CN112338960A - Manipulator device and control method thereof - Google Patents
Manipulator device and control method thereof Download PDFInfo
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- CN112338960A CN112338960A CN202011356688.9A CN202011356688A CN112338960A CN 112338960 A CN112338960 A CN 112338960A CN 202011356688 A CN202011356688 A CN 202011356688A CN 112338960 A CN112338960 A CN 112338960A
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- manipulator
- push rod
- motor
- rod
- movable rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator device and a control method thereof, wherein the manipulator device comprises a manipulator unit and a damping unit, the manipulator unit comprises a manipulator motor, a base and a manipulator body arranged on the base, and the damping unit comprises a fixed rod, a push rod, a movable rod and a push rod motor arranged on the push rod; one end of the fixed rod is connected to the base or the workbench, one end of the push rod is movably connected to the other end of the fixed rod, the movable rod is connected to the push rod, the push rod motor controls the movable rod to stretch and retract along the length direction of the push rod, and one end, far away from the fixed rod, of the movable rod is movably connected to the manipulator body; the manipulator device also comprises a controller, and the controller is in communication connection with the push rod motor and the manipulator motor respectively so as to control the movable rod and the manipulator body to move synchronously. According to the manipulator device disclosed by the invention, the damping unit and the manipulator unit can keep a relatively stable structure, so that the vibration generated in the operation process of the manipulator body is effectively absorbed, and the use experience of a user is improved.
Description
Technical Field
The invention relates to the field of manipulator equipment, in particular to a manipulator device and a control method thereof.
Background
At present, the manufacture of the mechanical arm is widely applied to industrial production, the labor cost can be saved, workers can be replaced to work in a dangerous environment, and the production efficiency is improved. In the operation process of the manipulator, the problem of shaking is caused due to poor matching between the driver and the motor, uneven meshing between gears and the like, and the use experience of a user is influenced.
There are two damping schemes for manipulators in the prior art. The other is a spring damping scheme, a manipulator is fixed on a base provided with a spring, and an extension spring is fixed on the inner side of the manipulator. The vibration of the tail end shaft of the manipulator is reduced by utilizing the elastic deformation of the spring, so that the manipulator realizes the anti-vibration effect. However, the manipulator is fixed on the base with the spring, and the resonance phenomenon generated by the manipulator and the spring on the base in the operation process is not considered, so that the whole manipulator shakes more obviously in the movement process. Meanwhile, the tensile force of the extension spring connected with the inner side of the manipulator can change along with the deformation of the spring, and the constant tensile force can not be ensured to be connected with the manipulator.
The other is a telescopic guide rod scheme, a guide rod is connected to the inner side of the manipulator, and the guide rod is connected with two arms of the manipulator through two rotatable rotating balls. One end of the guide rod connected with the large arm is fixed on the rotating ball and is not telescopic; one end of the guide rod connected with the small arm is contacted with the rotating ball through the ball and can freely stretch out and draw back. Utilize the guide arm to improve the holistic stability of manipulator, reach the absorbing purpose. However, since the ball of the arm of the robot contacts the guide rod through the ball, the friction between the ball and the guide rod is small, and the connection between the guide rod and the arm ball is unstable. When the manipulator shakes, the guide rod can slide back and forth on the ball with a small amplitude, and the effect of absorbing the shake is not obvious.
Therefore, the two prior art schemes have defects and cannot realize good damping effect.
Therefore, it is necessary to design an anti-shake, shock-absorbing robot arm that has good stability during operation.
Disclosure of Invention
The invention aims to provide an anti-shaking manipulator device.
In order to achieve the above object, an embodiment of the present invention provides a manipulator device, which is installed on a workbench, and includes a manipulator unit and a damping unit, wherein the manipulator unit includes a manipulator motor, a base and a manipulator body disposed on the base, and the damping unit includes a fixed rod, a push rod, a movable rod and a push rod motor disposed on the push rod; one end of the fixed rod is connected to the base or the workbench, one end of the push rod is movably connected to the other end of the fixed rod, the movable rod is connected to the push rod, the push rod motor controls the movable rod to stretch along the length direction of the push rod, and one end of the movable rod, which is far away from the fixed rod, is movably connected to the manipulator body; the manipulator device further comprises a controller, and the controller is in communication connection with the push rod motor and the manipulator motor respectively so as to control the movable rod and the manipulator body to move synchronously.
