CN107891422B - Method for controlling steering engine - Google Patents
Method for controlling steering engine Download PDFInfo
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- CN107891422B CN107891422B CN201711078111.4A CN201711078111A CN107891422B CN 107891422 B CN107891422 B CN 107891422B CN 201711078111 A CN201711078111 A CN 201711078111A CN 107891422 B CN107891422 B CN 107891422B
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- steering engine
- output shaft
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- torque
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention provides a method for controlling a steering engine, wherein the steering engine has a teaching mode, and the method comprises the following steps: in the teaching mode, when an output shaft of a steering engine is acted by an external moment, if the external moment exceeds the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and rotates along the direction of the external moment, then when the external moment is reduced to be less than or equal to the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and keeps the current position, and meanwhile, external equipment is allowed to obtain the current position information of the output shaft of the steering engine in real time. The beneficial technical effects of the invention are as follows: the action programming of the steering engine robot is more convenient.
Description
Technical Field
The invention relates to electromechanical equipment, in particular to a method for controlling a steering engine.
Background
The steering engine is a servo motor for angle position servo, and is suitable for control systems which need to change and keep the angle constantly. Steering engines have been commonly used in robots.
The action programming of the steering engine robot generally has two modes: the first mode is an off-line programming mode, a programmer arranges the rotation angle and the rotation time of each steering engine in the robot in an external control device, such as a control computer or a mobile phone, and finally the robot executes the operations in sequence according to the pre-arranged action sequence; the second mode is a teaching mode, a programmer manually operates the robot to rotate each steering engine, the robot is in a state after execution of a certain action, and then angle position information of an output shaft of each steering engine is transmitted to external control equipment and stored, so that programming of the action is completed.
The existing steering engine robot has a defect in programming in a teaching mode. In the teaching mode, in order to enable a programmer to manually operate the rotation of the output shaft of the steering engine, the output torque of the output shaft of the steering engine is turned off. The steering engine robot cannot maintain shape due to lack of output torque. Therefore, programming of the steering engine robot in the teaching mode is very inconvenient, and one action programming of the multi-steering engine robot can be completed 'reluctantly' by means of simultaneous cooperative operation of multiple persons. The more actuators the robot has, the more inconvenient the programming.
Disclosure of Invention
In view of the above defects in the prior art, the present invention provides a new method for controlling a steering engine, and the technical problem to be solved is: the action programming of the steering engine robot is more convenient.
In order to solve the problems, the invention adopts the technical scheme that: a method of controlling a steering engine, the steering engine having a teach mode, the method comprising: in the teaching mode, when an output shaft of a steering engine is acted by an external moment, if the external moment exceeds the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and rotates along the direction of the external moment, and then when the external moment is reduced to be not more than the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and keeps the current position; meanwhile, external equipment is allowed to obtain the current position information of the output shaft of the steering engine in real time.
Preferably, the method further comprises, in the teaching mode, setting a torque output limit in an external control device, and the steering engine maintaining a torque output in accordance with the torque output limit set in the external control device.
Preferably, the method further comprises the step that when the steering engine is switched to the teaching mode, the steering engine keeps torque output according to the preset torque output limit value.
Preferably, the method further comprises: when the steering engine is switched to the teaching mode, the steering engine keeps torque output according to the default torque output limit value of the teaching mode, and information of the default torque output limit value of the teaching mode is stored in a memory of the control unit or is provided by the external control equipment.
Preferably, the method further comprises, in the teaching mode, repeatedly performing step a: and taking the current position of the output shaft of the steering engine as the target position of the output shaft of the steering engine so as to realize that the output shaft of the steering engine keeps torque output and keeps the torque output at the target position.
Preferably, the execution condition of the step A is that the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is larger than a preset value; and D, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, the step A is not executed.
Preferably, the preset value is a fixed value.
Preferably, the method further includes, in the teaching mode, allowing a user to set the preset value in an external control device, and the steering engine determining whether to execute step a according to the preset value set in the external control device.
