CN108170177A - The chamfered edge robot taught point constant force control method of manual teaching - Google Patents
The chamfered edge robot taught point constant force control method of manual teaching Download PDFInfo
- Publication number
- CN108170177A CN108170177A CN201711418670.5A CN201711418670A CN108170177A CN 108170177 A CN108170177 A CN 108170177A CN 201711418670 A CN201711418670 A CN 201711418670A CN 108170177 A CN108170177 A CN 108170177A
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- Prior art keywords
- taught point
- teaching
- taught
- foil gauge
- robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
Abstract
The invention discloses a kind of chamfered edge robot taught point constant force control method of manual teaching, including：Step 1, the upper and lower surface that foil gauge is symmetrically affixed to chuck key plane；Step 2, the acquisition that foil gauge access strain acquirement instrument is carried out to strain data；Step 3, manual teaching robot, make rotary file be moved to the 1st taught point position, and apply contact force manually；Step 4, the strain value ε 1 for reading and recording the 1st taught point；Step 5 records 1 corresponding taught points of strain value ε into teaching machine, completes the teaching of the 1st taught point；Step 6, manual teaching robot make rotary file be moved to the n-th taught point position；N=n+1；Step 7 applies contact force for the n-th taught point, obtains the strain value ε n of the n-th taught point；Step 8, as ε n=ε 1, then the corresponding taught points of ε n are recorded into teaching machine；Otherwise, increase or reduce the contact force of the n-th taught point, return to step 7.
Description
Technical field
The present invention relates to industrial robot contact force control technology field, more particularly to a kind of chamfered edge of manual teaching
Robot teaching point constant force control method.
Background technology
At present, in automation chamfered edge field, industrial robot has been obtained for relatively broad application, chamfered edge robot
The end of (see Fig. 1) performs tool (see Fig. 2) and is mainly made of rotary file, motor etc., and wherein rotary file passes through collet and motor
It is connected, motor is connected by motor fixture with robot end.
Manual teaching be still industrial robot programming main method, with welding, carry etc. industrial robots teaching
Difference, chamfered edge robot require stringent, machine other than wanting the geometric coordinate in recording track path, to the contact force of robot
The contact force that people end performs tool must be consistent on each taught point, so as to maintain constant chamfered edge homework precision.
There are two types of existing robotic contact force control methods, first, connecting one between robot end and execution tool
A three-dimensional or six-dimension force sensor is perceived the variation of contact force by multi-dimension force sensor, further corrects the movement of robot
Track, it is constant so as to maintain contact force；Second is that will perform tool using adaptive engagement flange (ACF) is mounted on robot end
End, it is ensured that the pressure of tool and surface to be machined is kept constant.The major defect of both methods is complicated, and price is held high
Expensive, the price of multi-dimension force sensor and adaptive engagement flange is usually more than tens thousand of members, and for manual teaching, cost is thrown
Enter excessively high.
Invention content
The technical problem to be solved by the present invention is to：A kind of chamfered edge robot taught point constant force control of manual teaching is provided
Method, the chamfered edge robot taught point constant force control method of the manual teaching by controlling the contact force of robot taught point,
Ensure that the contact force of all taught points is equal with the contact force of the first taught point, realize the constant force control of taught point during teaching
System.
The present invention is adopted the technical scheme that solve technical problem present in known technology：
A kind of chamfered edge robot taught point constant force control method of manual teaching, includes the following steps：
Step 101 installs the end execution tool of chamfered edge robot, by chamfered edge robot pose adjustment to zero load
Foil gauge is symmetrically affixed to the upper and lower surface of chuck key plane by the initial position of state；
Step 102, the acquisition that foil gauge is carried out to strain data according to full-bridge method or half-bridge method access strain acquirement instrument；
Step 103, manual teaching robot make rotary file be moved to the 1st taught point position, and apply initial contact manually
Power；
Step 104, the strain value ε 1 for reading and recording the 1st taught point；
Step 105 records 1 corresponding taught points of strain value ε into teaching machine, completes the teaching of the 1st taught point；
Step 106, manual teaching robot make rotary file be moved to the n-th taught point position；N=n+1；
Step 107 applies contact force for the n-th taught point, obtains the strain value ε n of the n-th taught point；
Step 108, as ε n=ε 1, then the corresponding taught points of ε n are recorded into teaching machine, complete the n-th taught point and show
Number；Otherwise, increase or reduce the contact force of the n-th taught point, return to step 107.
