensor, control unit form rudder
The necessary servo-drive system of machine, to control the rotational angle of steering wheel output shaft and velocity of rotation.
Steering wheel provided by the present invention is mainly used in family or toy robot, and the motor in steering wheel is usually direct current
Machine.Various types of direct current generators, such as brush motor or brushless electric machine, the motor of various excitation modes, all it is applicable the present invention.
Term as used herein " angular position sensor " is appreciated that any suitable for detection steering wheel output shaft
Turned position and the equipment that positional information is transformed into electric signal, are referred to as " encoder ".The most frequently used angle position passes
Sensor is potentiometer and magnetic coder, and other any angular position sensors suitable for steering wheel are also suitable the present invention.
Term as used herein " control unit " is appreciated that：It is any be used for and motor, angular position sensing
The circuit part and the necessary structural support of circuit part that device and external control devices are electrically connected.The two of control unit
Individual main function is：Power supply and signal transmission.According to the difference of control circuit, steering wheel can be divided into simulation steering wheel and numeral
Steering wheel.Simulate in the control circuit of steering wheel without microcontroller, contain microcontroller in the control circuit of digital rudder controller.Number
Word steering wheel can easily realize method provided by the present invention using MCU, simulate in the control circuit of steering wheel and install additional properly
Computing unit and memory cell can also realize method provided by the present invention.
Term as used herein " external control devices " is appreciated that any suitable for controlling steering wheel output shaft
The electronic equipment of rotation, such as robot controller, computer, smart mobile phone, hand-held teaching machine.
Term as used herein " teaching pattern " is understood to include the action programming mode of following steps：Programming
Person can be manually rotated steering wheel output shaft, and the angle position of steering wheel output shaft be recorded in the corresponding control of external control devices
In program.
Term as used herein " online programming pattern " is understood to include the action programming mode of following steps：
Programmer is implemented to adjust the rotational angle of steering wheel output shaft in the corresponding control program of external control devices, in the process,
Steering wheel is according to the turned position of the adjustment steering wheel output shaft in real time of programmer.
Term as used herein " off-line programing pattern " is understood to include the action programming mode of following steps：
Programmer sets the rotational angle of steering wheel output shaft, in the process, steering wheel in the corresponding control program of external control devices
Output shaft will not be according to the turned position for setting steering wheel output shaft in real time of programmer.
Description " holding torque output " employed herein and similar description are appreciated that：When steering wheel output shaft is inclined
Behind target location, control unit can provide electric current and return to target location come the torque output for controlling steering wheel output shaft to set.
Terminology employed herein " target location " is appreciated that：Not by the stop of enough moment of face
In the case of, position that steering wheel output shaft should be kept；When steering wheel output shaft is deviateed target location by the effect of moment of face, rudder
Machine output shaft has the tendency for returning to target location.
As a kind of preferred embodiment, steering wheel provided by the present invention includes housing, motor, angle position control
Device processed, train of reduction gears, control unit.Wherein, the motor, Angle-domain imaging device, train of reduction gears, control unit are pacified
Loaded in the housing, output shaft stretches out out of housing.The steering wheel is digital rudder controller, and control unit includes microprocessor (MCU).
Steering wheel in the embodiment is applied to small-sized toy robot, and size is in 40*20*40mm or so, most
High pulling torque 13Kg*cm, shell are plastics.The various configurations of the steering wheel of this type, including size and parameter are set in ability
Domain has been well known technology, be will not be described in detail herein.In addition to the steering wheel illustrated in the embodiment, various other applications
The steering wheel of occasion and various other parameters is all technology known in the art.It will be apparent that principle provided by the present invention is not
The steering wheel illustrated in the embodiment is suitable only for, is also applied for other various application scenarios and various parameters
Steering wheel.
External control devices in the embodiment includes：Robot controller is provided with corresponding control program
Computer.Robot is made up of steering wheel, connector, robot controller and other structures, wherein, the effect of connector is by rudder
Machine and robot controller link together, and transmission.The effect of robot controller is to receive external input information, computing
And export.Especially, steering wheel can be outputed signal to and controls the rotation of steering wheel output shaft, and, receive steering wheel output shaft
Position signalling simultaneously passes it to other peripheral hardwares.Connect between steering wheel and by connecting line between steering wheel and robot controller
Connect, so that signal is powered and transmitted to steering wheel.These settings are also all technologies known in the art, be will not be described in detail herein.
In the embodiment, purpose for the purpose of simplifying the description, robot only has a steering wheel, controls the liter of an automatic lifting/lowering support bar
Drop.