Preferably, the method further comprises: step a is repeatedly executed by a program in the control unit.
Preferably, the steering engine also has an offline programming mode.
Preferably, the method further comprises: when the steering engine is switched to an offline programming mode, the steering engine keeps torque output according to an offline programming mode default torque output limit value, wherein the offline programming mode default torque output limit value is the maximum torque output of the steering engine, or is stored in a memory of the control unit, or is set in the external control equipment.
Preferably, the method further comprises: when the steering engine is switched from the teaching mode to the offline programming mode, the output torque limit value in the offline programming mode is automatically set to the torque output limit value set in the teaching mode.
Preferably, the steering engine further has an online programming mode, and the method further includes repeatedly executing step B: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in real time in the external control equipment.
Preferably, the execution condition of the step B is that the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is larger than a preset value; and B, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step B.
Preferably, the method further comprises: and switching back and forth between the teaching mode and the online programming mode to perform action programming.
Preferably, the method further comprises: when the steering engine is switched to an online programming mode, the steering engine keeps torque output according to a default torque output limit value of the online programming mode, and the default torque output limit value of the online programming mode is the maximum torque output of the steering engine, or is stored in a memory of the control unit, or is set in the external control equipment.
Preferably, the method further comprises: when the steering engine is switched from the teaching mode to the online programming mode, the output torque limit value in the online programming mode is automatically set to the torque output limit value set in the teaching mode.
Preferably, the method further comprises: and in the online programming mode, the steering engine keeps torque output according to the torque output limit value set in the external control equipment.
Preferably, the method further comprises: when the steering engine is switched from the teaching mode to the online programming mode, the steering engine keeps torque output according to the torque output limit value set in the online programming mode.
Preferably, the method further comprises, in the teaching mode, repeatedly performing step B: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in real time in the external control equipment.
Preferably, the execution condition of the step B is that the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is larger than a preset value; and B, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step B.
Preferably, the steering engine is a digital steering engine, or the control unit comprises an MCU.
Preferably, the method further comprises the step that when the steering engine is powered off and power is restored, the steering engine controls the steering engine output shaft according to one of the following modes:
1) when power supply is recovered, the current position of the output shaft of the steering engine is used as an original position;
2) allowing a user to set an origin position, controlling the output shaft to rotate to the origin position set by the user when the steering engine recovers power supply, and storing information of the origin position set by the user in a memory of the control unit or providing the information by the external control equipment;
3) and C, repeatedly executing the step C before power failure: taking the current position of the steering engine output shaft adjusted in real time as an original position and storing the original position; and when the power supply is recovered, the steering engine controls the output shaft to keep at the current position.
Preferably, the execution condition of the step C is that the difference between the current position of the output shaft of the steering engine and the set original position is greater than a preset value; and C, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step C.
Preferably, the steering engine comprises a shell, a motor, an angle position sensor, a control unit and a reduction gear set, wherein the motor, the position sensor, the control unit and the reduction gear set are arranged inside the shell.
The invention also provides a method for controlling a robot, wherein the robot comprises a plurality of steering engines, and the method comprises the following steps: according to the method provided by the invention, the plurality of steering engines are programmed in action in a teaching mode.
The invention also provides another method for controlling a robot, wherein the robot at least comprises a first steering engine and a second steering engine, and the method comprises the following steps: according to the method provided by the invention, the action programming is carried out on the first steering engine in a teaching mode, and the action programming is carried out on the second steering engine in an off-line programming mode.
The invention also provides a method for controlling a robot, wherein the robot at least comprises a first steering engine and a second steering engine, and the method comprises the following steps: according to the method provided by the invention, the first steering engine is programmed in a teaching mode, and the second steering engine is programmed in an on-line programming mode.
The invention has the beneficial effects that: when the steering engine robot is programmed to act in a teaching mode, because the output torque of the steering engine is kept, the robot can keep the shape after operation when a programmer manually operates the rotation of each steering engine, and thus the action programming of the steering engine robot is greatly facilitated.
