CN109760033A - Robot device control method and control system - Google Patents
Robot device control method and control system Download PDFInfo
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- CN109760033A CN109760033A CN201910104954.XA CN201910104954A CN109760033A CN 109760033 A CN109760033 A CN 109760033A CN 201910104954 A CN201910104954 A CN 201910104954A CN 109760033 A CN109760033 A CN 109760033A
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- Prior art keywords
- engagement
- robot device
- gear drive
- signal
- next time
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
Abstract
The present invention provides a kind of method for controlling robot, the robot device includes gear drive；The control method of the robot device is the following steps are included: obtain first position of engagement locating for the gear drive in the primary shutdown of the robot device；Receive stopping signal next time；Obtain the current position of engagement of the gear drive corresponding with the stopping signal next time；Calculate second position of engagement locating for the gear drive when shutdown next time；Judge whether second position of engagement and first position of engagement are identical；If second position of engagement is identical as first position of engagement, controls the gear drive and rotate the first predetermined angle.The control method of robot device of the invention, avoid gear in gear drive same position engagement for a long time squeeze and caused by accelerate deformation and abrasion the problem of, the utilization rate of gear drive can be made higher, the longer life expectancy of robot device.
Description
Technical field
The present invention relates to manipulator field more particularly to a kind of robot device control methods and control system.
Background technique
Currently, be required to use manipulator in many industrial productions, manipulator generally by gear drive come into
Row transmission, and gear drive needs smoothly to engage between gear, just can guarantee in this way it is gear-driven efficiently, accurately, it is reliable and
Service life is long.If gear is plastically deformed, the abrasion accumulated over a long period will cause gear-driven failure.In the prior art, mechanical
When hand equipment is shut down every time, gear drive can all be parked in identical position.Multiple gears are engaged in same position every time
It squeezes, so that the tooth that will cause site of engagement accelerates deformation and abrasion.
Summary of the invention
The purpose of the present invention is to provide a kind of robot device control method and control systems.
For achieving the above object, an embodiment of the present invention provides a kind of control method of robot device, described
Robot device includes gear drive；The control method of the robot device is the following steps are included: in the manipulator
First position of engagement locating for the gear drive is obtained when the primary shutdown of device；Receive stopping signal next time；It obtains
Take the current position of engagement of the gear drive corresponding with the stopping signal next time；It is shut down next time described in calculating
Second position of engagement locating for Shi Suoshu gear drive；Judge second position of engagement is with first position of engagement
It is no identical；If second position of engagement is identical as first position of engagement, the gear drive rotation first is controlled
Predetermined angle.
As a further improvement of the present invention, described to judge whether are second position of engagement and first position of engagement
Identical step specifically includes: receiving the first signal for characterizing first position of engagement and characterizes the current position of engagement
Second signal；Second position of engagement is calculated according to second signal and generates the corresponding third signal in second position of engagement；Judgement
Whether first signal matches with the third signal.
As a further improvement of the present invention, described that the gear biography is recorded in the primary shutdown of the robot device
After the step of first position of engagement locating for motivation structure, the control method of the robot device further include: receive booting letter
Number；Receive a motor message；The robot device, which is controlled, according to the motor message executes corresponding operation.
As a further improvement of the present invention, the robot device execution phase is controlled according to the motor message described
After the step of operation answered, the robot device control method further include: will be corresponding when controlling the robot device
When operation is finished, record finishes the moment；Before receiving motor message next time, obtain current time and finish the moment it
Between time interval；Judge whether the time interval is more than preset time；If the time interval is more than the preset time,
It controls the gear drive and rotates the second predetermined angle.
As a further improvement of the present invention, the robot device includes multiple gear drives, the machine
The control method of tool arm device further include: obtain multiple gear drives respectively in the primary shutdown of the robot device
First position of engagement locating for mechanism；Receive stopping signal next time；It obtains corresponding multiple with the stopping signal next time
The respective current position of engagement of gear drive；Calculate the Duo Gesuo in the shutdown next time of the robot device
State the second locating position of engagement of gear drive difference；Judge multiple second positions of engagement with it is corresponding multiple described
Whether first position of engagement is identical；If any one second position of engagement in multiple second positions of engagement and corresponding institute
It is identical to state first position of engagement, controls the corresponding gear drive and rotates the first predetermined angle.