As a further improvement of the present invention, the manipulator body includes a transmission element and an end element connected to the transmission element, the transmission element is in transmission connection with the manipulator motor, the end element is used for connecting the gripper, and the movable rod is movably connected to the end element.
As a further improvement of the present invention, the movable rod is partially disposed in the push rod, a telescopic transmission member drivingly connected to the movable rod is disposed in the push rod, and an output shaft of the push rod motor drives the telescopic transmission member to drive the movable rod to extend and retract along a length direction of the push rod.
As a further improvement of the present invention, the fixing rod is vertically arranged, and the height of the fixing rod is higher than the highest point of the motion trajectory of the manipulator body.
As a further improvement of the invention, the manipulator body comprises a transmission element and an end element connected with the transmission element, the transmission element is in transmission connection with the manipulator motor, and the end element is used for connecting the gripper; the manipulator device is provided with a plurality of damping units, and movable rods of the damping units are arranged at intervals along the circumferential direction of a rotating shaft of the tail end element.
As a further improvement of the invention, the push rod is movably connected with the fixed rod through a first universal joint
As a further improvement of the invention, the movable rod is movably connected with the manipulator body through a second universal joint
In another aspect, an embodiment of the present invention discloses a method for controlling a robot apparatus, including: calculating the rotation stroke of the push rod motor according to the tail end position of the manipulator body; and simultaneously operating the manipulator motor and the push rod motor to enable the movable rod and the manipulator body to move synchronously.
As a further improvement of the present invention, the "calculating the rotation stroke of the pusher motor according to the end position of the robot body" specifically includes: calculating a motion trail of the manipulator body according to the tail end position of the manipulator body, wherein the motion trail comprises continuous multi-section motion paths; calculating the telescopic path of the movable rod under each section of the motion path according to the motion path of the manipulator body and the initial length of the movable rod to form the telescopic path of the movable rod; calculating the rotation stroke of the push rod motor according to the telescopic path of the movable rod
As a further improvement of the present invention, the "simultaneously operating the robot motor and the push rod motor to move the movable rod and the robot body synchronously" specifically includes: simultaneously operating the manipulator motor and the push rod motor; adjusting the telescopic speed of the movable rod to be matched with the movement speed of the manipulator body so as to enable the movable rod and the manipulator body to move synchronously
Compared with the prior art, the manipulator device disclosed by the invention has the advantages that the controller is respectively in communication connection with the push rod motor and the manipulator motor by arranging the fixed rod, the movable push rod and the telescopic movable rod, so that the push rod and the movable rod can move along with the manipulator, a relatively stable structure can be kept by the damping unit and the manipulator unit, the vibration generated in the operation process of the manipulator body is effectively absorbed, and the use experience of a user is improved. The manipulator device of the invention can not add extra resistance to the manipulator unit and ensure the stable operation of the manipulator unit.
Drawings
Fig. 1 is a schematic structural view of a robot apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method of controlling a robot according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for controlling a robot according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
It will be understood that terms used herein such as "upper," "above," "lower," "below," and the like, refer to relative positions in space and are used for convenience in description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
As shown in fig. 1 to 3, an embodiment of the present invention discloses a robot apparatus. The manipulator device 1 is installed on a workbench, and the workbench can be a fixed structure for placing parts or jigs on a production line or a production line. The robot apparatus includes a robot unit 100 and a damping unit 200, and the robot unit 100 includes a robot motor 110, a base 120, and a robot body 130 disposed on the base 110. The damping unit 200 includes a fixing rod 210, a push rod 220, a movable rod 230, and a push rod motor 240 disposed on the push rod 220. One end of the fixed bar 210 is connected to the base 120 or the workbench, one end of the push rod 240 is movably connected to the other end of the fixed bar 210, the movable bar 230 is connected to the push rod 220, the push rod motor 240 controls the movable bar 230 to extend and retract along the length direction of the push rod 220, and one end of the movable bar 230, which is far away from the fixed bar 210, is movably connected to the manipulator body 130. In general, the robot device 1 may be used alone or may be used in a production line or a production line after being mounted on a table. The base 120 of the robot device 1 is fixed, and the robot body 130 is movable in various directions in response to the driving of the robot motor 120. When the robot apparatus 1 is used alone, as in the embodiment of the present invention, the fixing lever 210 may be fixed to the base 110. This can ensure that the fixing lever 210 is always in a fixed state during the movement of the manipulator body 130. The securing lever may also be mounted on the work bench when the manipulator apparatus is used on a production line or a production line after being mounted on the work bench.