The conception, the specific structure and the technical effects of the present invention will be further described below to fully understand the objects, the features and the effects of the present invention.
Detailed Description
The term "steering engine" as used herein should be understood to include at least a device of the following structure: the device comprises a motor, an angle position sensor and a control unit; in most cases, the steering engine also includes a reduction gear set; in robotic applications, the above-described structure of the steering engine is typically enclosed within a housing, exposing an output shaft. The motor, the angle position sensor and the control unit form a necessary servo system of the steering engine so as to control the rotation angle and the rotation speed of an output shaft of the steering engine.
The steering engine provided by the invention is mainly used for a family or a toy robot, and a motor in the steering engine is usually a direct current motor. Various types of direct current motors, such as brush motors, brushless motors, and motors of various excitation modes, are all suitable for the present invention.
The term "angular position sensor" as used herein should be understood to mean any device suitable for detecting the rotational position of the steering engine output shaft and converting the position information into an electrical signal, which may also be referred to as an "encoder". The most common angular position sensors are potentiometers and magnetic encoders, and any other angular position sensor suitable for use in a steering engine is also suitable for use with the present invention.
The term "control unit" as used herein should be understood as: any necessary structural support for the circuit parts and circuit parts for electrical connection with the motor, the angular position sensor and the external control device. The two main functions of the control unit are: power supply and signal transmission. According to the difference of control circuit, can divide into analog steering wheel and digital steering wheel with the steering wheel. The control circuit of the analog steering engine is not provided with a microcontroller MCU, and the control circuit of the digital steering engine is provided with a microcontroller MCU. The method provided by the invention can be conveniently realized by a digital steering engine through an MCU (microprogrammed control Unit), and can also be realized by additionally arranging a proper computing unit and a proper storage unit in a control circuit of an analog steering engine.
The term "external control device" as used herein should be understood to mean any electronic device suitable for controlling the rotation of the steering engine output shaft, such as a robot controller, a computer, a smart phone, a hand-held teach pendant, etc.
The term "teaching mode" as used herein should be understood as a programmed manner of action comprising the steps of: and a programmer manually rotates the output shaft of the steering engine and records the angle position of the output shaft of the steering engine in a corresponding control program of external control equipment.
The term "online programming mode" as used herein should be understood to mean a programmed manner of action comprising the steps of: and a programmer adjusts the rotation angle of the output shaft of the steering engine in a corresponding control program of the external control equipment, and in the process, the steering engine adjusts the rotation position of the output shaft of the steering engine in real time according to the adjustment of the programmer.
The term "offline programming mode" as used herein should be understood to mean a programmed manner of action comprising the steps of: a programmer sets the rotation angle of the output shaft of the steering engine in a corresponding control program of external control equipment, and in the process, the output shaft of the steering engine cannot rotate in real time according to the setting of the programmer.
As used herein, the description "holding torque output" and similar descriptions should be understood as: when the output shaft of the steering engine deviates from the target position, the control unit can provide current to control the output shaft of the steering engine to return to the target position by outputting set torque.
The term "target position" as used herein should be understood as: the position that the steering engine output shaft should keep without being blocked by enough external moment; when the output shaft of the steering engine deviates from the target position under the action of the external moment, the output shaft of the steering engine has the tendency of returning to the target position.
The steering engine provided by the invention comprises a shell, a motor, an angle position controller, a reduction gear set and a control unit. The motor, the angle position controller, the reduction gear set and the control unit are arranged in the shell, and the output shaft extends out of the shell. The steering engine is a digital steering engine, and the control unit comprises a Microprocessor (MCU).
The steering engine in the specific embodiment is applied to a small toy robot, the size is about 40X 20X 40mm, the maximum torque is 13Kg X cm, and the shell is made of plastic. Various configurations of this type of steering engine, including sizing and parameter settings, are well known in the art and will not be described in detail herein. Steering engines for various other applications and for various other parameters than those set forth in this embodiment are well known in the art. It is clear that the principles provided by the present invention are not only applicable to the steering engine described in this embodiment, but also applicable to other various applications and steering engines of various parameters.
