CN109986557A - Industrial robot flexibility method of servo-controlling - Google Patents
Industrial robot flexibility method of servo-controlling Download PDFInfo
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- CN109986557A CN109986557A CN201910131762.8A CN201910131762A CN109986557A CN 109986557 A CN109986557 A CN 109986557A CN 201910131762 A CN201910131762 A CN 201910131762A CN 109986557 A CN109986557 A CN 109986557A
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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
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Abstract
The present invention relates to industrial robot field of intelligent control technology, and disclose industrial robot flexibility method of servo-controlling, specific step is as follows: step 1: determining robot freedom degree, step 2: robot working space is determined, step 3: it determines the operating rate of robot, step 4: determining robot service load.The industrial robot flexibility method of servo-controlling, enables to industrial robot to reach the high-precision and rapidity requirement of tracking, while making robot control system relatively easyization, reduces manufacturing cost.
Description
Technical field
The present invention relates to industrial robot field of intelligent control technology, specially industrial robot flexibility SERVO CONTROL side
Method.
Background technique
In recent years, the application field of being gradually increased with industrial automatization, industrial robot is electric from automobile, electronics
The industries such as device, machinery constantly develop to other application field, become a part indispensable in many industrial occasions.Tradition
Industrial robot control establish on the basis of position control, i.e., control robot go to track a certain scheduled track.In this way
Control model method can allow the robot to be competent at most track following task, but for more and more applying
The small ranges high-precision job task such as the assembly of scene, especially close tolerance and workpiece finishing, due to workpiece installation site etc. one
Serial uncertain factor, position control would become hard to be competent at.Therefore, application flexibility and response sensibility of the modern industry to robot
Propose requirements at the higher level.Presently, there are many methods come by installation external sensor, such as force snesor or vision system
The contact condition of supervisory-controlled robot and external environment, while modifying small locational uncertainty deviation constantly to realize small range
High-precision operation.
These current control methods, although it is relatively good to make robot that can obtain in a wide range of long distance work
Application effect, but there are the deficiencies of following several respects: 1) in order to reach the high-precision and rapidity requirement of tracking, often needing
Servo-control system is wanted to have very strong rigidity, i.e., otherwise relatively high closed loop feedback gain will will appear bigger tracking and miss
Difference and operating lag, but the servo-control system of this high rigidity complies with the poor ability of external environment.2) additional biography
Sensor and control software package inevitably cause the higher complexity of robot control system, more expensive manufacture at
This, even lower payload, the design concept significant departure of this and the small loading robotics people of low cost.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, have the present invention provides industrial robot flexibility method of servo-controlling and enable to
Industrial robot reaches the high-precision and rapidity requirement of tracking, while making robot control system relatively easyization, reduces
The advantages of manufacturing cost, solves existing industrial robot in order to reach the high-precision and rapidity requirement of tracking, often
Servo-control system is needed to have very strong rigidity, i.e., otherwise relatively high closed loop feedback gain will will appear bigger tracking
Error and operating lag, but the servo-control system of this high rigidity complies with the poor ability of external environment and additional
Sensor and control software package inevitably cause the higher complexity of robot control system, more expensive manufacture at
This, the problem of even lower payload, this design concept significant departure with the small loading robotics people of low cost.
(2) technical solution
In order to achieve the above object, the invention provides the following technical scheme: industrial robot flexibility method of servo-controlling, tool
Steps are as follows for body:
Step 1: determine that robot freedom degree, robot freedom degree are the scales for indicating robot motion flexibility, generally
It is indicated with the straight line of axis, swing or the number of spinning movement, hand motion is not included, and the freedom degree of robot is to protect
The moving function of robot is demonstrate,proved, structure is more complicated, and the requirement to robot is higher；
Step 2: determining robot working space, and the working space of robot refers to what robot arm can reach
The working space of area of space, robot is determined that robot freedom degree is higher, then machine by the freedom degree of the robot of step 1
The working space of people is bigger, is determining that robot working space mainly has two o'clock, first is that the range of robot arm, second is that
The minimum stroke of robot arm；
Step 3: determining the operating rate of robot, had determined that in step 2 robot arm range and
The minimum stroke of robot arm, then when in use between register instrument write down robot arm and complete range and minimum
Time used when stroke；
Step 4: determining robot service load, the ultimate load that the mechanical arm of robot is able to bear, robot
Then arm quality and the workpiece quality of crawl determine the torque and the moment of inertia of robot arm.
Preferably, in the above step 1, the industrial robot generally comprises 4-6 freedom degree, determines robot
Arm self-movement comprising elevating movement, stretching motion and rotational motion.