The invention has the advantages and positive effects that：
Technical scheme of the present invention is simple with operating method, without increasing extra means to chamfered edge robot.The present invention
Without additional equipment of connecting between robot and end execution tool, the pulling to rotary file collet directly by strain gauge adhesion
Hand plan-position, operating method are more simple.
Description of the drawings
Fig. 1 is the structure diagram of chamfered edge robot；
Fig. 2 is that chamfered edge robot end performs tool construction schematic diagram in the preferred embodiment of the present invention；
Fig. 3 is the flow chart of the preferred embodiment of the present invention；
Fig. 4 performs tool force diagram for end；
Fig. 5 is foil gauge full-bridge method connection circuit figure；
Fig. 6 is the position view that foil gauge full-bridge method is pasted；
Fig. 7 is foil gauge half-bridge method connection circuit figure；
Fig. 8 is the position view that foil gauge half-bridge method is pasted；
Fig. 9 is the strain curve acquired in embodiment.
In figure, 100, rotary file；200th, collet；300th, motor；400th, motor fixture；201st, the first foil gauge；202nd,
Two foil gauges；203rd, third foil gauge；204th, the 4th foil gauge.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
It please refers to Fig.1 to Fig. 9, the chamfered edge robot taught point constant force control method of a kind of manual teaching, including following
Step：
(1) end of chamfered edge robot execution tool is installed, robot pose adjusts initial to light condition
Foil gauge is symmetrically affixed to the upper and lower surface of chuck key plane by position.
The strain sheet type is single axle foil gauge, and strain gauge adhesion direction is along collet and the axial direction of cutter；Institute
It is 4 or 2 to state foil gauge quantity, and when the chuck key area of plane is more than 4 foil gauge areas, foil gauge is the first strain
Piece, the second foil gauge, third foil gauge, the 4th foil gauge 4；When the chuck key area of plane is less than 4 foil gauge areas,
Foil gauge is the first foil gauge, the second foil gauge 2；
The upper surface of first foil gauge, third strain gauge adhesion to spanner flat, the second foil gauge, the 4th foil gauge
Affix to the lower surface of spanner flat；First foil gauge and the second foil gauge are symmetrical above and below, and the first foil gauge should with third
It is symmetrical to become piece；The third foil gauge and the 4th foil gauge are symmetrical above and below, the second foil gauge and the 4th foil gauge or so pair
Claim.
(2) the first foil gauge, the second foil gauge, third foil gauge, the 4th foil gauge are accessed according to favour stone full-bridge method
Strain acquirement instrument；Or the first foil gauge, the second foil gauge are accessed into strain acquirement instrument according to favour stone half-bridge method.In step
(1) the robot zero load initial position described in, strain acquirement instrument is returned to zero, and then starts to acquire strain signal.
The strain that first foil gauge, the second foil gauge, third foil gauge, the 4th foil gauge generate meets following public affairs respectively
Formula：
εRg1=εFz+εs+εt (1)
εRg2=-εFz+εs+εt (2)
εRg3=εFz+εs+εt (3)
εRg4=-εFz+εs+εt (4)
Wherein, εFzThe strain generated for rotary file contact force；εsIt is answered for what rotary file axial tension, compressive load generated
Become；εtThe strain error generated for environment temperature.
When the first foil gauge, the second foil gauge, third foil gauge, the 4th foil gauge access deformeter according to full-bridge method,
The output strain of electric bridge meets formula (5)：
ε=εRg1-εRg2+εRg3-εRg4=4 εFz (5)
When the first foil gauge, the second foil gauge access deformeter according to half-bridge method, the output strain of electric bridge meets formula
(6)：
ε=εRg1-εRg2=2 εFz (6)
Step (2) the foil gauge connection method can by except contact force axial tension, compression, external temperature
Influence is excluded, and the useful signal of contact force is amplified 4 times or 2 times.