The external control device in this embodiment includes: a robot controller or a computer with a corresponding control program installed. The robot comprises steering wheel, connecting piece, robot controller and other structures, and wherein, the effect of connecting piece is in the same place steering wheel and robot controller connection to and the transmission. The robot controller is used for receiving external input information, calculating and outputting. Particularly, the device can output signals to the steering engine and control the rotation of an output shaft of the steering engine, and receives position signals of the output shaft of the steering engine and transmits the position signals to other peripheral equipment. The steering gears are connected with each other and the steering gears and the robot controller through connecting wires so as to supply power to the steering gears and transmit signals. These settings are also well known in the art and will not be described in detail herein. In this embodiment, for the purpose of simplifying the description, the robot has only one steering engine to control the lifting of one automatic lifting rod.
The main innovation point of the specific embodiment is a steering engine control method, specifically, in a teaching mode of a steering engine, when an output shaft of the steering engine is rotated by external force and an external torque is greater than an output torque limit value, the output shaft of the steering engine rotates along with the external torque, and then when the external torque is reduced to a value not greater than the set output torque limit value of the steering engine, the output shaft of the steering engine keeps the set torque output and keeps the current position.
As described above, the conventional steering engine also has a teaching mode. Under the teaching mode of the existing steering engine, the robot controller does not provide voltage output for a motor in the steering engine, the torque of an output shaft of the steering engine is cancelled, and a circuit of the angle position controller still operates. When a programmer manually rotates the steering engine output shaft, the angular position controller transmits the current position information of the steering engine output shaft to the robot controller in real time, and then the current position information is displayed in a corresponding control program of a computer. The programmer may save the desired location information in the computer to complete an action program. The disadvantages of this setting are: action programming is not convenient. When the programmer finishes the first action, such as lifting the automatic lifting rod, and then programming the second action, the automatic lifting rod falls down without manually holding the position of the automatic lifting rod due to no torque output, and the programmer cannot visually regard the position as the reference position of the second action. Particularly, when the number of the steering engines of the robot is large, the action programming in the teaching mode is particularly inconvenient.
The method provided by this embodiment solves this problem by: when the output shaft of the steering engine is rotated to the current position by external force, and then the external moment is reduced to be not more than the torque output limit value of the steering engine, the output shaft of the steering engine keeps torque output and keeps the current position. Therefore, when a programmer manually rotates the output shaft of the steering engine, the robot can keep the state after manual operation in real time. For example, in this particular embodiment, a torque output of 1Kg cm is sufficient to maintain the position of the autostart bar for lighter autostart bars. Of course, in other applications, for example a robot comprising 10 steering engines, the torque output needs to be greater to maintain the shape, for example, above 3Kg cm. Meanwhile, in order to enable a programmer to easily rotate the output shaft of the steering engine manually, the torque output of the output shaft of the steering engine needs a maximum torque smaller than 13Kg cm, for example, the maximum torque is set below 10Kg cm, an adult can easily rotate the output shaft of the steering engine manually, and if the torque output of the output shaft of the steering engine is set smaller for children, for example, the torque output of the output shaft of the steering engine needs to be set below 5Kg cm.
The limit value of the torque output of the output shaft of the steering engine can be set in a corresponding control program of external control equipment, such as a computer. And the set limit data for keeping the torque output is transmitted to the steering engine, and the steering engine controls the limit of the output torque of the output shaft of the steering engine according to the numerical value. Therefore, when the external torque does not exceed the torque output limit value, the output shaft of the steering engine can be kept at the current position. During setting, a programmer can directly input an accurate output torque value, can perform more convenient setting through a sliding bar, or can set the output torque value through different gears. The output torque range of the output shaft of the steering engine is set to 1Kg cm-13 Kg cm in a corresponding control program of a computer, and a programmer sets the appropriate torque output according to the situation.