Preferably, in above-mentioned steps three, the robot arm is in the minimum for completing range and robot arm
When stroke, including the accelerator of robot arm, at the uniform velocity process and moderating process, then determine that robot arm exists again
Complete the time required for range and the minimum stroke of robot arm.
Preferably, in step 4, industrial robot used at present, the ultimate load born is 9KN.
Preferably, the robot is generally made of four fuselage, arm, wrist and hand parts, is calculated herein most
It is on the basis of robot arms when big stroke and minimum stroke.
Preferably, the arm movement of the robot further include include vertically moving, move radially and turning round movement, it is described
The Wrist-sport of robot includes wrist flex, wrist rotation and wrist side-sway.
Preferably, quality inductor is provided on the robot arm.
(3) beneficial effect
Compared with prior art, the present invention provides industrial robot flexibility method of servo-controlling, have following beneficial to effect
Fruit:
1, the industrial robot flexibility method of servo-controlling, passes through step 1: determining robot freedom degree, gives robot 6
A freedom degree can determine the higher working performance of robot, pass through step 2: determine robot working space, can calculate
Robot motion's range and minimum stroke out, pass through step 3: the operating rate of robot are determined, by writing down robot
The arm time used when completing range and minimum stroke, it then will use robot motion's range and minimum stroke
Respectively and run duration, the operating rate of robot is calculated by calculation formula, passes through step 4: determining that robot work carries
Lotus, the ultimate load that the mechanical arm of robot is able to bear, the arm quality of robot and the workpiece quality of crawl, then
The torque and the moment of inertia of robot arm are calculated by relevant calculation formula again.
Specific embodiment
Below in conjunction with the embodiment in the present invention, technical solution in the embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Industrial robot flexibility method of servo-controlling, the specific steps are as follows:
Step 1: determine that robot freedom degree, robot freedom degree are the scales for indicating robot motion flexibility, generally
It is indicated with the straight line of axis, swing or the number of spinning movement, hand motion is not included, and the freedom degree of robot is to protect
The moving function of robot is demonstrate,proved, structure is more complicated, and the requirement to robot is higher；
Step 2: determining robot working space, and the working space of robot refers to what robot arm can reach
The working space of area of space, robot is determined that robot freedom degree is higher, then machine by the freedom degree of the robot of step 1
The working space of people is bigger, is determining that robot working space mainly has two o'clock, first is that the range of robot arm, second is that
The minimum stroke of robot arm；
Step 3: determining the operating rate of robot, had determined that in step 2 robot arm range and
The minimum stroke of robot arm, then when in use between register instrument write down robot arm and complete range and minimum
Time used when stroke；
Step 4: determining robot service load, the ultimate load that the mechanical arm of robot is able to bear, robot
Then arm quality and the workpiece quality of crawl determine the torque and the moment of inertia of robot arm.
In the above step 1, industrial robot generally comprises 4-6 freedom degree, determines that the arm of robot is independently transported
It is dynamic comprising elevating movement, stretching motion and rotational motion.
In above-mentioned steps three, robot arm when completing the minimum stroke of range and robot arm, wherein
Then accelerator, at the uniform velocity process and moderating process including robot arm determine that robot arm completes maximum row again
Time required for journey and the minimum stroke of robot arm.
In step 4, industrial robot used at present, the ultimate load born is 9KN.
Robot is generally made of four fuselage, arm, wrist and hand parts, calculates range and minimum herein
It is on the basis of robot arms when stroke.
The arm movement of robot further include include vertically moving, move radially and turning round movement, the wrist of robot fortune
Dynamic includes wrist flex, wrist rotation and wrist side-sway.
Quality inductor is provided on robot arm.
In conclusion the industrial robot flexibility method of servo-controlling, passes through step 1: determining robot freedom degree, give
6 freedom degrees of robot, can determine the higher working performance of robot, pass through step 2: determine robot working space, energy
Robot motion's range and minimum stroke are enough calculated, step 3 is passed through: the operating rate of robot is determined, by writing down
Robot arm completes range and time used when minimum stroke, then will with robot motion's range and most
Small stroke respectively and run duration, the operating rate of robot is calculated by calculation formula, passes through step 4: determining robot
Service load, the ultimate load that the mechanical arm of robot is able to bear, the arm quality of robot and the workpiece matter of crawl
Amount, then calculates the torque and the moment of inertia of robot arm by relevant calculation formula again.