Another aspect of the present invention discloses a kind of control system of robot device, and the robot device includes that gear passes
Motivation structure, the control system of the robot device include: detection module, detect the gear drive in the manipulator
First locating position of engagement when the primary shutdown of device, and the gear drive corresponding with the stopping signal next time
The current position of engagement of mechanism；Control module connects the detection module, for according to stopping signal next time and described current
The position of engagement calculates second position of engagement locating for the gear drive robot device is shut down next time when, and
It is pre- that the gear drive rotation first is controlled when determining that second position of engagement is identical as first position of engagement
If angle.
As a further improvement of the present invention, the gear drive includes motor, and the detection module includes and institute
The angular transducer of controller connection is stated, the angular transducer is set on the motor output shaft and for detecting the motor
The rotational angle of output shaft；Described in corresponding to the rotational angle detected when by the primary shutdown of the robot device
The location of gear drive is defined as first position of engagement, and the angular transducer is also used to nibble described first
Coincidence, which is set, is converted to first signal, and the current position of engagement is converted to the second signal；The control module
It include: receiving unit, for receiving first signal and the second signal；Computing unit, for according to second letter
It number calculates second position of engagement and generates third signal corresponding to second position of engagement；Judging unit, for judging
Whether first signal matches with the third signal.
As a further improvement of the present invention, the control module is also used to receiving starting-up signal and for the first time movement letter
After number, the manipulator is controlled according to the first time motor message and executes corresponding operation.
As a further improvement of the present invention, the control system of the robot device further include: connect the control mould
The timer of block；The timer is used for the record when controlling the robot device and having executed corresponding operation and finishes the moment,
And the time interval between current time and the moment of finishing is obtained before receiving motor message next time；The control module is also
For controlling the gear drive and rotating the second predetermined angle when the time interval is more than preset time.
As a further improvement of the present invention, the manipulator includes multiple gear drives, each tooth
Wheel drive mechanism includes motor, and the detection module includes multiple and the one-to-one angular transducer of the motor, multiple
The angular transducer is connect with the control module respectively；Multiple angular transducers are used in the primary of the manipulator
Multiple first positions of engagement are detected when shutdown respectively, and multiple first positions of engagement are respectively converted into corresponding more
A first signal is also used to detect respectively when receiving stopping signal next time corresponding more with the stopping signal next time
The respective current position of engagement of a gear drive；The control module is used for according to stopping signal next time and more
A current position of engagement calculates corresponding second position of engagement of multiple gear drives；The angle
Sensor is also used to multiple second positions of engagement being respectively converted into corresponding multiple second signals；The control module is also
For in second position of engagement for determining multiple second signals characterizations any one second position of engagement with it is corresponding
When first position of engagement of first characterization is identical, controls corresponding gear drive and rotate the first predetermined angle.
Compared with prior art, the control method of robot device disclosed by the invention, by controlling when manipulator is shut down
The position of engagement locating when shutting down from the last time of the position of engagement locating for gear drive processed is different, to avoid gear drive machine
Gear in structure the engagement for a long time of identical position squeeze and caused by accelerate deformation and abrasion the problem of, gear drive can be made
The utilization rate of mechanism becomes higher, the longer life expectancy of robot device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot device in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of robot device in an embodiment of the present invention；
Fig. 3 is the flow diagram of the control method of robot device in an embodiment of the present invention；
Fig. 4 is the flow diagram of the control method of robot device in an embodiment of the present invention；
Fig. 5 is the flow diagram of the control method of robot device in an embodiment of the present invention；
Fig. 6 is the flow diagram of the control method of robot device in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the control system of robot device in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the control system of robot device in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the control system of robot device in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of the control system of robot device in an embodiment of the present invention.
Specific embodiment
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
It should be understood that the art of the representation space relative position used herein such as "upper", " top ", "lower", " lower section "
Language be for convenient for explanation purpose come describe as shown in the drawings a unit or feature relative to another unit or spy
The relationship of sign.The term of relative space position can be intended to include equipment in use or work other than orientation as shown in the figure
Different direction.