The manipulator device 1 further includes a controller, and the controller is in communication connection with the push rod motor 240 and the manipulator motor 110, respectively, to control the movable rod 230 and the manipulator body 130 to move synchronously. The robot device 1 is generally provided with a plurality of robot motors 110. The controller is in communication with each of the plurality of robot motors 110.
According to the manipulator device disclosed by the invention, the fixed fixing rod 210, the movable push rod 220 and the telescopic movable rod 230 are arranged, and the controller is respectively in communication connection with the push rod motor 240 and the manipulator motor 120, so that the push rod 220 and the movable rod 230 can move along with the manipulator body, a relatively stable structure can be kept by the damping unit 200 and the manipulator unit 100, the vibration generated in the operation process of the manipulator body 130 is effectively absorbed, and the use experience of a user is improved. The manipulator device of the invention can not add extra resistance to the manipulator unit and ensure the stable operation of the manipulator unit.
Further, the manipulator body 130 comprises a transmission element 131 and an end element 132 connected with the transmission element 131, the transmission element 131 is in transmission connection with the manipulator motor 110, the end element 132 is used for connecting a gripper, and the movable rod 230 is movably connected with the end element 132. Specifically, the robot unit 100 may suffer from chatter caused by poor matching between the driver and the motor, uneven engagement between gears, etc. during operation, and the chatter may eventually accumulate on the end member 132 of the robot body 130. When the robot body 130 moves to the end position, the telescopic movement of the movable rod 230 is also completed. At this time, the end element 132 of the robot body 130 may shake, so that the movable rod 230 passively extends and retracts, but the push rod motor 240 does not rotate. The push rod motor 240 according to the embodiment of the present invention is a servo motor, and according to the characteristics of the servo motor, the push rod motor 240 gives a reverse force to the movable rod 230 to prevent the movable rod 230 from extending and contracting, thereby preventing the tip member 132 of the robot body 130 from shaking. Therefore, the movable rod 230 is movably connected to the end member 132, and the vibration-damping and anti-shaking effects of the robot apparatus are best.
Preferably, the movable rod 230 is partially disposed in the push rod 220, a telescopic transmission member in transmission connection with the movable rod 230 is disposed in the push rod 220, and an output shaft of the push rod motor 240 drives the telescopic transmission member to drive the movable rod 230 to extend and retract along the length direction of the push rod 220. Therefore, the driving force of the push rod motor 240 can be transmitted to the movable rod 230 by using a telescopic transmission member, so that the movable rod 230 can be extended and retracted. In another embodiment, a guide rail may be provided on the push rod, and the push rod motor may extend and contract by driving the movable rod to move along the guide rail.
As shown in fig. 1, the fixing bar 210 is vertically arranged, and the height of the fixing bar 210 is higher than the highest point of the movement track of the manipulator body 130. Therefore, the push rod 220 and the movable rod 230 are always arranged obliquely downwards from the fixed rod 210 to the manipulator body 130, so that the manipulator body 130 below the push rod 220 can be avoided, that is, when the push rod 220 and the movable rod 230 move or stretch along with the movement of the manipulator body 130, the push rod 220 and the movable rod 230 do not hinder the normal movement track of the manipulator body 130.
Further, the robot device 1 is provided with a plurality of damper units 200, and the movable rods 230 of the plurality of damper units are provided at intervals in the circumferential direction of the rotation axis of the tip member 132. Providing a plurality of damping units 200 can eliminate the shaking of the robot body 130 in a plurality of directions. Whereas in the manipulator apparatus 1 the position where the elimination of the jitter is most required is around the rotation axis of the end element 132. Therefore, the plurality of movable rods 130 are provided at intervals in the circumferential direction of the rotation axis of the tip member 132, and thus play a good role in eliminating the wobbling of the rotation axis of the tip member 132.