The torque output limit is set by the PWM pulse width limit. I.e., the PWM pulse width is not allowed to exceed a certain value, thereby achieving the setting of the torque limit.
In this embodiment, the method for maintaining the torque output of the output shaft of the steering engine is to repeatedly execute step a in the teaching mode: and when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine exceeds a preset value, taking the current position of the output shaft of the steering engine as the target position of the output shaft of the steering engine. That is to say, the MCU in the control unit stores the information of the target position, when a programmer manually rotates the steering engine output shaft, the angular position information of the steering engine output shaft obtained by the angular position sensor is transmitted to the control unit in real time and is compared with the target position information stored in the MCU, if the angular position information is larger than a preset value, the information of the target position is updated to the current position of the steering engine output shaft, and the steering engine output shaft is enabled to keep torque output through a smart method.
As a preferred embodiment, the repeated execution of step a is performed by a program written in the control unit. As a variation of this embodiment, the repeated execution of step a may also be performed by a program in an external control device, such as a robot controller or a computer.
The preset value for comparing the current position of the output shaft of the steering engine with the target position can be set as a fixed value. For example, the accuracy of the angular position sensor and the accuracy requirements for programming the robot operation are set. The preset value for comparing the current position of the output shaft of the steering engine with the target position can also be set by a programmer, the size of the preset value is set in a corresponding control program of a computer, then the numerical value is transmitted to the steering engine, and the steering engine judges whether to execute the step A or not according to the numerical value. Of course, the preset value is preferably set to a minimum value in consideration of the accuracy of the angular position sensor and the requirements of practical use.
Besides the preset value for comparing the current position of the output shaft of the steering engine with the target position, the external control equipment can also set the limit value of the default torque output in the teaching mode. The teaching mode default torque output has the effect that when the steering engine is switched to the teaching mode from other modes or a power-off state, the steering engine can keep the torque output according to the limit value of the teaching mode default torque output. The limit value of the teaching mode default torque output set in the external control device, such as a corresponding control program of a computer, may be stored in the memory of the control unit of the steering engine, or may be stored in the external device. It is more preferable that the numerical data is stored in a memory of a control unit of the steering engine, so that the steering engine can call up numerical data of the default torque output in the teaching mode even if no external device is connected. Of course, the limit value of the teaching mode default torque output may be stored as a fixed value in the memory of the control unit of the steering engine.
After a programmer finishes a series of action programming on the robot in a teaching mode, the robot and the steering engine can be controlled to execute according to preset actions. Firstly, the external control device needs to send a signal for switching from the teaching mode to the execution mode to the steering engine, the steering engine jumps out of the cycle execution of the step A, and starts to receive the preset action execution information of the external control device and execute the preset action. After the action is executed, the programmer can switch to the teaching mode again through a corresponding control program in the computer to perform action adjustment programming.
In this embodiment, the steering engine is programmed to operate in an off-line programming mode in addition to the teaching mode. In the off-line programming mode, the programmer directly programs in the corresponding control program of the computer and then enters the execution mode to execute the preset action. In the programming process, no action information is transmitted between the steering engine and the external control equipment. A programmer can switch the teaching mode and the off-line programming mode in a corresponding control program of a computer, for example, part of action programming is performed in the teaching mode, and then the rest action programming is performed in the off-line programming mode; or, firstly, part of the action programming is carried out in the off-line programming mode, and then, the on-line programming mode is switched to carry out the rest action programming.
When the steering engine is switched to an offline programming mode from a teaching mode, the steering engine can keep torque output according to an offline programming mode default torque output limit value, wherein the offline programming mode default torque output limit value is the maximum torque output of the steering engine, can be stored in a memory of the control unit and can also be set in the external control equipment; when the steering engine is switched from the teaching mode to the offline programming mode, the output torque limit value in the offline programming mode can also be automatically set to the torque output limit value set in the teaching mode.
The action programming of the steering engine can also have an online programming mode.