As shown in Figs. 1-2, the robot device in embodiment of the present invention include manipulator ontology 500 and be set to manipulator
Gear drive 100 on ontology 500.Gear drive 100 includes the first gear 110 and second gear of engagement connection
120, the third gear 130 coaxially connected with second gear and the 4th gear 140 connecting is engaged with third gear 130, and
The motor 150 for driving first gear 110 to rotate.Motor output shaft is equipped with angular transducer 210, specifically, angular transducer
210 be multi-turn absolute type encoder, and this encoder determines coding by mechanical location, the corresponding determining number in each position
Character code, coding do not repeat uniquely, and do not have to count always, the reading position when needing to obtain position.
It in embodiments of the present invention, is that gear is detected by the angular transducer 210 being arranged on motor output shaft
The position of engagement of transmission mechanism 100.Specifically when motor 110 works, the rotation of the first gear 110 driven by motor 150
The rotational angle of angle and motor output shaft is consistent always, therefore by detecting motor output shaft in the rotation angle at each moment
It can be obtained each position of engagement of gear drive 100.
In embodiments of the present invention, second gear 120 and the 4th gear 140 are flexible gear.Flexible gear be not necessarily to compared with
High-precision can guarantee stable transmission, but when gear drive is in a position for a long time, flexible gear also compared with
It is easy to be squeezed abrasion.
As shown in figure 3, an embodiment of the present invention discloses a kind of robot device control method, comprising the following steps:
S110 obtains first position of engagement locating for gear drive in the primary shutdown of robot device.
In embodiments of the present invention, the shutdown of robot device refers to after the work for completing one day/a period of time, will
The state that robot device is completely switched off, powers off.When robot device is in primary shut down, gear drive can also stop turning
It is dynamic, and the intermeshing position of multiple gears in gear drive 100 at this time is denoted as first position of engagement, controller
It obtains first position of engagement and is stored.
S120 receives stopping signal next time.
When again finishing robot device use, user can be used pressing closing key or other operations to make manipulator
Device is shut down.While user carries out power-off operation, controller can receive stopping signal next time.
S130 obtains the current position of engagement of gear drive corresponding with stopping signal next time.
While controller gets stopping signal, controller can get gear corresponding with stopping signal next time
The current position of engagement of transmission mechanism.
S140 calculates second position of engagement locating for gear drive when shutting down next time.
While user carries out power-off operation, robot device will not stop at once, but can be through after a period of time
Just stop after deceleration.And the deceleration stopping process of robot device is fixed.When controller gets the current position of engagement
When, process is stopped according to the deceleration of robot device, controller can calculate second position of engagement.
S150 judges whether second position of engagement is identical as first position of engagement.
At this point, second position of engagement can be compared by controller with first position of engagement, that is to say, that next time
When shutdown, first when whether second position of engagement that controller can compare gear drive 100 shut down with last time is engaged
Position is identical.
S160, if second position of engagement is identical as first position of engagement, control gear drive rotates the first preset angle
Degree.
When judging result is that second position of engagement is identical as first position of engagement, controller can control gear drive
The first predetermined angle is continued to rotate in second position of engagement.That is, guarantee when shutting down next time, gear drive
The position of engagement when position of engagement is not shut down with the last time is identical.This way it is possible to avoid the gear in gear drive is in phase
With position for a long time engagement squeeze and caused by accelerate deformation and abrasion the problem of.
First predetermined angle is a value being arranged in advance, and in general, control gear drive rotates 1 degree or 2 more
Degree, that is, can avoid the extrusion abrasion in same position.That is the first predetermined angle can be set to 1 degree, and 2 degree etc., certainly
Or bigger numerical value, embodiment of the present invention to this with no restriction.
Robot device control method disclosed by the invention, by controlling gear drive machine when robot device is shut down
The position of engagement locating when shutting down from the last time of the position of engagement locating for structure is different, so that the gear in gear drive be avoided to exist
The engagement for a long time of identical position squeeze and caused by the problem of accelerating deformation and abrasion, the utilization rate of gear drive can be made
Become higher, the longer life expectancy of robot device.