Further, the push rod 220 is movably connected with the fixing rod 210 through a first universal joint 211.
The movable rod 230 is movably connected to the manipulator body 130 by a second universal joint 231.
In another embodiment of the present invention, there is also disclosed a method for controlling a robot apparatus, the method including the steps of:
and S100, calculating the rotation stroke of the push rod motor according to the tail end position of the manipulator body.
Specifically, in the initial position of the robot body 130, the end position of the robot body 130 and the length of the movable lever 230 are known. The controller may calculate the rotation stroke of the push rod motor 240 according to the end position of the manipulator body 130, so as to calculate the length, the number of times and the sequence of the movable rod 230 that needs to be extended or shortened, that is, the telescopic track of the movable rod 230, and then obtain the direction, the angle and the number of times that the push rod motor 240 needs to rotate, that is, the rotation stroke of the push rod motor 240.
And S200, operating the manipulator motor and the push rod motor simultaneously so as to enable the movable rod and the manipulator body to move synchronously.
At this time, the controller controls the robot motor 110 and the pusher motor 240 to simultaneously operate so that the movable bar 230 and the robot body 130 move in synchronization. That is, when the robot body 130 moves in various directions under a predetermined movement trajectory, the movable rod 230 can perform corresponding telescopic operations according to the movement trajectory of the robot body 130 at the same time, so that both can move in synchronization. When the robot body 130 moves to the end position, the telescopic movement of the movable rod 230 is also completed. At this time, the end element 132 of the robot body 130 may shake, so that the movable rod 230 passively extends and retracts, but the push rod motor 240 does not rotate. The push rod motor 240 according to the embodiment of the present invention is a servo motor, and according to the characteristics of the servo motor, the push rod motor 240 gives a reverse force to the movable rod 230 to prevent the movable rod 230 from extending and contracting, thereby preventing the tip member 132 of the robot body 130 from shaking.
Further, step S100 specifically includes:
and S110, calculating a motion track of the manipulator body according to the tail end position of the manipulator body, wherein the motion track comprises continuous multi-section motion paths.
In fact, the initial position and the end position of the robot body 130 are known, and the controller may calculate the movement trace of the robot body 130 from the initial position to the end position according to the end position of the robot body 130. Because the robot body 130 may have a motion in multiple directions, the motion profile includes a continuous multi-segment motion path.
And S120, calculating the telescopic path of the movable rod under each section of the motion path according to the motion path of the manipulator body and the initial length of the movable rod to form the telescopic path of the movable rod.
As described above, since the initial length of the movable rod 230 is also known, when the movement path of the robot body 130 is calculated, the telescopic path of the movable rod 230 can be calculated for each movement path of the robot body 130, and the plurality of telescopic paths together form the total telescopic path of the movable rod 230.
And S130, calculating the rotation stroke of the push rod motor according to the telescopic path of the movable rod.
After the telescopic track of the movable rod 230 is obtained, the direction, angle and number of times that the push rod motor 240 needs to rotate, that is, the rotation stroke of the push rod motor 240, can be calculated.
Further, step S200 specifically includes:
and S210, operating the manipulator motor and the push rod motor simultaneously.
Specifically, there may be a plurality of robot motors 110, and the simultaneous operation here may be that one of the robot motors 110 and the push rod motor 240 operate simultaneously, or that a plurality of robot motors 110 and the push rod motor 240 operate simultaneously, and specifically may be flexibly executed according to the motion trajectory of the robot body 130.
S220, adjusting the telescopic speed of the movable rod to be matched with the movement speed of the manipulator body, so that the movable rod and the manipulator body move synchronously.
Specifically, the expansion and contraction speed of the movable rod 230 may be adjusted through a plurality of tests, or the expansion and contraction speed of the movable rod 230 may be adjusted through calculation or the like, so that the expansion and contraction speed of the movable rod 230 is finally matched with the movement speed of the manipulator body 130.
