CN111381613A - Feeding compliance control system and method of automatic assembly system - Google Patents
Feeding compliance control system and method of automatic assembly system Download PDFInfo
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- CN111381613A CN111381613A CN202010215383.XA CN202010215383A CN111381613A CN 111381613 A CN111381613 A CN 111381613A CN 202010215383 A CN202010215383 A CN 202010215383A CN 111381613 A CN111381613 A CN 111381613A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The invention relates to a feeding compliance control system of an automatic assembly system, which is characterized in that: including controller, motor drive, feed motor, encoder, transmission lead screw, screw up the system, controller, motor drive, feed motor, transmission lead screw and screw up the system and connect gradually, the encoder is located on feeding the motor, encoder and motor drive connect. According to the control method, the touch detection of the assembling tool and the mounting bolt is increased, and the collision damage of the mounting tool and the thread of the bolt is avoided. The system of the invention can meet the pressure requirements of the feed shafts of different bolt tightening mounting systems by outputting the maximum torque through the configurable feed motor. The system of the invention adapts to the requirement of the feeding speed by adjusting the position increment value of the feeding motor of the feeding shaft.
Description
Technical Field
The invention relates to the field of automatic assembly control, in particular to a feeding compliance control system and a feeding compliance control method of an automatic assembly system.
Background
In batch bolt tightening assembly, manual assembly has many defects such as low efficiency and poor consistency, so automatic assembly is an inevitable technical development direction.
During the process of bolt tightening, the tightening tool is reliably contacted with the bolt and must maintain a certain pressure, namely the tightening tool needs to be pushed by the feed shaft and maintain a certain pressure, and the pressure maintenance adopts two methods, such as Chinese patent application No.: CN201820798139.9, application date: year 2018, month 5, day 28, with patent names: the invention discloses an automatic tightening machine for a hexagonal head bolt. Another method is to use a motor to drive and a spring to maintain the pressure of the feeding shaft, as in chinese patent application No.: CN201710992912.5, application date: year 2017, month 10, day 23, with patent names: the invention discloses a screw tightening device, which is characterized in that a feeding mechanism can drive a tightening mechanism to move back and forth along the axis direction of an output shaft of a tightening motor, and the feeding shaft is provided with a return spring to realize the pressure maintenance of the feeding shaft.
The first method needs to adopt an air source, the pressure of the feed shaft is difficult to adjust when different bolts are installed, and the second method has a complex feed shaft structure, and the pressure is difficult to adjust and maintain due to the fact that pressure control is achieved through a spring.
Disclosure of Invention
The invention aims to solve the technical problems that the feeding pressure is difficult to adjust, the structure of a feeding shaft is complex and the pressure is difficult to adjust and maintain in the bolt installation method in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: the invention provides a feeding compliance control system of an automatic assembly system, which has the innovation points that: including controller, motor drive, feed motor, encoder, transmission lead screw, screw up the system, controller, motor drive, feed motor, transmission lead screw and screw up the system and connect gradually, the encoder is located on feeding the motor, encoder and motor drive connect.
Further, the controller and the motor driver are connected by a field bus.
Further, the controller structure comprises an increment generator, a target position, a position regulator and a parameter configuration, wherein the increment generator is connected with the target position and used for generating the target position, the increment generator adjusts the target position according to the difference value between the target position and the encoder, the position regulator is connected with the target position and used for controlling the position of the feeding motor, and the parameter configuration is used for configuring the saturation value in the feeding motor driver.
Further, the position regulator is a proportional regulator, allowing deviation of the position control during feeding.
Further, the structure of the motor driver comprises a speed control, a saturation value and a current control, the position regulator is connected with the speed control and used for outputting to the speed control through a field bus, the speed control, the saturation value and the current control are sequentially connected, the saturation value is connected with a parameter configuration, the saturation value receiving controller receives a value transmitted by the field bus and performs size configuration through the parameter configuration, the saturation value receiving controller is used for limiting the output amplitude of the speed control, namely limiting the maximum value of the output torque of the feeding motor, and then the maximum value is output to the current control.