As shown in figure 4, in embodiments of the present invention, step S150 is specifically included:
S151 receives the first signal of first position of engagement of characterization and the second signal of the current position of engagement of characterization.
In the primary shutdown of robot device, encoder corresponding digital code will be converted to electric signal and be sent at this time
Controller as characterizes the first signal of first position of engagement.When receiving stopping signal next time, encoder again will at this time
Corresponding digital code is converted to electric signal and is sent to controller, as characterizes the second signal of the current position of engagement.
S152 calculates second position of engagement according to second signal and generates the corresponding third signal in second position of engagement.
Specifically, when receiving stopping signal next time, encoder can detect the current engagement position of motor output shaft
The second signal for characterizing the current position of engagement is set and exports, controller gets the second signal for characterizing the current position of engagement, root
Stop process according to the deceleration of second signal and robot device, second position of engagement can be calculated and generates the second engagement position
Set corresponding third signal.
S153, judges whether the first signal matches with third signal.
In general, in the shutdown next time of robot device, if second position of engagement is identical as first position of engagement,
It then represents by being shut down for the first time to when second of shutdown, motor output shaft has rotated 360 degree of multiple, and vice versa.In this hair
In bright embodiment, because first gear and second gear are deceleration transmission, the reduction ratio of the two is 10, then turns in motor output shaft
When having moved the multiple of 10*360 degree, it is identical as first position of engagement to represent second position of engagement.The digital code one that encoder one encloses
As be fixed value, rotation one circle after continue to rotate when, circle number encoder successively accumulate.Encoder one is defined to enclose
Digital code be X, then controller is after obtaining the first signal and third signal, if the digital code that is characterized of third signal and the
The difference for the digital code that one signal is characterized is the multiple of X, then controller determines third signal and the first Signal Matching, represents at this time
Second position of engagement is identical as first position of engagement.
As shown in figure 5, in embodiments of the present invention, after step silo, the control method of robot device is also wrapped
It includes:
S111 receives starting-up signal.
When user needs opening manipulator device to work, the power-on operations such as pressing power button, this time control can be carried out
Device processed can receive starting-up signal.
S112 receives a motor message.
Under robot device open state, various motor messages can be received, so that robot device works.
S113 controls robot device according to motor message and executes corresponding operation.
Controller can control robot device according to motor message and execute corresponding operation after receiving motor message.
As shown in fig. 6, further, after step sl 13, robot device control method further include:
S1131, when corresponding operation is finished by control robot device, record finishes the moment.
Finish time when as motor message being finished constantly.For example, being finished by a motor message
When, it finishes constantly as 10:30.
S1132 obtains the time interval between current time and the moment of finishing before receiving motor message next time.
In the operational process of robot device, it is also possible to will appear the case where not having to temporarily, at this time robot device
It does not shut down, does not also receive motor message, in booting stationary state.Then, timer can monitoring time always, and obtain current
Time interval between moment and the moment of finishing.For example, current time is 13:31, then between current time and the moment of finishing
Time interval be 3 hours 1 point.
S1133 judges whether time interval is more than preset time.
One preset time can be set in the controller in advance, such as preset time is 3 hours.
S1134, if time interval is more than preset time, control gear drive rotates the second predetermined angle.
At this point, time interval be 3 hours 1 point, be more than preset time 3 hours, then controller can control gear drive machine
Structure rotates the second predetermined angle.Under robot device open state, meeting is not used for a long time so that gear drive is same
One position quiescent time too long, go down also make so for a long time gear drive same position extrusion abrasion more
Seriously.When therefore, it is necessary to guarantee that the quiescent time of robot device is more than preset time, the position of engagement of gear drive is not
Position of engagement when shutting down with the last time is identical.Second predetermined angle is a value being arranged in advance, in general, controls gear
Transmission mechanism rotates 1 degree or 2 degree more, that is, can avoid the extrusion abrasion in same position.That is the second predetermined angle can be with
Be set as 1 degree, 2 degree etc., naturally it is also possible to be bigger numerical value, embodiment of the present invention to this with no restriction.