It should be noted that term " includes " or any other variant thereof is intended to cover non-exclusive inclusion, thus
So that the process, method, article or equipment for including a series of elements not only includes those elements, but also including not clear
The other element listed, or further include for elements inherent to such a process, method, article, or device.Do not having more
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that including process, the side of the element
There is also other identical elements in method, article or equipment.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. industrial robot flexibility method of servo-controlling, it is characterised in that: specific step is as follows:
Step 1: robot freedom degree is determined, robot freedom degree is the scale for indicating robot motion flexibility, generally with axis
Straight line, swing or the number of spinning movement indicate that hand motion is not included, the freedom degree of robot is guarantee machine
The moving function of device people, structure is more complicated, and the requirement to robot is higher；
Step 2: determining robot working space, and the working space of robot refers to the space that robot arm can reach
The working space in region, robot determines that robot freedom degree is higher by the freedom degree of the robot of step 1, then robot
Working space is bigger, is determining that robot working space mainly has two o'clock, first is that the range of robot arm, second is that machine
The minimum stroke of human arm；
Step 3: determining the operating rate of robot, and the range and machine of robot arm are had determined that in step 2
The minimum stroke of human arm, then when in use between register instrument write down robot arm and complete range and minimum stroke
The time of Shi Suoyong；
Step 4: robot service load, the ultimate load that the mechanical arm of robot is able to bear, the arm of robot are determined
Then quality and the workpiece quality of crawl determine the torque and the moment of inertia of robot arm.
2. industrial robot flexibility method of servo-controlling according to claim 1, it is characterised in that: in above-mentioned steps one
In, the industrial robot generally comprises 4-6 freedom degree, determines the arm self-movement of robot comprising elevating movement,
Stretching motion and rotational motion.
3. industrial robot flexibility method of servo-controlling according to claim 1, it is characterised in that: in above-mentioned steps three
In, the robot arm is when completing the minimum stroke of range and robot arm, including robot arm
Then accelerator, at the uniform velocity process and moderating process determine that robot arm completes range and robot arm again
Time required for minimum stroke.
4. industrial robot flexibility method of servo-controlling according to claim 1, it is characterised in that: in step 4, mesh
The preceding industrial robot used, the ultimate load born are 9KN.
5. industrial robot flexibility method of servo-controlling according to claim 1, it is characterised in that: the robot is general
It is made of four fuselage, arm, wrist and hand parts, is with robots arm when calculating range and minimum stroke herein
On the basis of portion.
6. industrial robot flexibility method of servo-controlling according to claim 5, it is characterised in that: the arm of the robot
Portion movement further include include vertically moving, move radially and turning round movement, the Wrist-sport of the robot include wrist flex,
Wrist rotation and wrist side-sway.
7. industrial robot flexibility method of servo-controlling according to claim 1, it is characterised in that: the robot arm
On be provided with quality inductor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910131762.8A CN109986557A (en) | 2019-02-22 | 2019-02-22 | Industrial robot flexibility method of servo-controlling |
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| CN201910131762.8A CN109986557A (en) | 2019-02-22 | 2019-02-22 | Industrial robot flexibility method of servo-controlling |
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| CN109986557A true CN109986557A (en) | 2019-07-09 |
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| CN201910131762.8A Pending CN109986557A (en) | 2019-02-22 | 2019-02-22 | Industrial robot flexibility method of servo-controlling |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098310A (en) * | 2020-01-07 | 2020-05-05 | 江苏工程职业技术学院 | Control method and control system of flexible cooperative robot |
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| US20190030713A1 (en) * | 2014-10-02 | 2019-01-31 | Brain Corporation | Persistent predictor apparatus and methods for task switching |
| CN109291076A (en) * | 2018-08-10 | 2019-02-01 | 江苏理工学院 | A kind of punching press pick-and-place material wu-zhi-shan pig device |
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Patent Citations (5)
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|---|---|---|---|---|
| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
| US20190030713A1 (en) * | 2014-10-02 | 2019-01-31 | Brain Corporation | Persistent predictor apparatus and methods for task switching |
| CN206230514U (en) * | 2016-10-17 | 2017-06-09 | Asm技术新加坡有限公司 | A kind of industrial robot of view-based access control model servo |
| CN108453741A (en) * | 2018-04-13 | 2018-08-28 | 珞石（山东）智能科技有限公司 | A kind of industrial robot flexibility method of servo-controlling |
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| CN111098310A (en) * | 2020-01-07 | 2020-05-05 | 江苏工程职业技术学院 | Control method and control system of flexible cooperative robot |
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Application publication date: 20190709 |