In order to solve the technical problems, the invention also provides a feeding compliance control method of the automatic assembly system, which has the innovation points that: the method comprises the following specific steps:
(1) let the increment generator increment by delta theta each time, and the maximum threshold value of each increment be delta thetamaxI.e. Delta theta ≦ Delta thetamaxTarget position is thetagoalEncoder value of θactThe sampling period of the controller is T, and the target position thetagoalIntegral calculation is carried out in each sampling period to control the feeding motor to rotate at the angular speed delta theta/T, and the maximum rotating speed delta theta ismax/T，ΔθmaxSelecting according to the maximum allowable feeding speed of an actual system; target position thetagoalThe calculation formula of the target position at each sampling period is:
θgoal＝θact+Δθ；
(2) during control, there are two operating conditions:
1) when the feed resisting moment is smaller than or equal to a saturation value, the angular speed of the feed motor is delta theta/T, and the actual output torque of the feed motor is the actual required torque;
2) when the feed resistance moment is larger than a saturation value, the feed angular speed of the feed motor is the actually required feed angular speed, and the output torque of the feed motor is a set saturation value;
(3) and (3) contact control:
1) selecting a value of rated torque of a feeding motor to configure a saturation value of a motor driver, wherein the selection principle is as follows: the minimum value that the feeding motor can push the screwing system to feed forwards is ensured;
at this time, the calculation formula of the target position is in the working condition 1) in the step (2);
2) selecting proper delta theta according to the selection principle that the value can avoid large impact generated when the bolt is contacted by a tightening system;
3) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
Has been contacted;
(4) tightening feed control:
1) configuring a feed motor driver saturation value by taking the guarantee of reliable contact between a screwing system and a bolt as a criterion, wherein at the moment, a calculation formula of a target position is in the working condition 2) in the step (2);
2) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
3) the feeding motor rotates to send a screwing signal to the screwing system;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
The tightening operation has been completed.
Furthermore, the judging method for judging the stop of the rotation of the feeding motor in the step (3) and the step (4) is that when the target position theta is reachedgoalAnd when the sampling periods are not changed, judging that the feeding motor stops rotating.
Further, the calculation formula of the target position in step (3) in the working condition 1) in step (2), the method for adjusting the angular speed of the feeding motor is as follows: at a maximum threshold value Δ θ less than each incrementmaxThe value of the setting Δ θ is adjusted within the range of (1).
Further, the calculation formula of the target position in step (4) in the operating condition 2) in step (2) is that: the saturation value is adjusted.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the feeding compliance control method of the automatic assembly system, the touch detection of the assembly tool and the mounting bolt is increased, and the collision damage of the mounting tool and the screw thread of the bolt is avoided.
(2) The feeding compliance control system of the automatic assembly system outputs the maximum torque through the configurable feeding motor, and meets the pressure requirements of feeding shafts of different bolt tightening installation systems.
(3) The feeding compliance control system of the automatic assembly system adapts to the requirement of the feeding speed by adjusting the position increment value of the feeding motor of the feeding shaft.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a system block diagram of a feeding compliance control system of an automated assembly system of the present invention.
FIG. 2 is a schematic diagram of a feeding compliance control method of an automatic assembly system according to the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described by the following detailed description.
The invention provides a feeding compliance control system of an automatic assembly system, which is shown in a specific schematic diagram of fig. 1 and comprises a controller, a motor driver, a feeding motor, an encoder, a transmission screw rod and a tightening system, wherein the controller, the motor driver, the feeding motor, the transmission screw rod and the tightening system are sequentially connected, the encoder is arranged on the feeding motor and connected with the motor driver, and the controller is connected with the motor driver through a field bus.
The controller of the present invention is configured as shown in fig. 2, and includes an increment generator connected to the target position for generating the target position, a target position adjusted by the increment generator according to a difference between the target position and the encoder, a position adjuster connected to the target position for position control of the feed motor, and a parameter configuration for configuring a saturation value in the feed motor driver. Wherein the position regulator is a proportional regulator, allowing deviation of the position control during feeding.
The structure of the motor driver of the invention is shown in fig. 2, and comprises a speed controller, a saturation value and a current controller, wherein the position regulator is connected with the speed controller and is used for outputting to the speed controller through a field bus, the speed controller, the saturation value and the current controller are sequentially connected, the saturation value is connected with a parameter configuration, the saturation value receiving controller receives a value transmitted by the field bus and performs size configuration through the parameter configuration, and the saturation value receiving controller is used for limiting the output amplitude of the speed controller, namely limiting the maximum value of the output torque of the feeding motor and outputting the maximum value to the current controller.