As shown in fig. 7, robot device includes multiple gear drives in another embodiment of the present invention, it is mechanical
The control method of arm device further include:
S210 obtains the first engagement position locating for multiple gear drives in the primary shutdown of robot device respectively
It sets.
When robot device is shut down, controller can obtain first position of engagement of each gear drive and respectively will
It is stored.
S220 receives stopping signal next time.
S230 obtains multiple respective current positions of engagement of gear drive corresponding with stopping signal next time.
Similarly, while controller gets stopping signal, controller can be got and stopping signal pair next time
The respective current position of engagement for the multiple gear drives answered.
S240 is calculated in the shutdown next time of robot device, and multiple gear drives locating second are nibbled respectively
Coincidence is set.
Similarly, when controller gets each current position of engagement, according to the speed reducing stopping process of robot device,
Controller can calculate second position of engagement.
S250 judges whether multiple second positions of engagement and corresponding multiple first positions of engagement are identical.
At this point, second position of engagement can be compared by controller with first position of engagement, that is to say, that next time
Position of engagement when shutdown, when whether the position of engagement that controller can be respectively compared each gear drive shut down with last time
It is identical.
S260, if any one second position of engagement in multiple second positions of engagement and corresponding first position of engagement phase
Together, it controls corresponding gear drive and rotates the first predetermined angle.
Second position of engagement of each gear drive is compared respectively with corresponding first position of engagement, when certain
When second position of engagement of a gear drive is identical as first position of engagement, controller can control corresponding gear drive machine
Structure continues to rotate the first predetermined angle in second position of engagement, this way it is possible to avoid the gear in gear drive is identical
Position for a long time engagement squeeze and caused by accelerate deformation and abrasion the problem of.To each gear drive for meeting above-mentioned condition
Mechanism can make it rotate the first predetermined angle.
As seen in figs. 8-10, in embodiments of the present invention, a kind of control system of robot device is also disclosed, it is mechanical
Arm device includes gear drive 100.
As shown in figure 8, the control system of robot device includes:
Detection module 200 detects the gear drive first engagement position locating in the primary shutdown of robot device
It sets, and the current position of engagement of gear drive corresponding with stopping signal next time.
In embodiments of the present invention, the shutdown of robot device refers to after the work for completing one day/a period of time, will
The state that robot device is completely switched off, powers off.When robot device is in primary shut down, gear drive can also stop turning
It is dynamic, and the intermeshing position of multiple gears in gear drive 100 at this time is denoted as first position of engagement, controller
It obtains first position of engagement and is stored.
Control module 300, connecting detection module 200, for being calculated according to stopping signal next time and the current position of engagement
Second position of engagement locating for gear drive robot device is shut down out next time when, and determine second position of engagement with
Gear drive is controlled when first position of engagement is identical rotates the first predetermined angle.
When again finishing robot device use, user can be used pressing closing key or other operations to make manipulator
Device is shut down.While user carries out power-off operation, controller can receive stopping signal next time.When controller obtains
While to stopping signal, controller can get the current engagement position of gear drive corresponding with stopping signal next time
It sets.
While user carries out power-off operation, robot device will not stop at once, but can be through after a period of time
Just stop after deceleration.And the deceleration stopping process of robot device is fixed.When controller 300 gets current engagement position
When setting, process is stopped according to the deceleration of robot device, controller 300 can calculate second position of engagement.Next, control
First position of engagement when whether second position of engagement that device 300 can compare gear drive 100 shut down with last time is complete
It is identical.
When judging result is that second position of engagement is identical as first position of engagement, controller 300 can control gear drive
Mechanism continues to rotate the first predetermined angle in second position of engagement.That is, guaranteeing when shutting down next time, gear drive machine
The position of engagement when position of engagement of structure is not shut down with the last time is identical.This way it is possible to avoid the gear in gear drive
In identical position engagement for a long time squeeze and caused by the problem of accelerating deformation and abrasion.