The online programming mode is different from the offline programming mode, action programming is carried out in the online programming mode, and when a programmer adjusts the rotation angle of the steering engine in real time in a corresponding control program of a computer, the output shaft of the steering engine can also rotate in real time. The method for realizing the effect is that in the online programming mode, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is greater than a preset value, the step B is repeatedly executed: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in the external control equipment.
It is clear that the online programming mode has some beneficial technical effects that the offline programming mode does not have. The effect after the action is executed can be more intuitively observed in real time by carrying out the action programming in the online programming mode. If the online programming mode and the teaching mode are combined, the action programming is more convenient. For example, a part of the action programming is performed in the teaching mode, then the mode is switched to the online programming mode to perform the accuracy adjustment, and then the mode is switched to the teaching mode again to continue the action programming.
When the steering engine is switched back and forth between the online programming mode and the teaching mode, an optimal scheme is that the external control equipment simultaneously saves the torque output limit value in the teaching mode and the torque output limit value in the online mode and automatically updates the limit values when the modes are switched.
When corresponding control programs of a computer are designed, an online programming mode and a teaching mode can be integrated, the online programming mode and the teaching mode do not need to be switched back and forth, namely, under the teaching mode, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is greater than a preset value, the step B is repeatedly executed: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in real time in the external control equipment. In such a setting, a programmer can realize teaching programming and on-line programming in a teaching mode, so that action programming is more convenient.
When the steering engine is switched from the teaching mode to the online programming mode, the steering engine can keep torque output according to a default torque output limit value of the online programming mode, wherein the default torque output limit value of the online programming mode can be the maximum torque output of the steering engine, can also be stored in a memory of the control unit, and can also be set in the external control equipment; when the steering engine is switched from the teaching mode to the online programming mode, the output torque limit value in the online programming mode can also be automatically set to the torque output limit value set in the teaching mode.
When the steering engine is programmed in the online programming mode, the limit value of the torque output of the output shaft of the steering engine can be set in external equipment. In this case, the limit value of the torque output is reset in the device control device and transmitted to the steering engine, and the output torque of the output shaft of the steering engine is controlled by the steering engine so as not to exceed the limit value.
In the method for controlling the steering engine, the original point position of the output shaft of the steering engine can be set and stored at will.
In current steering wheel, the initial point position of steering wheel output shaft can not be changed wantonly, and when the steering wheel returned the power supply state from the outage state, original initial point position can acquiesce for the steering wheel output shaft.
The method in this embodiment further comprises: when the steering engine is powered off and power is restored, the steering engine control output shaft can rotate to any position, the position is set as an original position, and subsequent execution or execution after power failure takes a new original position as an initial position. Thus, the programmer can set the origin position by himself according to needs, and the setting method has at least three options.
The first option is that the programmer starts the computer after manually rotating the output shaft of the steering engine to a target position in a power-off mode, the current position information of the output shaft of the steering engine is transmitted to a corresponding control program of the computer, the programmer takes and stores the current position as a set origin position in the corresponding control program of the computer, and the information of the set origin position can be stored in a memory of a control unit of the steering engine or the corresponding control program of the computer.
The second option is that in the teaching mode, a programmer manually rotates the output shaft of the steering engine, and in the rotating process, when the difference value between the current position of the output shaft of the steering engine and the set original position is greater than a preset value, the step C is repeatedly executed: and taking the current position of the output shaft of the steering engine, which is adjusted in real time, as a set original position and storing the set original position. That is, the information for setting the origin position is updated in real time. The information for setting the origin position may be stored in a memory of a control unit of the steering engine, or may be stored in a corresponding control program of a computer.
The third option is that the programmer directly sets the desired set origin position in the corresponding control program of the computer, and the information of the set origin position can be only stored in the corresponding control program of the computer or transmitted to the steering engine and stored in the memory of the control unit of the steering engine.
