CN112720488A - Robot-based seventh axis control method and device - Google Patents
Robot-based seventh axis control method and device Download PDFInfo
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- CN112720488A CN112720488A CN202011555715.5A CN202011555715A CN112720488A CN 112720488 A CN112720488 A CN 112720488A CN 202011555715 A CN202011555715 A CN 202011555715A CN 112720488 A CN112720488 A CN 112720488A
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- robot
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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
Abstract
The invention discloses a seventh axis control method and device based on a robot. Wherein, the method comprises the following steps: acquiring control parameters of the robot for linear movement on the track base; and in the process of controlling the robot to linearly move on the track base, executing corresponding actions according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles. The invention solves the technical problem of higher cost caused by the fact that a plurality of electric cabinets used in the automatic production process are used for controlling production equipment in the related technology.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot-based seventh axis control method and device.
Background
In the automatic production process, the robot body carries a peripheral PLC of non-standard equipment, the electric cabinet is used for controlling servo drive, and a servo motor on the control clamp is used for grabbing or placing the tool clamp; for example, in using a palletizing project, the project is a palletizing body; in addition, an electrical cabinet includes: controllers, servos, electromechanics, touch screens, sensors, etc.; this increases the cost.
Aiming at the problem that the production equipment is controlled by a plurality of electric cabinets used in the automatic production process in the related technology and the cost is high, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a robot-based seventh axis control method and device, which are used for at least solving the technical problem of higher cost caused by the fact that a plurality of electric cabinets used in the automatic production process are used for controlling production equipment in the related art.
According to an aspect of an embodiment of the present invention, there is provided a robot-based seventh axis control method, the robot including: the robot comprises a track base, a moving vehicle installed on the track base, a manipulator installed on the moving vehicle and a control system, wherein the control method comprises the following steps: acquiring control parameters of the robot for linear movement on the track base; and in the process of controlling the robot to perform linear movement on the track base, executing corresponding actions according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles.
Optionally, the seventh axis system further comprises: a communication device, wherein the robot-based seventh axis control method further comprises: receiving an external control instruction based on the communication device, wherein the control instruction comprises: a linear arrangement of an additional axis to the seventh axis; determining whether to initiate use of a seventh axis of the robot based on the control instruction.
Optionally, determining whether to initiate use of the seventh axis based on the control instruction includes: starting to use a seventh axis of the robot if an additional axis of the seventh axis is linearly set; and if not, forbidding to use the seventh axis of the robot and controlling the other six axes of the robot to work.
Optionally, the seventh axis system further comprises: the robot-based seventh axis control method further comprises the following steps: the interaction device receives an interaction operation; and triggering the servo driving device of the robot based on the interactive operation, and controlling the clamp of the manipulator to grab and release.
Optionally, the control system is configured to control the displacement of the clamp on the manipulator, the force of the suction cup, and the control action of the suction gas.
According to another aspect of the embodiments of the present invention, there is also provided a robot-based seventh axis control apparatus, the seventh axis system of the robot including: a rail base, a mobile vehicle mounted on the rail base, a manipulator mounted on the mobile vehicle, and a control system, wherein the robot-based seventh axis control device includes: the acquisition unit is used for acquiring control parameters of the robot for performing linear movement on the track base; and the control unit is used for controlling the robot to execute corresponding actions according to the control parameters in the process of linear movement on the track base, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles.
Optionally, the seventh axis system further comprises: a communication device, wherein the robot-based seventh axis control device further comprises: a first receiving unit, configured to receive an external control instruction based on the communication device, where the control instruction includes: a linear arrangement of an additional axis to the seventh axis; a determination unit for determining whether to start using a seventh axis of the robot based on the control instruction.
Optionally, the determining unit includes: the starting module is used for starting the seventh axis of the robot when the additional axis of the seventh axis is linearly arranged; and the control module is used for forbidding the seventh axis of the robot to be used and controlling other six axes of the robot to work when the additional axis of the seventh axis is not linearly arranged.
Optionally, the seventh axis system further comprises: an interaction device and a servo driving device installed in the robot electric cabinet, wherein the robot-based seventh axis control device further comprises: a second receiving unit, configured to receive an interactive operation by the interactive apparatus; and the control unit is used for triggering the servo driving device of the robot based on the interactive operation and controlling the clamp of the manipulator to grab and release.
Optionally, the control system is configured to control the displacement of the clamp on the manipulator, the force of the suction cup, and the control action of the suction gas.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the computer-readable storage medium controls an apparatus to execute any one of the robot-based seventh axis control method.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes to execute any one of the robot-based seventh axis control methods described above.