The main innovation point of the embodiment is servos control method, specifically, under the teaching pattern of steering wheel,
When steering wheel output shaft is rotated by external force, and when moment of face is more than output torque limit value, steering wheel output shaft rotates with outer moment of torsion,
Then when the moment of face is decreased to be no more than the output torque limit value set by the steering wheel, the steering wheel output shaft is kept
Set torque output is simultaneously maintained at current location.
As it was previously stated, existing steering wheel also has teaching pattern.Under the teaching pattern of existing steering wheel, robot controller
The motor do not given in steering wheel provides voltage output, and from the moment of torsion for eliminating steering wheel output shaft, but the electricity of Angle-domain imaging device
Road is still operating.When programmer can be manually rotated steering wheel output shaft, Angle-domain imaging device is by the current location of steering wheel output shaft
Then information real-time delivery is shown to robot controller in the corresponding control program of computer.Programmer can be in computer
Desired positional information is preserved, so as to complete an action programming.So set the shortcomings that be：Action programming is simultaneously inconvenient.When
After programmer completes first element, for example automatic lifting/lowering support bar risen, when then carrying out second action programming, due to not having
The output of moment of torsion, if the position without keeping automatic lifting/lowering support bar manually, automatic lifting/lowering support bar will be fallen, programmer can not be by it
Intuitively it is considered as the reference position of second action.Particularly, it is dynamic under teaching pattern when the steering wheel quantity of robot is more
It is particularly inconvenient to make programming.
The method that the embodiment is provided solves the problem in the following way：When steering wheel output shaft is turned by external force
When moving to current location, when then moment of face is reduced to no more than steering wheel torque output limit value, steering wheel output shaft keeps moment of torsion defeated
Go out and be maintained at current location.So, when programmer rotates steering wheel output shaft manually, robot can keep manually operated in real time
State afterwards.For example, in this specific embodiment, for lighter automatic lifting/lowering support bar, 1Kg*cm torque output is enough to protect
Hold the position of automatic lifting/lowering support bar.Certainly, in some other application scenario, it may for example comprise the robot of 10 steering wheels, torque output
Need it is bigger could keep shape, for example, more than 3Kg*cm.Meanwhile in order that obtaining programmer more easily can be manually rotated rudder
Machine output shaft, the torque output of steering wheel output shaft need the acrotorque less than 13Kg*cm, for example, be arranged on 10Kg*cm with
Under, adult generally can easily can be manually rotated steering wheel output shaft, if being directed to children, the torque output of steering wheel output shaft needs
Be set to it is smaller, for example, in below 5Kg*cm.
The limit value of the torque output of steering wheel output shaft can in external control devices, as computer corresponding control program in enter
Row setting.The limit value data transfer of set holding torque output is to steering wheel, and steering wheel is according to the Numerical Control steering wheel output shaft
Output torque limit value.When so moment of face is no more than the torque output limit value, steering wheel output shaft may remain in present bit
Put.Programmer can directly input the numerical value of an accurate output torque in setting, can also be carried out more by slider bar
Convenient setting, or set by different gears.By the output of steering wheel output shaft in the corresponding control program of computer
Torque range is set to 1Kg*cm~13Kg*cm than convenient, programmer according to situation set suitable torque output.
The limit value of torque output is set by PWM pulsewidth limit value.PWM pulsewidth is not allowed to exceed particular value,
So as to realize the setting of torque limit.
In this specific embodiment, it is under teaching pattern, to repeat steering wheel output shaft is kept the method for torque output
Perform step A：When the difference of the current location and the target location of steering wheel output shaft of steering wheel output shaft exceedes preset value, by rudder
Target location of the current location of machine output shaft as steering wheel output shaft.That is, the MCU in control unit preserves target position
The information put, when programmer rotates steering wheel output shaft manually, by the steering wheel output shaft angle position of angular position sensor acquisition
Confidence breath passes to control unit in real time, and compared with the target position information with being preserved in MCU, if greater than preset value,
Then by the current location that the information updating of target location is steering wheel output shaft, make steering wheel defeated by such a cleverly method
Shaft keeps torque output.
As a kind of preferred embodiment, step A's repeats by the program of write control unit to hold
OK.As the deformation of the embodiment, repeating for step A can also be by external control devices, such as robot control
Program in device or computer processed performs.
