CN108189033A - Adjusting method, mechanical arm and execution structure - Google Patents
Adjusting method, mechanical arm and execution structure Download PDFInfo
- Publication number
- CN108189033A CN108189033A CN201711483088.7A CN201711483088A CN108189033A CN 108189033 A CN108189033 A CN 108189033A CN 201711483088 A CN201711483088 A CN 201711483088A CN 108189033 A CN108189033 A CN 108189033A
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- China
- Prior art keywords
- active force
- mechanical arm
- adjusting method
- execution
- execution structure
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to technical field of automation, disclose adjusting method, mechanical arm and perform structure, wherein adjusting method includes：Attempt to pick up the object in a manner of gradually increasing the active force, detect perform between structure and the object when there is no sliding condition, determine the minimum active force；During the movement object, detect the sliding condition performed between structure and the object and adjust the active force at any time.Adjusting method provided by the invention, mechanical arm and perform structure, when capturing object, the sliding mode between structure and object can be performed by detection, the active force of adjustment clamping object, the change of response environment provides different active forces, so that mechanical arm takes object, shifting object even to pass object all with a degree of intelligence, its product capability is increased.
Description
Technical field
The present invention relates to the methods of the execution structure adjustment effect power of the technical field more particularly to mechanical arm of automation.
Background technology
Mechanical arm is a kind of equipment with certain the degree of automation, and with multiple joint arms, phase is set on joint
The servo motor of pass drives actuating station spatially to move, by holding in actuating station by way of program control
Row structure realizes the function of various simulation human hands, such as moves object, painting and calligraphy, engraving etc..
Mechanical arm is during taking or moving object running, and the mode through frequently with vacuum suction or directly capturing is to mesh
It marks object and applies active force, mechanical arm is only limitted on and off for performing the control of structure, and execution structure exports constant always in itself
Power, environment can not be corresponded to and make feedback, such as in the heavier object of movement and lighter object always according to constant
Power of taking take article, need deliver article when can not change power of taking, can only switch under two states：Output is permanent
Surely power of taking and power of taking is not exported completely.This control mode for performing structure causes a degree of energy waste, can not
Intelligence adapts to external environment so that the product capability of mechanical arm is restricted.
Invention content
The purpose of the present invention is to provide adjusting method, mechanical arm and perform structure, it is intended to mechanical arm of the prior art
On and off is only limitted to for performing the control of structure when capturing object, feedback change active force can not be carried out to environment and is asked
Topic.
Include the invention is realized in this way providing adjusting method：It attempts to take in a manner of gradually increasing the active force
Play the object, detect perform between structure and the object when there is no sliding condition, determine the minimum effect
Power；During the movement object, the sliding condition performed between structure and the object and at any time is detected
Adjust the active force.
Further, when the control information of structure movement is performed described in output driving, synchronization exports warning information to institute
Execution structure is stated, in order to which the execution structure carries out the preparation of change active force in advance.
Further, when detecting that the object and the opposite slip performed between structure increase suddenly, judge
To pass object operation, the execution structure discharges the object.
Further, in a manner of active force is gradually reduced, the execution structure discharges the object.
Further, it presets the object that connects specified to act, judges whether that needs are passed described in carrying out by way of sliding and detecting
Object operates.
The present invention provides mechanical arm, including control circuit, multiple joint arms and multiple servo motors, further includes to export
Active force captures the execution structure of object, the execution structure can by detect between the object sliding mode and
Change the size of active force, the execution structure is installed on any joint arm.
Further, for the execution structure detection to when being slided between the object, the control circuit is defeated
Go out to control information to reduce the output power of the servo motor.
Further, when the execution structure detection increases to slip opposite between the object is unexpected, the control
Circuit output processed controls information to the servo motor to reduce total joint rigidity.
The present invention, which provides, performs structure, is installed on any joint arm of mechanical arm, including being used for the clamping of output action power
The clamping jaw of object and the detection structure for detecting sliding mode between the clamping jaw and the object.
Further, the clamping jaw end face offers groove, is placed with to abut the object in the groove
Idler wheel, the detection structure include the sensor for detecting the idler wheel rotation situation.