In the embodiment of the invention, the control parameters of the robot for performing linear movement on the track base are acquired; and in the process of controlling the robot to linearly move on the track base, executing corresponding actions according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles, and the seventh axis control method based on the robot provided by the embodiment of the invention realizes the purpose of controlling equipment in the automatic production process by using the developed seventh axis of the robot to replace the traditional electric cabinet of a controller, thereby achieving the technical effect of reducing the cost and further solving the technical problem of higher cost caused by the control of production equipment by using a plurality of electric cabinets in the automatic production process in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a seventh axis robot-based control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a seventh axis robot-based control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided a method embodiment of a seventh axis control method based on a robot, where a seventh axis system of the robot includes: the steps illustrated in the flowchart of the figures may be performed in a computer system such as a set of computer-executable instructions, and while a logical order is illustrated in the flowchart, in some cases the steps shown or described may be performed in an order different than here.
Fig. 1 is a flowchart of a seventh robot-based axis control method according to an embodiment of the present invention, as shown in fig. 1, including the steps of:
and step S102, acquiring control parameters of the robot for performing linear movement on the track base.
Step S104, in the process of controlling the robot to perform linear movement on the track base, corresponding actions are executed according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles.
In the embodiment of the invention, the robot base coordinate moves linearly, on one hand, the robot coordinate rotates to the position of the guide rail coordinate, namely, the robot rotates 90 degrees anticlockwise when viewed from the Y axis of the robot in the positive direction; on the other hand, the position that can be rotated from the guide coordinates to the robot coordinates corresponds to a 90 ° clockwise rotation as viewed from the guide Y axis in the forward direction.
As can be seen from the above, in the embodiment of the present invention, the seventh axis is controlled by using the robot extension, and the system corresponding to the seventh axis herein may include: the device comprises a track base, a moving vehicle arranged on the track base, a manipulator arranged on the moving vehicle and a control system; by acquiring control parameters for performing linear movement on a track base of the robot, the robot is controlled to execute corresponding actions according to the control parameters in the process of performing linear movement on the track base, wherein the executed actions may include at least one of the following actions: the manipulator rotates and translates in different directions and at different angles, the purpose of controlling equipment in the automatic production process by using a seventh shaft of the developed robot to replace a traditional controller electric cabinet is achieved, and the technical effect of reducing the cost is achieved.
Therefore, the robot-based seventh axis control method provided by the embodiment of the invention solves the technical problem of higher cost caused by the fact that a plurality of electric cabinets used in the automatic production process in the related art are used for controlling production equipment.
In an alternative embodiment, the seventh axis system further comprises: a communication device, wherein the robot-based seventh axis control method further comprises: receiving an external control instruction based on the communication device, wherein the control instruction comprises: a linear arrangement of an additional axis of the seventh axis; and determining whether to start using a seventh axis of the robot based on the control instruction.
In this embodiment, ethercat may be used as an extension communication for communication, a seventh axis is added, and when it is needed to be used, a linear setting of an additional axis of the seventh axis is performed; when the seventh axis is not needed, the seventh axis simulation can be performed, and the normal use of the first six axes is not affected.
That is, the seventh axis can be simulated when not needed, and the system can activate the seventh axis to use when actually used; that is, the seventh axis function is added but not activated for use, and the seventh axis is necessary to be used normally in the system at first.
In an alternative embodiment, determining whether to initiate use of the seventh axis based on the control command includes: if the additional axis of the seventh axis is linearly set, starting to use the seventh axis of the robot; and otherwise, forbidding the seventh axis of the robot and controlling the other six axes of the robot to work.
It should be noted that, in the embodiment of the present invention, the servo drive is installed in the electric cabinet of the robot, which is a part of the robot, and the seventh axis is used to control the fixture of the robot, so that the peripheral electric cabinet can be omitted, thereby reducing the cost.
In an alternative embodiment, the seventh axis system further comprises: the interaction device and the servo driving device installed in the robot electric cabinet, wherein the robot-based seventh axis control method further comprises: the interactive device receives the interactive operation; based on the servo driving device of the interactive operation triggering robot, the clamp of the manipulator is controlled to grab and release.
In an alternative embodiment, the control system is used for controlling the displacement of the clamp on the mechanical arm, the force of the suction cup and the control action of the suction gas.
In an optional embodiment, the touch screen can be removed, the development application function package is placed on the demonstrator for use, and the servo control of the seventh axis is performed; specifically, the displacement of the setting clamp, the force of the suction cup, the control interface of the air suction and prevention and the like are controlled.
By the robot-based seventh axis control method provided by the embodiment of the invention, the additional seventh axis can be expanded and controlled by the robot without an additional electric control cabinet comprising a PLC, a touch screen and the like; the 7 th shaft application function development is realized, extra fixture control, sucker control and touch screen control functions are met, a traditional non-standard electric control cabinet touch screen is not needed, and the cost is greatly saved.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided a robot-based seventh axis control apparatus, the seventh axis system of the robot including: a rail base, a moving vehicle mounted on the rail base, a manipulator mounted on the moving vehicle, and a control system, wherein fig. 2 is a schematic view of a seventh robot-based axis control apparatus according to an embodiment of the present invention, as shown in fig. 2, the seventh robot-based axis control apparatus includes: the acquisition unit 21 and the control unit 23 will be described below with reference to a seventh axis control device by a robot.