Preset value of the current location of steering wheel output shaft compared with target location can be set as fixed value.For example, root
The required precision programmed according to the precision and robot motion of angular position sensor is set.The current location of steering wheel output shaft with
The preset value that target location is compared can also be set by programmer, and the big of preset value is set in the corresponding control program of computer
It is small, the numerical value is then passed into steering wheel, steering wheel determines whether to perform step A according to the numerical value.Certainly, it is contemplated that angle position
The precision of sensor and the needs of practical application are put, the setting of preset value preferably has a minimum value.
It is default compared with target location except the current location of steering wheel output shaft can be set in external control devices
Value, the limit value of teaching pattern default torque output can also be set in external control devices.Teaching pattern default torque exports
Effect be that, when steering wheel is switched to teaching pattern from other patterns or off-position, steering wheel can write from memory according to teaching pattern
The limit value for recognizing torque output keeps torque output.In external control devices, as computer corresponding control program in the teaching that sets
In the memory for the control unit that the limit value of pattern default torque output can be stored in steering wheel, or, it can also be stored in outer
In portion's equipment.Wherein, it is stored in the memory of the control unit of steering wheel more preferably, so, even if without external equipment
Connection, steering wheel can also call the numeric data that teaching pattern default torque exports.Certainly, teaching pattern default torque exports
In the memory for the control unit that limit value can also be stored in steering wheel as a fixed value.
, can be with control machine people and rudder after programmer completes a series of actions programming under teaching pattern to robot
Machine performs according to default action.First, external control devices needs to send one from teaching pattern switching to holding to steering wheel
The signal of row mode, the circulation that steering wheel jumps out step A perform, and start to receive the deliberate action execution information of external control devices simultaneously
Perform default action.After action executing, programmer can also be switched to again by the corresponding control program in computer
Teaching pattern carries out action adjustment programming.
In this specific embodiment, the action of steering wheel is programmed in addition to having teaching pattern, also off-line programing pattern.
Under off-line programing pattern, programmer is directly programmed in the corresponding control program of computer, is then entered back into execution pattern and is held
The default action of row.There is no action message transmission in programming process, between steering wheel and external control devices.Programmer can be
The switching of teaching pattern and off-line programing pattern is carried out in the corresponding control program of computer, for example, first being carried out in teaching pattern
Partial act programs, and is then switched to again in off-line programing pattern and carries out remaining action programming；Or first in off-line programing mould
Partial act programming is carried out in formula, is then switched to again in online programming pattern and carries out remaining action programming.
When steering wheel is from teaching pattern switching to off-line programing pattern, steering wheel can be according to off-line programing pattern default torque
Exporting limit value and keep torque output, off-line programing pattern default torque output limit value is that can be exported with the peak torque of steering wheel,
It can be stored in the memory of described control unit, can also be set in the external control devices；When steering wheel is from showing
When teaching pattern switching to off-line programing pattern, output torque limit value can also be automatically set into teaching under off-line programing pattern
The torque output limit value set in pattern.
The action programming of steering wheel can also have online programming pattern.
Online programming pattern is different compared with off-line programing pattern, and action programming is carried out under online programming pattern,
When programmer is adjusted in real time in the corresponding control program of computer to the rotational angle of steering wheel, steering wheel output shaft also can be real
Shi Jinhang rotates.Realizing the mode of this effect is, under online programming pattern, current location and steering wheel when steering wheel output shaft
When the difference of the target location of output shaft is more than preset value, step B is repeated：The rudder that will be adjusted in real time in external control devices
The target position information of machine output shaft passes to the steering wheel, and steering wheel is according to the target position for implementing adjustment in external control devices
The turned position for the information control steering wheel output shaft put.
It will be apparent that online programming pattern has some advantageous effects that off-line programing pattern does not possess.Compiling online
The effect that action programming can more intuitively after Real Time Observation action executing is carried out under journey pattern.If by online programming pattern and show
Religion pattern two ways is combined use, and action programming can be made more convenient.For example, it is dynamic that part is first carried out in teaching pattern
Program, be then switched to progress accuracy adjustment in online programming pattern again, be then switched in teaching pattern and continue again
Action programming.
It is defeated for the moment of torsion of steering wheel output shaft when steering wheel toggles between online programming pattern and teaching pattern
Go out, a preferable scheme is external control devices while preserved under torque output limit value and line model under teaching pattern
Torque output limit value, and the limit value is automatically updated when pattern switching.