Compared with prior art, adjusting method provided by the invention, mechanical arm and execution structure, when capturing object,
The sliding mode between structure and object can be performed by detection, adjustment clamps the active force of object, response environment
Change and different active forces is provided so that mechanical arm takes object, shifting object even to pass object all with a degree of intelligence, increases
Its product capability.
Description of the drawings
Fig. 1 is the structure diagram of the framework of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is the structure diagram provided in an embodiment of the present invention for performing structure；
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown is for only for ease of the description present invention and simplifies description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit of the invention
System.
In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As depicted in figs. 1 and 2, the execution structure adjusting method of mechanical arm in the present embodiment is provided, hereinafter, will be performed
Structure 11 is known as active force to the power of crawl object 2 that object 2 applies, and mechanical arm 1 is driven and performs what structure 11 moved
Power is known as driving force.
Adjusting method specifically includes：It attempts to pick up object 2, and detection is held in real time in a manner of gradually increasing active force
Slide displacement situation between row structure 11 and object 2 does not occur when detecting to perform between structure 11 and object 2
During sliding condition, it is believed that the active force exported at this time enough picks up object 2, referred to as minimum force, easily
Understand, in the case where speed is relatively slow, action time is longer, which should be approximately equal to the weight of object 2
Power.
After picking up object 2, during mobile object 2, detection performs the slip between structure 11 and object 2
Situation and at any time adjustment effect power.During object is moved, at this time object 2 not only by perform structure 11 active force, together
Sample by mechanical arm 1 driving force, if continuing to capture object 2 according to minimum force, the problems such as just will appear landing, because
This detects sliding condition in real time, once relative displacement occur in object 2 and execution structure 11, then shows that active force is not enough to hold
Object 2, should increasing action power output until relative displacement disappear.
Therefore, the adjusting method provided in this implementation whether there is opposite slide between object 2 and execution structure 11
As basis for estimation, actual environment is fed back, real-time adjustment effect power, to meet the requirement for holding object 2.
Mechanical arm 1 needs its internal output control signal of control circuit 13, drives in the operation picked up, moved
Relevant servo motor 14 is moved, servo motor 14 drives joint arm 12 to make required movement, and joint arm 12, which drives, performs structure 11
It is moved with object 2.According to relevant kinematics law it is found that changing the motion state of object 2 namely to change its speed big
Small and direction is required to apply it additional power, and therefore, when control circuit 13 exports control signal, synchronism output includes
The warning information of movable information is to structure 11 is performed, and when action not yet starts, performing structure 11 can be ready in advance, such as
Direct increased portion is allocated as firmly or improves detection feedback sensitivity etc., in a manner that active prevents, avoids going out during exercise
The situation that existing object 2 slides.
In addition to move object, take object other than, the adjusting method in this implementation can also realize it is intelligentized pass object, will also take
In article delivery to the execution structure of human hand or another mechanical arm.In the prior art, object is passed using the simple side for moving object
Formula is realized：Article is taken and is moved to specified coordinate position, human hand or its it is another execution structure article is held steadily after, by object
Structure 11 is performed to discharge article.Preferably, the adjusting method in the present embodiment further includes：It detects object 2 and performs knot
When opposite slip between structure 11 increases suddenly, object 2 is discharged in a manner of active force is gradually reduced.
It is either static or moved with certain speed since object 2 is performed after structure 11 clamps, between the two
Slip should be linear, predictable, relevant equation can be preset through modes such as overtesting, fittings in advance, simulated
In the case of different driving power, the concrete condition slided sets the numberical range of slip and the simulation equation of driving force.When
When the opposite slip for detecting object 2 and performing between structure 11 increases suddenly, such as in the moving process of speed v, mesh
The estimated sliding distance maximum value of mark object 2 should be a, and detects and generate slip suddenly therebetween, and sliding distance
It is more than a for c, c, can determine whether that object 2 receives external force, such as human hand catches object 2 to extract it out of execution structure 11 out,
Or the execution structure of another mechanical arm clamps object 2 and applies driving force.Detect that appearance is relatively sliding under normal circumstances
It is dynamic to increase the active force for performing structure 11, and active force should be gradually decreased in the above cases so that human hand or
It is another perform structure 11 can take over object 2, after active force reduces to 0, object 2 can be removed, and complete to pass the mistake of object
Journey.