A preferred embodiment of the steering engine and robot provided by the present invention is described above in detail. In this embodiment, the robot has only one steering engine for simplicity of illustration. In practical applications, the robot often comprises a plurality of steering engines, for example, the humanoid robot usually has 17 degrees of freedom, that is, comprises 17 steering engines.
When the robot comprises a plurality of steering engines, the steering engines and the robot control method provided by the invention have more obvious beneficial effects. In the teaching mode, all the steering engines are programmed according to the method described in the above specific embodiment, so that the programming of the multi-steering-engine robot is more convenient. During the action programming process, the programming mode can be switched uniformly, for example, the programming modes of all the steering engines are switched uniformly to an off-line programming mode or an on-line programming mode. In the action programming process, different programming modes can be switched for different steering engines, so that the situation that action programming is performed in different modes for different steering engines at the same time occurs, for example, action programming is performed on a first steering engine in a teaching mode, and action programming is performed on a second steering engine in an offline programming mode; or programming the first steering engine in a teaching mode, and programming the action of the second steering engine in an online programming mode.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (28)
1. A method of controlling a steering engine, the steering engine including a control unit and having a teach mode, the method comprising: in the teaching mode, when an output shaft of a steering engine is acted by an external moment, if the external moment exceeds the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and rotates along the direction of the external moment, and then when the external moment is reduced to be not more than the set output torque of the steering engine, the output shaft of the steering engine keeps the set torque output and keeps the current position; and meanwhile, external control equipment is allowed to obtain the current position information of the output shaft of the steering engine in real time.
2. The method of claim 1, further comprising, in the teach mode, setting a torque output limit in an external control device, the steering engine maintaining a torque output in accordance with the torque output limit set in the external control device.
3. The method of claim 2, further comprising maintaining a torque output by the steering engine in accordance with a previously set torque output limit when the steering engine is switched to the teach mode.
4. The method of claim 1, wherein the method further comprises: when the steering engine is switched to the teaching mode, the steering engine keeps torque output according to the default torque output limit value of the teaching mode, and information of the default torque output limit value of the teaching mode is stored in a memory of the control unit or is provided by the external control equipment.
5. The method of claim 1, further comprising, in the teach mode, repeatedly performing step a: and taking the current position of the output shaft of the steering engine as the target position of the output shaft of the steering engine so as to realize that the output shaft of the steering engine keeps torque output and keeps the torque output at the target position.
6. The method of claim 5, wherein step A is performed under the condition that the difference between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is greater than a preset value; and D, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, the step A is not executed.
7. The method of claim 6, wherein the preset value is a fixed value.
8. The method of claim 6, further comprising, in the teaching mode, allowing a user to set the preset value in an external control device, and the steering engine determining whether to perform step A according to the preset value set in the external control device.
9. The method of claim 5, wherein the method further comprises: step a is repeatedly executed by a program in the control unit.
10. The method of claim 1, wherein the steering engine further has an offline programming mode.
11. The method of claim 9, wherein the method further comprises: when the steering engine is switched to an offline programming mode, the steering engine keeps torque output according to an offline programming mode default torque output limit value, wherein the offline programming mode default torque output limit value is the maximum torque output of the steering engine, or is stored in a memory of the control unit, or is set in the external control equipment.
12. The method of claim 9, wherein the method further comprises: when the steering engine is switched from the teaching mode to the offline programming mode, the output torque limit value in the offline programming mode is automatically set to the torque output limit value set in the teaching mode.
13. The method of claim 1, wherein the steering engine further has an online programming mode, the method further comprising, in the online programming mode, repeatedly performing step B: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in real time in the external control equipment.
14. The method of claim 13, wherein step B is performed if the difference between the current position of the steering engine output shaft and the target position of the steering engine output shaft is greater than a predetermined value; and B, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step B.
15. The method of claim 13, wherein the method further comprises: and switching back and forth between the teaching mode and the online programming mode to perform action programming.