(3) by the manual teaching robot of teaching machine, rotary file is made to be moved to the 1st taught point position of workpiece, and according to
Rib technological requirement, the experience of binding operation personnel apply initial contact power for rotary file.The contact force direction is workpiece seamed edge
Normal orientation, and contact stickup plane of the force direction perpendicular to step (1) foil gauge.
(4) by the strain value ε 1 of the 1st taught point of deformeter reading step (3), the big of ε 1 is recorded after value stabilization is strained
It is small.Contact force and the linear relationship of strain signal meet formula (7) at this time：
Wherein, FzThe contact force applied for rotary file；E is the elasticity modulus of collet material；ε1Strain for the first taught point
Size；WzBending resistant section coefficient for collet radial direction；L is the arm of force of contact force and foil gauge.
(5) 1 corresponding taught points of step (4) ε are recorded into teaching machine, completes the teaching of the 1st taught point.
(6) by teaching machine mobile robot, unload the contact force of the 1st taught point；Mobile robot is to the n-th taught point
Near, wherein n=n+1.
(7) rotary file is moved by teaching machine, applies contact force for the n-th taught point；N-th taught point is read by deformeter
Strain value ε n；The contact force direction is the normal orientation of workpiece seamed edge, and contacts force direction and answered perpendicular to step (1)
Become the stickup plane of piece.
(8) size of comparison ε n and ε 1.
(9) as ε n ＞ ε 1, reduce the contact force of the n-th taught point by teaching machine, repeat step (7) and operate；As ε n ＜ ε
When 1, increase the contact force of the n-th taught point by teaching machine, repeat step (7) and operate.
(10) as ε n=ε 1, the corresponding taught points of ε n are recorded into teaching machine, complete the teaching of the n-th taught point.
Operation principle of the present invention is：Tool strain and the linear relationship of contact force are performed using chamfered edge robot end, is led to
Controlled strain size is crossed, indirect control taught point contact force size ensures that the contact force of all taught points is constant；In pulling for collet
Foil gauge is pasted at hand plane, favour stone full-bridge or half-bridge is formed, by the stickup geometric position of controlled strain piece and quantity, goes
Except test error, the useful signal of amplification contact force generation improves measuring accuracy.
(1) end execution tool is installed to chamfered edge robot, robot pose is adjusted to the initial position of light condition.
As shown in Fig. 2, end, which performs tool, includes rotary file 100, collet 200, motor 300, motor fixture 400；
With reference to figure 8, the first foil gauge 201 is installed to the upper surface of 200 spanner flat of collet；By the second foil gauge 202
It installs to the lower surface of 200 spanner flat of collet；First foil gauge 201 and the second foil gauge 202 paste direction along collet 200
Axial direction；The geometric position of first foil gauge 201 and the second foil gauge 202 is mutually symmetrical with；
(2) with reference to figure 7, the first foil gauge 201 and the second foil gauge 202 are accessed into strain acquirement according to favour stone half-bridge method
Instrument；In the initial position of robot light condition, strain acquirement instrument is returned to zero, then acquires the strain of electric bridge；
(3) by the manual teaching robot of teaching machine, rotary file 100 is made to be moved to the 1st taught point position of workpiece, according to behaviour
Make the experience of personnel, apply suitable contact force for rotary file 100.The application direction of wherein contact force is the normal direction of workpiece seamed edge
Direction, and contact stickup plane of the force direction perpendicular to the first foil gauge 201 and the second foil gauge 202.