First predetermined angle is a value being arranged in advance, and in general, control gear drive rotates 1 degree or 2 more
Degree, that is, can avoid the extrusion abrasion in same position.That is the first predetermined angle can be set to 1 degree, and 2 degree etc., certainly
Or bigger numerical value, embodiment of the present invention to this with no restriction.
In conjunction with shown in Fig. 2 and Fig. 9, in embodiments of the present invention, detection module 200 includes connecting with controller 300
Angular transducer 210, angular transducer 210 are set to the angle of rotation on motor output shaft 131 and for detecting motor output shaft 131
Degree.
Position locating for gear drive corresponding to the rotational angle detected when by the primary shutdown of robot device
It sets and is defined as first position of engagement, angular transducer 210 is also used to being converted to first position of engagement into the first signal, and will be current
The position of engagement is converted to second signal.
In the primary shutdown of robot device, encoder corresponding digital code will be converted to electric signal and be sent at this time
Controller as characterizes the first signal of first position of engagement.When receiving stopping signal next time, encoder again will at this time
Corresponding digital code is converted to electric signal and is sent to controller, as characterizes the second signal of the current position of engagement.
Control module 300 includes:
Receiving unit 310, for receiving the first signal and second signal.
In the primary shutdown of robot device, encoder corresponding digital code will be converted to electric signal and be sent at this time
Controller as characterizes the first signal of first position of engagement.When receiving unit 310 receives stopping signal next time, compile
Code device corresponding digital code will be converted to electric signal and be sent to receiving unit 310 at this time again, as characterize the current position of engagement
Second signal.
Computing unit 320, it is right for calculating second position of engagement according to second signal and generating second position of engagement institute
The third signal answered.
When receiving stopping signal next time, encoder can detect the current position of engagement of motor output shaft and export
The second signal of the current position of engagement is characterized, controller gets the second signal for characterizing the current position of engagement, computing unit 320
Stop process according to the deceleration of second signal and robot device, second position of engagement can be calculated and generates the second engagement
The corresponding third signal in position.
Judging unit 330, for judging whether the first signal matches with third signal.
In general, in the shutdown next time of robot device, if second position of engagement is identical as first position of engagement,
It then represents by being shut down for the first time to when second of shutdown, motor output shaft has rotated 360 degree of multiple, and vice versa.In this hair
In bright embodiment, because first gear and second gear are deceleration transmission, the reduction ratio of the two is 10, then turns in motor output shaft
When having moved the multiple of 10*360 degree, it is identical as first position of engagement to represent second position of engagement.The digital code one that encoder one encloses
As be fixed value, rotation one circle after continue to rotate when, circle number encoder successively accumulate.Encoder one is defined to enclose
Digital code be X, then controller is after obtaining the first signal and third signal, if the digital code that is characterized of third signal and the
The difference for the digital code that one signal is characterized is the multiple of X, then controller determines third signal and the first Signal Matching, judges at this time
Unit 330 determines that second position of engagement is identical as first position of engagement.
Further, control module 300 is also used to after receiving starting-up signal and first time motor message, according to first
Secondary motor message control robot device executes corresponding operation.
When user needs opening manipulator device to work, the power-on operations such as pressing power button, this time control can be carried out
Device processed can receive starting-up signal.Under robot device open state, various motor messages can be received, so that manipulator
Device works.Controller can control robot device according to motor message and execute accordingly after receiving motor message
Operation.
As shown in Figure 10, in embodiments of the present invention, the control system of robot device further include: link control module
300 timer 400.Timer 400 is used for the record when controlling robot device and having executed corresponding operation and finishes the moment, and
The time interval between current time and the moment of finishing is obtained before receiving motor message next time.Control module 300 is also used
In when time interval is more than preset time, control gear drive rotates the second predetermined angle.