16. The method of claim 13, wherein the method further comprises: when the steering engine is switched to an online programming mode, the steering engine keeps torque output according to a default torque output limit value of the online programming mode, and the default torque output limit value of the online programming mode is the maximum torque output of the steering engine, or is stored in a memory of the control unit, or is set in the external control equipment.
17. The method of claim 13, wherein the method further comprises: when the steering engine is switched from the teaching mode to the online programming mode, the output torque limit value in the online programming mode is automatically set to the torque output limit value set in the teaching mode.
18. The method of claim 13, wherein the method further comprises: and in the online programming mode, the steering engine keeps torque output according to the torque output limit value set in the external control equipment.
19. The method of claim 18, wherein the method further comprises: when the steering engine is switched from the teaching mode to the online programming mode, the steering engine keeps torque output according to the torque output limit value set in the online programming mode.
20. The method of claim 1, further comprising, in the teach mode, repeatedly performing step B: and transmitting the target position information of the steering engine output shaft adjusted in real time in the external control equipment to the steering engine, and controlling the rotating position of the steering engine output shaft by the steering engine according to the information of the target position adjusted in real time in the external control equipment.
21. The method of claim 20, wherein step B is performed if the difference between the current position of the steering engine output shaft and the target position of the steering engine output shaft is greater than a predetermined value; and B, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step B.
22. The method of claim 1, wherein the steering engine is a digital steering engine, or wherein the control unit comprises an MCU.
23. The method of claim 1, further comprising, when the steering engine is de-energized and power is restored, the steering engine controlling the steering engine output shaft in one of:
1) when power supply is recovered, the current position of the output shaft of the steering engine is used as an original position;
2) allowing a user to set an origin position, controlling the output shaft to rotate to the origin position set by the user when the steering engine recovers power supply, and storing information of the origin position set by the user in a memory of the control unit or providing the information by the external control equipment;
3) and C, repeatedly executing the step C before power failure: taking the current position of the steering engine output shaft adjusted in real time as an original position and storing the original position; and when the power supply is recovered, the steering engine controls the output shaft to keep at the current position.
24. The method of claim 23, wherein step C is performed under the condition that the difference between the current position of the output shaft of the steering engine and the set origin position is greater than a preset value; and C, when the difference value between the current position of the output shaft of the steering engine and the target position of the output shaft of the steering engine is smaller than a preset value, not executing the step C.
25. The method of claim 1, wherein the steering engine comprises a housing, a motor, an angular position sensor, a control unit, and a reduction gear set, and the motor, the position sensor, the control unit, and the reduction gear set are mounted inside the housing.
26. A method of controlling a robot, the robot including a plurality of steering engines, the method comprising: the method of claim 1, wherein the plurality of steering engines are programmed to operate in a teach mode.
27. A method of controlling a robot, the robot including at least a first steering engine and a second steering engine, the method comprising: the method of claim 10, wherein the first steering engine is programmed to operate in a teach mode and the second steering engine is programmed to operate in an off-line programming mode.
28. A method of controlling a robot, the robot including at least a first steering engine and a second steering engine, the method comprising: the method of claim 13, wherein the first steering engine is programmed in a teach mode and the second steering engine is programmed for motion in an online programming mode.
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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 |
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| CN201711078111.4A CN107891422B (en) | 2017-11-06 | 2017-11-06 | Method for controlling steering engine |
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| CN107891422B true CN107891422B (en) | 2019-12-20 |
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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 |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02124288A (en) * | 1988-11-02 | 1990-05-11 | Sanyo Electric Co Ltd | Control method for teaching position |
| JP3212491B2 (en) * | 1995-07-28 | 2001-09-25 | 三菱重工業株式会社 | Direct teaching control device |
| EP0850730B1 (en) * | 1995-09-14 | 2002-07-24 | Kabushiki Kaisha Yaskawa Denki | Teaching unit for robots |
| CN106166738B (en) * | 2016-09-23 | 2019-01-25 | 苏州哈工易科机器人有限公司 | A kind of teach-by-doing dragging can hover teaching robot |
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