When the corresponding control program to computer is designed, online programming pattern and teaching pattern can also be carried out whole
Close, it is no longer necessary to which online programming pattern and teaching pattern toggle, that is to say, that under teaching pattern, when steering wheel exports
When the difference of the current location of axle and the target location of steering wheel output shaft is more than preset value, step B is repeated：Outside is controlled
The target position information of the steering wheel output shaft adjusted in real time in equipment passes to the steering wheel, and steering wheel is according in external control devices
In adjust in real time target location information control steering wheel output shaft turned position.In such setting, programmer is being shown
Both it can realize that teaching programmed under religion pattern, online programming can be realized again so that action programming is more convenient.
When steering wheel is from teaching pattern switching to online programming pattern, steering wheel can be according to online programming pattern default torque
Export limit value and keep torque output, online programming pattern default torque output limit value can be that the peak torque of the steering wheel is defeated
Go out, can also be stored in the memory of described control unit, can also be set in the external control devices；Work as steering wheel
During from teaching pattern switching to online programming pattern, output torque limit value can also be automatically set under online programming pattern
The torque output limit value set in teaching pattern.
When online programming pattern carries out action programming to steering wheel, the torsion of steering wheel output shaft can also be set in external equipment
The limit value of square output.In this case, the limit value of torque output is reset in equipment control device, passes to the rudder
Machine, the output torque of servos control steering wheel output shaft is no more than the limit value.
In the method for above-described control steering wheel, the origin position of steering wheel output shaft arbitrarily can also be set and stored
Put.
In existing steering wheel, the origin position of steering wheel output shaft can not arbitrarily be changed, when steering wheel returns from off-position
During multiple power supply state, steering wheel output shaft can give tacit consent to original origin position.
Method in the embodiment also includes：When the steering wheel powers off and restores electricity, the servos control
Output shaft can go to any position, and the position is set as into origin position, follow-up execution or the later execution of power-off
All with new original position for initial position.So, programmer can sets itself origin position as needed, the method for setting is at least
There are three kinds of selections.
The first selection is started after power-down mode programmer can be manually rotated steering wheel output shaft to target location, by rudder
The current location information of machine output shaft passes to the corresponding control program of computer, and programmer will in the corresponding control program of computer
Current location is as setting origin position and is stored, and the control unit of steering wheel can be stored in by setting the information of origin position
Memory in, can also be stored in the corresponding control program of computer.
Second of selection is that under teaching pattern, programmer can be manually rotated steering wheel output shaft, during rotation, rudder
When the current location of machine output shaft and the difference of setting origin position are more than preset value, step C is repeated：By steering wheel output shaft
The current location of real-time adjustment origin position and stored as setting.It is, real-time update setting origin position
Information.In the memory for the control unit that the information of setting origin position can be stored in steering wheel, computer can also be stored in
In corresponding control program.
The third selection is that programmer directly sets desired setting origin position in the corresponding control program of computer
Put, setting the information of origin position can only be merely stored in the corresponding control program of computer, can also pass to steering wheel and store up
In the memory that the control unit of steering wheel be present.
A kind of preferred embodiment of steering wheel and robot provided by the present invention is elaborated in detail above.At this
In embodiment, purpose for the purpose of simplifying the description, robot only has a steering wheel.In actual applications, robot is often
Comprising multiple steering wheels, for example, anthropomorphic robot generally has 17 frees degree, that is, including 17 steering wheels.
When robot includes multiple steering wheels, the beneficial effect of the method for control steering wheel and robot provided by the present invention
Become apparent.Under teaching pattern, action programming is carried out to all steering wheels according to the method that above embodiment is illustrated,
So that the action programming of more steering wheel robots is more convenient.During programming is acted, unification can be carried out to programming mode
Switching, for example, the programming mode of all steering wheels is uniformly switched into off-line programing pattern or online programming pattern.Compiled in action
During journey, different steering wheels can also be directed to and carry out different programming mode switchings, so, just occur being directed to different rudders simultaneously
Machine using different mode act the situation of programming, for example, carry out action programming to the first steering wheel under teaching pattern, from
Action programming is carried out to the second steering wheel under line programming mode；Or the first steering wheel is programmed under teaching pattern, online
Action programming is carried out to the second steering wheel under programming mode.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
- A kind of 1. method for controlling steering wheel, it is characterised in that the steering wheel has teaching pattern, and methods described includes：Described Under teaching pattern, when steering wheel output shaft is acted on by moment of face, if the moment of face is more than defeated set by the steering wheel Go out moment of torsion, the set torque output of the steering wheel output shaft holding simultaneously rotates along the direction of moment of face, then when described outer When torque is decreased to be no more than the output torque set by the steering wheel, the steering wheel output shaft keeps set torque output And it is maintained at current location；Simultaneously, it is allowed to which external equipment obtains the current location information of steering wheel output shaft in real time.