Finish time when as motor message being finished constantly.For example, being finished by a motor message
When, it finishes constantly as 10:30.In the operational process of robot device, it is also possible to will appear the case where not having to temporarily, at this time
Robot device does not shut down, does not also receive motor message, in booting stationary state.Then, timer can monitoring time always,
And obtain the time interval between current time and the moment of finishing.For example, current time be 13:31, then current time with finish
Time interval between moment be 3 hours 1 point.One preset time, such as preset time can be set in the controller in advance
It is 3 hours.At this point, time interval be 3 hours 1 point, be more than preset time 3 hours, then controller can control gear drive machine
Structure rotates the second predetermined angle.Under robot device open state, meeting is not used for a long time so that gear drive is same
One position quiescent time too long, go down also make so for a long time gear drive same position extrusion abrasion more
Seriously.When therefore, it is necessary to guarantee that the quiescent time of robot device is more than preset time, the position of engagement of gear drive is not
Position of engagement when shutting down with the last time is identical.Second predetermined angle is a value being arranged in advance, in general, controls gear
Transmission mechanism rotates 1 degree or 2 degree more, that is, can avoid the extrusion abrasion in same position.That is the second predetermined angle can be with
Be set as 1 degree, 2 degree etc., naturally it is also possible to be bigger numerical value, embodiment of the present invention to this with no restriction.
Further, in another embodiment of the present invention, robot device includes multiple gear drives 100,
Each gear drive 100 includes motor 150, and detection module 200 includes the multiple and one-to-one angle sensor of motor
Device 210, multiple angular transducers 210 are connect with control module 300 respectively.
Multiple angular transducers 210 for detecting multiple first engagements position in the primary shutdown of robot device respectively
It sets, and multiple first positions of engagement is respectively converted into corresponding multiple first signals, be also used to be shut down next time receiving
The respective current position of engagement of multiple gear drives corresponding with stopping signal next time is detected when signal respectively.
Control module 300 is used to calculate multiple gear drive machines according to stopping signal next time and multiple current positions of engagement
Corresponding second position of engagement of structure.
Angular transducer 210 is also used to multiple second positions of engagement being respectively converted into corresponding multiple second signals.
Control module be also used in second position of engagement for determining multiple second signals characterization any one second nibble
When coincidence sets identical as first position of engagement of corresponding first characterization, corresponding gear drive rotation first is controlled
Predetermined angle.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of robot device, which is characterized in that the robot device includes gear drive；It is described
The control method of robot device the following steps are included:
First position of engagement locating for the gear drive is obtained in the primary shutdown of the robot device；
Receive stopping signal next time；
Obtain the current position of engagement of the gear drive corresponding with the stopping signal next time；
Calculate second position of engagement locating for the gear drive when shutdown next time；
Judge whether second position of engagement and first position of engagement are identical；
If second position of engagement is identical as first position of engagement, it is default to control the gear drive rotation first
Angle.
2. the control method of robot device according to claim 1, which is characterized in that judgement second engagement
The position step whether identical as first position of engagement specifically includes:
Receive the second signal of the first signal for characterizing first position of engagement and the characterization current position of engagement；
Second position of engagement is calculated according to second signal and generates the corresponding third signal in second position of engagement；
Judge whether first signal matches with the third signal.
3. the control method of robot device according to claim 1, which is characterized in that described in the robot device
Primary shutdown when the step of recording first position of engagement locating for the gear drive after, the robot device
Control method further include:
Receive starting-up signal；
Receive a motor message；
The robot device, which is controlled, according to the motor message executes corresponding operation.
4. the control method of robot device according to claim 3, which is characterized in that believed described according to the movement
After the step of number control robot device executes corresponding operation, the robot device control method further include:
When corresponding operation is finished by the control robot device, record finishes the moment；
Before receiving motor message next time, the time interval between current time and the moment of finishing is obtained；
Judge whether the time interval is more than preset time；
If the time interval is more than the preset time, controls the gear drive and rotate the second predetermined angle.
5. the control method of robot device according to claim 1, which is characterized in that the robot device includes more
A gear drive, the control method of the robot device further include:
Obtain the first engagement position locating for multiple gear drives respectively in the primary shutdown of the robot device
It sets；
Receive stopping signal next time；
Obtain multiple respective current positions of engagement of gear drive corresponding with the stopping signal next time；
It calculates in the shutdown next time of the robot device, the second locating engagement of multiple gear drives difference
Position；
Judge whether multiple second positions of engagement and corresponding multiple first positions of engagement are identical；
If any one second position of engagement in multiple second positions of engagement and corresponding first position of engagement phase
Together, it controls the corresponding gear drive and rotates the first predetermined angle.