The invention also provides a feeding compliance control method of the automatic assembly system, which comprises the following specific steps:
(1) let the increment generator increment by delta theta each time, and the maximum threshold value of each increment be delta thetamaxI.e. Delta theta ≦ Delta thetamaxTarget position is thetagoalEncoder value of θactThe sampling period of the controller is T, and the target position thetagoalIntegral calculation is carried out in each sampling period to control the feeding motor to rotate at the angular speed delta theta/T, and the maximum rotating speed delta theta ismax/T，ΔθmaxSelecting according to the maximum allowable feeding speed of an actual system; target position thetagoalThe calculation formula of the target position at each sampling period is:
θgoal＝θact+Δθ；
(2) during control, there are two operating conditions:
1) when the feed resisting moment is smaller than or equal to a saturation value, the angular speed of the feed motor is delta theta/T, and the actual output torque of the feed motor is the actual required torque;
2) when the feed resistance moment is larger than a saturation value, the feed angular speed of the feed motor is the actually required feed angular speed, and the output torque of the feed motor is a set saturation value;
(3) and (3) contact control:
1) selecting a value of rated torque of a feeding motor to configure a saturation value of a motor driver, wherein the selection principle is as follows: the minimum value that the feeding motor can push the screwing system to feed forwards is ensured; at this time, the calculation formula of the target position is in the working condition 1) in the step (2), the present invention selects 20% of the rated torque of the feeding motor, and the method of adjusting the angular speed of the feeding motor at this time is: at a maximum threshold value Δ θ less than each incrementmaxAdjusting the value of the setting delta theta within the range of (1);
2) selecting proper delta theta according to the selection principle that the value can avoid large impact generated when the bolt is contacted by a tightening system;
3) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
Has been contacted;
(4) tightening feed control:
1) configuring a feed motor driver saturation value by taking the guarantee of reliable contact between a tightening system and a bolt as a criterion, wherein the calculation formula of the target position is in the working condition 2) in the step (2), and the method for adjusting the output torque of the feed motor comprises the following steps: adjusting a saturation value;
2) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
3) the feeding motor rotates to send a screwing signal to the screwing system;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
The tightening operation has been completed.
The judging method for judging the stop rotation of the feeding motor in the step (3) and the step (4) of the feeding compliance control method of the automatic assembly system comprises the step of judging the stop rotation of the feeding motor when the target position theta is positionedgoalAnd when the sampling periods are not changed, judging that the feeding motor stops rotating.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.
Claims (9)
1. A feeding compliance control system of an automatic assembly system, characterized in that: including controller, motor drive, feed motor, encoder, transmission lead screw, screw up the system, controller, motor drive, feed motor, transmission lead screw and screw up the system and connect gradually, the encoder is located on feeding the motor, encoder and motor drive connect.
2. The feed compliance control system of an automated assembly system of claim 1, wherein: the controller and the motor driver are connected through a field bus.
3. The feed compliance control system of an automated assembly system of claim 1, wherein: the controller structurally comprises an increment generator, a target position, a position regulator and a parameter configuration, wherein the increment generator is connected with the target position and used for generating the target position, the increment generator adjusts the target position according to the difference value of the target position and an encoder, the position regulator is connected with the target position and used for controlling the position of the feeding motor, and the parameter configuration is used for configuring the saturation value in a driver of the feeding motor.
4. The feed compliance control system of an automated assembly system of claim 3, wherein: the position regulator is a proportional regulator, allowing the position control to be biased during feeding.
5. The feed compliance control system of an automated assembly system of claim 3, wherein: the motor driver structurally comprises a speed controller, a saturation value and a current controller, wherein the position regulator is connected with the speed controller and used for outputting the speed controller through a field bus, the speed controller, the saturation value and the current controller are sequentially connected, the saturation value is connected with a parameter configuration, the saturation value receiving controller receives a value transmitted by the field bus and performs size configuration through the parameter configuration, the saturation value receiving controller is used for limiting the output amplitude of the speed controller, namely limiting the maximum value of the output torque of the feeding motor, and then the maximum value is output to the current controller.