- 2. the method as described in claim 1, it is characterised in that methods described also includes, under the teaching pattern, in outside Torque output limit value is set in control device, the steering wheel is protected according to set torque output limit value in external control devices Hold torque output.
- 3. the method as described in claim 1, it is characterised in that methods described also includes, and under the teaching pattern, repetition is held Row step A：Target location using the current location of steering wheel output shaft as steering wheel output shaft, to realize that the steering wheel output shaft is protected Hold torque output and be maintained at target location.
- 4. the method as described in claim 1, it is characterised in that the steering wheel also has online programming pattern, and methods described is also Including under the online programming pattern, repeating step B：The steering wheel output shaft that will be adjusted in real time in external control devices Target position information pass to the steering wheel, information of the steering wheel according to the target location adjusted in real time in external control devices Control the turned position of steering wheel output shaft.
- 5. method as claimed in claim 4, it is characterised in that methods described also includes：In teaching pattern and online programming mould Action is mutually switched between formula back and forth to program.
- 6. the method as described in claim 1, it is characterised in that the steering wheel is digital rudder controller, or, described control unit bag Include MCU.
- 7. the method as described in claim 1, it is characterised in that methods described also includes, when the steering wheel powers off and recovers to supply When electric, the steering wheel one of the in the following manner control steering wheel output shaft：1) using the current location of steering wheel output shaft as origin position when restoring electricity；2) allow user to set origin position, control output shaft to go to user when the steering wheel restores electricity and set origin position, The user sets the information storage of origin position in the memory of described control unit, or, by the outside control Equipment provides；3) step C is repeated before powering off：The current location of the real-time adjustment of steering wheel output shaft as origin position and is carried out Storage；When restoring electricity, the servos control output shaft is maintained at current location.
- 8. the method as described in claim 1, it is characterised in that the steering wheel include housing, motor, angular position sensor, Control unit, train of reduction gears, the motor, position sensor, control unit, train of reduction gears are installed in the housing Portion.
- 9. a kind of method of control machine people, the robot includes multiple steering wheels, it is characterised in that methods described includes：Press According to the method described in claim 1, the multiple steering wheel carries out action programming under teaching pattern.
- 10. a kind of method of control machine people, the robot comprises at least the first steering wheel and the second steering wheel, it is characterised in that Methods described includes：In accordance with the method for claim 4, the first steering wheel is programmed under teaching pattern, compiled online Action programming is carried out to the second steering wheel under journey pattern.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711078111.4A CN107891422B (en) | 2017-11-06 | 2017-11-06 | Method for controlling steering engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711078111.4A CN107891422B (en) | 2017-11-06 | 2017-11-06 | Method for controlling steering engine |
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| Publication Number | Publication Date |
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| CN107891422A true CN107891422A (en) | 2018-04-10 |
| CN107891422B CN107891422B (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711078111.4A Active CN107891422B (en) | 2017-11-06 | 2017-11-06 | Method for controlling steering engine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108829056A (en) * | 2018-06-19 | 2018-11-16 | 中国人民解放军陆军工程大学 | A kind of Multi-serial port steering gear control system and its control method |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
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| JPH02124288A (en) * | 1988-11-02 | 1990-05-11 | Sanyo Electric Co Ltd | Control method for teaching position |
| JPH0938877A (en) * | 1995-07-28 | 1997-02-10 | Mitsubishi Heavy Ind Ltd | Direct teaching control device |
| CN1200691A (en) * | 1995-09-14 | 1998-12-02 | 株式会社安川电机 | Teaching unit for robots |
| CN106166738A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing drags teaching robot of can hovering |
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| JPH02124288A (en) * | 1988-11-02 | 1990-05-11 | Sanyo Electric Co Ltd | Control method for teaching position |
| JPH0938877A (en) * | 1995-07-28 | 1997-02-10 | Mitsubishi Heavy Ind Ltd | Direct teaching control device |
| CN1200691A (en) * | 1995-09-14 | 1998-12-02 | 株式会社安川电机 | Teaching unit for robots |
| CN106166738A (en) * | 2016-09-23 | 2016-11-30 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing drags teaching robot of can hovering |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108829056A (en) * | 2018-06-19 | 2018-11-16 | 中国人民解放军陆军工程大学 | A kind of Multi-serial port steering gear control system and its control method |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN111195909B (en) * | 2019-12-27 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107891422B (en) | 2019-12-20 |
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