6. a kind of control system of robot device, which is characterized in that the robot device includes gear drive, described
The control system of robot device includes:
Detection module detects the gear drive first engagement position locating in the primary shutdown of the robot device
It sets, and the current position of engagement of the gear drive corresponding with the stopping signal next time；
Control module connects the detection module, for according to stopping signal and the current position of engagement calculate next time
The robot device second position of engagement locating for gear drive when shutting down next time, and determining described second
The position of engagement controls the gear drive and rotates the first predetermined angle when identical as first position of engagement.
7. the control system of robot device according to claim 6, which is characterized in that
The gear drive includes motor, and the detection module includes the angular transducer connecting with the controller, institute
State rotational angle of the angular transducer on the motor output shaft and for detecting the motor output shaft；
The gear drive corresponding to the rotational angle detected when by the primary shutdown of the robot device
Location is defined as first position of engagement, and the angular transducer is also used to be converted to first position of engagement
First signal, and the current position of engagement is converted into the second signal；
The control module includes:
Receiving unit, for receiving first signal and the second signal；
Computing unit, it is right for calculating second position of engagement according to the second signal and generating second position of engagement institute
The third signal answered；
Judging unit, for judging whether first signal matches with the third signal.
8. the control system of robot device according to claim 7, which is characterized in that
The control module is also used to after receiving starting-up signal and first time motor message, is moved and is believed according to the first time
Number control manipulator executes corresponding operation.
9. the control system of robot device according to claim 8, which is characterized in that
The control system of the robot device further include: connect the timer of the control module；
The timer is used for the record when controlling the robot device and having executed corresponding operation and finishes the moment, and is receiving
The time interval between current time and the moment of finishing is obtained before to motor message next time；
The control module is also used to when the time interval is more than preset time, controls gear drive rotation the
Two predetermined angles.
10. the control system of robot device according to claim 7, which is characterized in that the manipulator includes multiple
The gear drive, each gear drive includes motor, and the detection module includes multiple and the electricity
The one-to-one angular transducer of machine, multiple angular transducers are connect with the control module respectively；
Multiple angular transducers for detecting multiple first engagement positions in the primary shutdown of the manipulator respectively
It sets, and multiple first positions of engagement is respectively converted into corresponding multiple first signals, be also used to receiving next time
The respective current of multiple gear drives corresponding with the stopping signal next time is detected when stopping signal respectively
The position of engagement；
The control module is used to calculate multiple gears according to stopping signal next time and multiple current positions of engagement
Corresponding second position of engagement of transmission mechanism；
The angular transducer is also used to multiple second positions of engagement being respectively converted into corresponding multiple second signals；
The control module be also used in second position of engagement for determining multiple second signals characterizations any one the
When two positions of engagement are identical as first position of engagement of corresponding first characterization, corresponding gear drive is controlled
Rotate the first predetermined angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104954.XA CN109760033B (en) | 2019-02-01 | 2019-02-01 | Manipulator device control method and control system |
| PCT/CN2019/121389 WO2020155822A1 (en) | 2019-02-01 | 2019-11-28 | Mechanical arm apparatus control method and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910104954.XA CN109760033B (en) | 2019-02-01 | 2019-02-01 | Manipulator device control method and control system |
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| CN109760033A true CN109760033A (en) | 2019-05-17 |
| CN109760033B CN109760033B (en) | 2020-08-14 |
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| WO (1) | WO2020155822A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155822A1 (en) * | 2019-02-01 | 2020-08-06 | 苏州小工匠机器人有限公司 | Mechanical arm apparatus control method and control system |
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| Publication number | Publication date |
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| CN109760033B (en) | 2020-08-14 |
| WO2020155822A1 (en) | 2020-08-06 |
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Address after: 215000 building 15, Luzhi Intelligent Manufacturing Industrial Park, No. 1, Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: 215000 5 / F, building 2, 33 linbu street, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. |