According to the manipulator device disclosed by the invention, the controller is respectively in communication connection with the push rod motor and the manipulator motor by arranging the fixed rod, the movable push rod and the telescopic movable rod, so that the push rod and the movable rod can move along with the manipulator, a relatively stable structure can be kept by the damping unit and the manipulator unit, the vibration generated in the operation process of the manipulator body is effectively absorbed, and the use experience of a user is improved. The manipulator device of the invention can not add extra resistance to the manipulator unit and ensure the stable operation of the manipulator unit. The movable rod is movably connected with the tail end element, so that the damping and anti-shaking effects on the mechanical arm device are enhanced. The height of the fixed rod is set to be higher than the highest point of the motion track of the manipulator body, so that when the push rod and the movable rod move or stretch along with the movement of the manipulator body, the push rod and the movable rod cannot obstruct the normal motion track of the manipulator body. The vibration of the manipulator body can be eliminated in multiple directions by arranging the multiple damping units. In addition, the control method of the manipulator device disclosed by the invention calculates the rotation stroke of the push rod motor through the tail end position of the manipulator body, and then simultaneously operates the manipulator motor and the push rod motor to enable the movable rod and the manipulator body to move synchronously, so that the vibration of a tail end element of the manipulator body is eliminated by using the damping unit.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. The manipulator device is arranged on a workbench and is characterized by comprising a manipulator unit and a damping unit, wherein the manipulator unit comprises a manipulator motor, a base and a manipulator body arranged on the base;
one end of the fixed rod is connected to the base or the workbench, one end of the push rod is movably connected to the other end of the fixed rod, the movable rod is connected to the push rod, the push rod motor controls the movable rod to stretch along the length direction of the push rod, and one end of the movable rod, which is far away from the fixed rod, is movably connected to the manipulator body;
the manipulator device further comprises a controller, and the controller is in communication connection with the push rod motor and the manipulator motor respectively so as to control the movable rod and the manipulator body to move synchronously.
2. The robot apparatus of claim 1,
the manipulator body comprises a transmission element and a tail end element connected with the transmission element, the transmission element is in transmission connection with the manipulator motor, the tail end element is used for being connected with the gripper, and the movable rod is movably connected with the tail end element.
3. The manipulator device according to claim 1, wherein the movable rod is partially disposed in the push rod, a telescopic transmission member is disposed in the push rod and is in transmission connection with the movable rod, and an output shaft of the push rod motor drives the telescopic transmission member to drive the movable rod to extend and retract along a length direction of the push rod.
4. The robot apparatus of claim 1, wherein the fixing bar is vertically disposed, and a height of the fixing bar is higher than a highest point of a movement locus of the robot body.
5. The manipulator device according to claim 1, wherein the manipulator body comprises a transmission element and a terminal element connected with the transmission element, the transmission element is in transmission connection with the manipulator motor, and the terminal element is used for connecting a gripper;
the manipulator device is provided with a plurality of damping units, and movable rods of the damping units are arranged at intervals along the circumferential direction of a rotating shaft of the tail end element.
6. The manipulator device of claim 1, wherein the push rod is movably connected to the fixed rod by a first universal joint.
7. The robot apparatus of claim 1, wherein the movable bar is movably connected to the robot body by a second universal joint.
8. A method for controlling a robot apparatus, the method comprising:
calculating the rotation stroke of the push rod motor according to the tail end position of the manipulator body;
and simultaneously operating the manipulator motor and the push rod motor to enable the movable rod and the manipulator body to move synchronously.
9. The method of controlling a robot apparatus according to claim 8, wherein the "calculating a rotational stroke of the pusher motor based on the end position of the robot body" specifically includes:
calculating a motion trail of the manipulator body according to the tail end position of the manipulator body, wherein the motion trail comprises continuous multi-section motion paths;
calculating the telescopic path of the movable rod under each section of the motion path according to the motion path of the manipulator body and the initial length of the movable rod to form the telescopic path of the movable rod;
and calculating the rotation stroke of the push rod motor according to the telescopic path of the movable rod.
10. The method of controlling a robot apparatus according to claim 8, wherein the step of operating the robot motor and the pusher motor simultaneously to move the movable bar in synchronization with the robot body comprises:
simultaneously operating the manipulator motor and the push rod motor;
and adjusting the telescopic speed of the movable rod to be matched with the movement speed of the manipulator body so as to enable the movable rod and the manipulator body to move synchronously.
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| CN202011356688.9A CN112338960A (en) | 2020-11-27 | 2020-11-27 | Manipulator device and control method thereof |
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