Feedback is made in the adjusting method detection external environment change that can be seen that from above-mentioned process in this implementation, provides
Object is passed in intelligence.Moreover, compared with it can only control the execution structure of switch in the prior art, by this present embodiment using slow
The mode of active force is reduced, object 2 will not start moment completely ineffective power passing object, but there are one the mistakes discharged
Journey so that human hand or another structure that performs can have certain operating time to complete to connect object, it is often more important that, convenient for dynamic
Object is connect under environment.
Preferably, it presets the object that connects specified to act, judges whether to carry out passing object operation by way of sliding and detecting.
Such as after human hand holds object 2, gently pull downward on twice, it performs structure 11 and is consecutively detected the slip of two secondary bursts, you can
It is judged as passing object operation.It is primary once to move up object 2 downwards or after holding object 2, perform 11 basis of structure
The sliding condition twice detected enters the foundation for passing object operation as judgement.
Mechanical arm 1 is additionally provided in this implementation, including multiple joint arms 12, is equipped on any joint arm 12 and performs knot
Structure 11.Perform structure 11, as the basis for estimation of environmental feedback, it is defeated can to change its according to the opposite sliding mode of object 2
The active force gone out realizes the purpose for firmly grasping object 2 with minimum power.
Preferably, the mechanical arm 1 in the present embodiment has control circuit 13 and multiple servo motors 14, and control circuit 13 is defeated
Go out relevant control signal, corresponding servo motor 14 is made to correspond to driving joint arm 12, it is final that object 2 is driven to move.When holding
Row structure 11 detects when being slided between object 2, and control circuit 13 changes control signal, reduces servo motor 14
Output power, to reduce driving force, cooperation performs the adjusting process of structure 11, and execution structure 11 is avoided not yet to adjust to suitable
The problem of active force has fallen.
Preferably, the mode of control signal that driving circuit changes can be stop the output power of servo motor 14 or
Slow down movement velocity of organ's joint arm 12 etc..
Mechanical arm 1 in the present embodiment detects and slides namely detect into delivering article beyond the opposite of normal value
Process when, control relevant servo motor 14, reduce whole joint stiffness so that each joint arm 12 is by external force
In the case of allow a degree of deformation occur, make overall flexibility, when human hand takes over object 2, actuating station can be with people
Hand shakes by a small margin, further simulates the process that arm passs object, reduces stiff sense when human hand takes over object 2.
It is additionally provided in this implementation and performs structure 11, in the actuating station of mechanical arm 1, mesh can be clamped by having
It marks between the clamping jaw 111 of object 2 and detection clamping jaw 111 and object 2 with respect to the detection structure 112 slided.
It, can according to detection structure 112 as a result, judge whether that having exported enough active forces clamps object 2
According to the 2 adjustment effect power of object of different weight, the control circuit 13 of feedback related data to mechanical arm 1.
The realization method of detection structure 112 can there are many, such as relevant vision collecting original paper is installed, chooses object
Certain point on 2 judges whether the distance for occurring to slide and slide, speed as monitoring point according to the change in location of the point.
Specifically, the scheme in this implementation is that groove is opened up on 111 surface of clamping jaw, and idler wheel 112 is placed in groove, is performing structure 11
After clamping object 2, the end face of idler wheel 112 is contacted with object 2, if object 2 is slided with performing structure 11, is rolled
Wheel 112 is driven rotation, passes through the rotational angle of the structure detections such as sensor idler wheel 112, instantaneous angular velocity, rotation duration
It would know that sliding condition.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. adjusting method, the execution structure being capable of output action power crawl object, which is characterized in that including：
Attempt to pick up the object in a manner of gradually increasing the active force, detect perform structure and the object it
Between when there is no sliding condition, determine the minimum active force；
During the movement object, the sliding condition performed between structure and the object and at any time is detected
Adjust the active force.
2. adjusting method as described in claim 1, which is characterized in that the control information of structure movement is performed described in output driving
When, synchronization exports warning information to the execution structure, in order to which the execution structure carries out the standard of change active force in advance
It is standby.