6. A feeding compliance control method of an automatic assembly system is characterized in that: the method comprises the following specific steps:
(1) let the increment generator increment by delta theta each time, and the maximum threshold value of each increment be delta thetamaxI.e. Delta theta ≦ Delta thetamaxTarget position is thetagoalEncoder value of θactThe sampling period of the controller is T, and the target position thetagoalIntegral calculation is carried out in each sampling period to control the feeding motor to rotate at the angular speed delta theta/T, and the maximum rotating speed delta theta ismax/T，ΔθmaxSelecting according to the maximum allowable feeding speed of an actual system; target position thetagoalThe calculation formula of the target position at each sampling period is:
θgoal＝θact+Δθ；
(2) during control, there are two operating conditions:
1) when the feed resisting moment is smaller than or equal to a saturation value, the angular speed of the feed motor is delta theta/T, and the actual output torque of the feed motor is the actual required torque;
2) when the feed resistance moment is larger than a saturation value, the feed angular speed of the feed motor is the actually required feed angular speed, and the output torque of the feed motor is a set saturation value;
(3) and (3) contact control:
1) selecting a value of rated torque of a feeding motor to configure a saturation value of a motor driver, wherein the selection principle is as follows: the minimum value that the feeding motor can push the screwing system to feed forwards is ensured; at this time, the calculation formula of the target position is in the working condition 1) in the step (2);
2) selecting proper delta theta according to the selection principle that the value can avoid large impact generated when the bolt is contacted by a tightening system;
3) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
Has been contacted;
(4) tightening feed control:
1) configuring a feed motor driver saturation value on the basis of ensuring reliable contact between a tightening system and a bolt, wherein the working condition of the calculation formula of the target position in the step (2)
2) Performing the following steps;
2) calculating a target position theta by a sampling period calculation formulagoalAnd according to the target position thetagoalControlling the feed motor to rotate;
3) the feeding motor rotates to send a screwing signal to the screwing system;
4) judging whether the feeding motor stops rotating or not, and judging whether the bolt to be assembled and the threaded hole stop rotating or not
The tightening operation has been completed.
7. The feed compliance control method of an automatic assembly system according to claim 6, wherein: the judging method for judging the stop of the rotation of the feed motor in the step (3) and the step (4) is that when the target position theta is reachedgoalAnd when the sampling periods are not changed, judging that the feeding motor stops rotating.
8. The feed compliance control method of an automatic assembly system according to claim 6, wherein: in the step (3), when the working condition 1) in the step (2) is the calculation formula of the target position, the method for adjusting the angular speed of the feeding motor comprises the following steps: at a maximum threshold value Δ θ less than each incrementmaxThe value of the setting Δ θ is adjusted within the range of (1).
9. The feed compliance control method of an automatic assembly system according to claim 6, wherein: the calculation formula of the target position in the step (4) is that in the working condition 2) in the step (2), the method for adjusting the output torque of the feeding motor comprises the following steps: the saturation value is adjusted.
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| CN202010215383.XA CN111381613B (en) | 2020-03-24 | 2020-03-24 | Feeding compliance control system and method of automatic assembly system |
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| CN202010215383.XA CN111381613B (en) | 2020-03-24 | 2020-03-24 | Feeding compliance control system and method of automatic assembly system |
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| CN111381613B CN111381613B (en) | 2022-12-13 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201900339U (en) * | 2010-12-07 | 2011-07-20 | 常州工学院 | Control system of numerical control hobber |
| CN107598550A (en) * | 2017-10-23 | 2018-01-19 | 科快智能科技（上海）有限公司 | A kind of screw-driving apparatus |
| CN108788705A (en) * | 2018-06-11 | 2018-11-13 | 无锡智动力机器人有限公司 | A kind of the turn of the screw robot that torque is controllable |
| CN208246679U (en) * | 2018-05-28 | 2018-12-18 | 张亚平 | Hexagon-headed bolt automatic screwing device |
| CN110103171A (en) * | 2019-04-15 | 2019-08-09 | 无锡智动力机器人有限公司 | A method of the control fastening torque of bolt based on impedance control principle |
-
2020
- 2020-03-24 CN CN202010215383.XA patent/CN111381613B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201900339U (en) * | 2010-12-07 | 2011-07-20 | 常州工学院 | Control system of numerical control hobber |
| CN107598550A (en) * | 2017-10-23 | 2018-01-19 | 科快智能科技（上海）有限公司 | A kind of screw-driving apparatus |
| CN208246679U (en) * | 2018-05-28 | 2018-12-18 | 张亚平 | Hexagon-headed bolt automatic screwing device |
| CN108788705A (en) * | 2018-06-11 | 2018-11-13 | 无锡智动力机器人有限公司 | A kind of the turn of the screw robot that torque is controllable |
| CN110103171A (en) * | 2019-04-15 | 2019-08-09 | 无锡智动力机器人有限公司 | A method of the control fastening torque of bolt based on impedance control principle |
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