(4) by the strain value ε 1 of the 1st taught point of deformeter reading step workpiece, the big of ε 1 is recorded after value stabilization is strained
Small, as shown in figure 9, the strain value ε 1 of the first taught point is 4.6 μ ε, therefore, the corresponding strain reference value of contact force is 4.6 μ ε；
(5) when the first taught point strains value stabilization in 4.6 μ ε, taught point is recorded into teaching machine, completes the 1st teaching
The teaching of point；
(6) by teaching machine mobile robot, unload the contact force of the 1st taught point；Mobile robot is to the 2nd taught point
Near；
(7) rotary file is moved by teaching machine, applies contact force for the 2nd taught point；As shown in figure 9, it is read by deformeter
Strain value ε 2 when going out the 1st debugging of the 2nd taught point is 2 μ ε or so；
(8) size of ε 2 and ε 1, wherein ε 2=2 μ ε ＜ ε 1=4.6 μ ε are compared；
(9) rotary file is moved by teaching machine, contact force is gradually increased for the 2nd taught point；As shown in figure 9, pass through strain
Strain value ε 2 when instrument reads the 2nd debugging of the 2nd taught point is 3 μ ε or so；Compare the size of ε 2 and ε 1, wherein ε 2=3 μ ε ＜ ε
1=4.6 μ ε continue step (9) operation；
Rotary file is moved by teaching machine, contact force is gradually increased for the 2nd taught point；As shown in figure 9, it is read by deformeter
Strain value ε 2 when going out the 3rd debugging of the 2nd taught point is 4.6 μ ε or so；ε 2=ε 1=4.6 μ ε, the second taught point connect at this time
Touch is equal to the first taught point；
(10) when the second taught point strains value stabilization in 4.6 μ ε or so, taught point is recorded into teaching machine, completes the
The teaching of 2 taught points.
The embodiment of the present invention is described in detail above, but the content is only presently preferred embodiments of the present invention,
It should not be construed as limiting the practical range of the present invention.Any changes and modifications in accordance with the scope of the present application,
It should all still belong within the patent covering scope of the present invention.
Claims (1)
1. a kind of chamfered edge robot taught point constant force control method of manual teaching, it is characterised in that：Include the following steps：
Step 101 installs the end execution tool of chamfered edge robot, by chamfered edge robot pose adjustment to light condition
Initial position, foil gauge is symmetrically affixed to the upper and lower surface of chuck key plane；
Step 102, the acquisition that foil gauge is carried out to strain data according to full-bridge method or half-bridge method access strain acquirement instrument；
Step 103, manual teaching robot make rotary file be moved to the 1st taught point position, and apply initial contact power manually；
Step 104, the strain value ε 1 for reading and recording the 1st taught point；
Step 105 records 1 corresponding taught points of strain value ε into teaching machine, completes the teaching of the 1st taught point；
Step 106, manual teaching robot make rotary file be moved to the n-th taught point position；N=n+1；
Step 107 applies contact force for the n-th taught point, obtains the strain value ε n of the n-th taught point；
Step 108, as ε n=ε 1, then the corresponding taught points of ε n are recorded into teaching machine, complete the n-th taught point registration；
Otherwise, increase or reduce the contact force of the n-th taught point, return to step 107.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418670.5A CN108170177A (en) | 2017-12-25 | 2017-12-25 | The chamfered edge robot taught point constant force control method of manual teaching |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711418670.5A CN108170177A (en) | 2017-12-25 | 2017-12-25 | The chamfered edge robot taught point constant force control method of manual teaching |
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| CN108170177A true CN108170177A (en) | 2018-06-15 |
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| CN201711418670.5A Pending CN108170177A (en) | 2017-12-25 | 2017-12-25 | The chamfered edge robot taught point constant force control method of manual teaching |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888422A (en) * | 2018-08-21 | 2020-03-17 | 广东大冶摩托车技术有限公司 | Two-dimensional tracking robot spraying programming method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888422A (en) * | 2018-08-21 | 2020-03-17 | 广东大冶摩托车技术有限公司 | Two-dimensional tracking robot spraying programming method |
| CN110888422B (en) * | 2018-08-21 | 2022-05-27 | 广东大冶摩托车技术有限公司 | Two-dimensional tracking robot spraying programming method |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201124 Address after: 2-602, xinjinlong apartment, 21 Weijin South Road, Hexi District, Tianjin Applicant after: Tianjin Xinda Property Management Co., Ltd Address before: 300232 Tianjin city Hebei District South Road No. 40 Applicant before: CENTRAL RESEARCH INSTITUTE, TIANJIN BENEFO MACHINERY EQUIPMENT GROUP Co.,Ltd. |
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