3. adjusting method as described in claim 1, which is characterized in that detect between the object and the execution structure
It is opposite slide when increasing suddenly, be judged as passing object operation, the execution structure discharges the object.
4. adjusting method as claimed in claim 3, which is characterized in that described to perform knot in a manner of active force is gradually reduced
Structure discharges the object.
5. adjusting method as claimed in claim 3, which is characterized in that the default object that connects specified acts, and passes through and slides detection
Mode judges whether to need to pass object operation described in progress.
6. mechanical arm, including control circuit, multiple joint arms and multiple servo motors, which is characterized in that further include to export
Active force captures the execution structure of object, the execution structure can by detect between the object sliding mode and
Change the size of active force, the execution structure is installed on any joint arm.
7. mechanical arm as claimed in claim 6, which is characterized in that the execution structure detection is sent out between the object
During raw slip, the control circuit output control information reduces the output power of the servo motor.
8. mechanical arm as claimed in claim 6, which is characterized in that the execution structure detection to the phase between the object
When increasing suddenly sliding, the control circuit output controls information to the servo motor to reduce total joint rigidity.
9. performing structure, it is installed on any joint arm of mechanical arm, which is characterized in that including being used for output action power clamping mesh
Mark the clamping jaw of object and the detection structure for detecting sliding mode between the clamping jaw and the object.
10. structure is performed as claimed in claim 9, which is characterized in that the clamping jaw end face offers groove, in the groove
The idler wheel for abutting the object is placed with, the detection structure includes the sensing for detecting the idler wheel rotation situation
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711483088.7A CN108189033A (en) | 2017-12-29 | 2017-12-29 | Adjusting method, mechanical arm and execution structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711483088.7A CN108189033A (en) | 2017-12-29 | 2017-12-29 | Adjusting method, mechanical arm and execution structure |
Publications (1)
| Publication Number | Publication Date |
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| CN108189033A true CN108189033A (en) | 2018-06-22 |
Family
ID=62587086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711483088.7A Pending CN108189033A (en) | 2017-12-29 | 2017-12-29 | Adjusting method, mechanical arm and execution structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205305A (en) * | 2018-08-07 | 2019-01-15 | 河北盛世天昕电子科技有限公司 | A kind of control method for inhaling object manipulator |
| CN111482868A (en) * | 2020-04-28 | 2020-08-04 | 陈维华 | Auxiliary polishing equipment |
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| JP2007253266A (en) * | 2006-03-22 | 2007-10-04 | Toyota Motor Corp | Slip detection device, slip detection method, and robot hand device |
| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| CN106426100A (en) * | 2016-11-07 | 2017-02-22 | 北京印刷学院 | Precision-operation truss robot based on force feedback and control method thereof |
| CN107160387A (en) * | 2016-12-13 | 2017-09-15 | 陈胜辉 | A kind of material grasping means and system |
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| JPS6138887A (en) * | 1984-07-30 | 1986-02-24 | インタ−ナショナル ビジネス マシ−ンズ コ−ポレ−ション | Gripping robot |
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| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| CN106426100A (en) * | 2016-11-07 | 2017-02-22 | 北京印刷学院 | Precision-operation truss robot based on force feedback and control method thereof |
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| CN109205305A (en) * | 2018-08-07 | 2019-01-15 | 河北盛世天昕电子科技有限公司 | A kind of control method for inhaling object manipulator |
| CN109205305B (en) * | 2018-08-07 | 2020-05-12 | 河北盛世天昕电子科技有限公司 | Control method of object suction manipulator |
| CN111482868A (en) * | 2020-04-28 | 2020-08-04 | 陈维华 | Auxiliary polishing equipment |
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Effective date of registration: 20210204 Address after: 276800 north of Shantou Road West of Hangzhou Road East of Luzhou road Rizhao Economic Development Zone Shandong Province Applicant after: Rizhao Yuejiang Intelligent Technology Co.,Ltd. Address before: 518000 4th floor, building 8, area a, Tanglang Industrial Zone, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |
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Application publication date: 20180622 |