And an acquiring unit 21, configured to acquire a control parameter of the robot performing linear movement on the rail base.
The control unit 23 is configured to control the robot to perform corresponding actions according to the control parameters in a process of performing linear movement on the track base, where the executed actions include at least one of the following: the manipulator rotates and translates in different directions and at different angles.
It should be noted here that the above-mentioned acquiring unit 21 and the control unit 23 correspond to steps S102 to S104 in embodiment 1, and the above-mentioned units are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the above-described elements as part of an apparatus may be implemented in a computer system, such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the obtaining unit may be used to obtain the control parameters of the robot performing the linear movement on the track base; and then, in the process of controlling the robot to linearly move on the track base by using the control unit, executing corresponding actions according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles. The seventh axis control device based on the robot provided by the embodiment of the invention realizes the purpose of controlling equipment in the automatic production process by using the seventh axis of the developed robot to replace the traditional controller electric cabinet, achieves the technical effect of reducing the cost, and solves the technical problem of higher cost caused by the control of production equipment by using a plurality of electric cabinets in the automatic production process in the related technology.
In an alternative embodiment, the seventh axis system further comprises: a communication device, wherein the robot-based seventh axis control device further comprises: a first receiving unit, configured to receive an external control instruction based on a communication device, where the control instruction includes: a linear arrangement of an additional axis of the seventh axis; and a determination unit for determining whether to start using a seventh axis of the robot based on the control instruction.
In an alternative embodiment, the determining unit comprises: the starting module is used for starting the seventh axis of the robot when the additional axis of the seventh axis is linearly arranged; and the control module is used for forbidding the seventh axis of the robot to be used and controlling other six axes of the robot to work when the additional axis of the seventh axis is not linearly arranged.
In an alternative embodiment, the seventh axis system further comprises: the interaction device and the servo driving device installed in the robot electric cabinet, wherein the robot-based seventh axis control device further comprises: the second receiving unit is used for receiving the interactive operation by the interactive device; and the control unit is used for triggering the servo driving device of the robot based on interactive operation and controlling the clamp of the manipulator to grab and release.
In an alternative embodiment, the control system is used for controlling the displacement of the clamp on the mechanical arm, the force of the suction cup and the control action of the suction gas.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the apparatus in which the computer storage medium is located is controlled to perform any one of the robot-based seventh axis control methods.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes to execute any one of the above-mentioned robot-based seventh axis control methods.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A seventh axis control method based on a robot, characterized in that a seventh axis system of the robot comprises: the robot comprises a track base, a moving vehicle installed on the track base, a manipulator installed on the moving vehicle and a control system, wherein the control method comprises the following steps:
acquiring control parameters of the robot for linear movement on the track base;
and in the process of controlling the robot to perform linear movement on the track base, executing corresponding actions according to the control parameters, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles.
2. The method of claim 1, wherein the seventh axis system further comprises: a communication device, wherein the method further comprises:
receiving an external control instruction based on the communication device, wherein the control instruction comprises: a linear arrangement of an additional axis to the seventh axis;
determining whether to initiate use of a seventh axis of the robot based on the control instruction.
3. The method of claim 2, wherein determining whether to initiate use of the seventh axis based on the control command comprises:
starting to use a seventh axis of the robot if an additional axis of the seventh axis is linearly set;
and if not, forbidding to use the seventh axis of the robot and controlling the other six axes of the robot to work.
4. The method of claim 1, wherein the seventh axis system further comprises: an interaction device and a servo driving device installed in the robot electric cabinet, wherein the method further comprises:
the interaction device receives an interaction operation;
and triggering the servo driving device of the robot based on the interactive operation, and controlling the clamp of the manipulator to grab and release.
5. The method of claim 1, wherein the control system is configured to control the movement of the gripper on the robot, the force of the suction cup, and the suction gas.
6. A seventh axis control apparatus based on a robot, characterized in that a seventh axis system of the robot comprises: track base, install locomotive on the track base, install manipulator and control system on the locomotive, wherein, controlling means includes:
the acquisition unit is used for acquiring control parameters of the robot for performing linear movement on the track base;
and the control unit is used for controlling the robot to execute corresponding actions according to the control parameters in the process of linear movement on the track base, wherein the executed actions comprise at least one of the following actions: the manipulator rotates and translates in different directions and at different angles.
7. The apparatus of claim 6, wherein the seventh axis system further comprises: a communication apparatus, wherein the apparatus further comprises:
a first receiving unit, configured to receive an external control instruction based on the communication device, where the control instruction includes: a linear arrangement of an additional axis to the seventh axis;
a determination unit for determining whether to start using a seventh axis of the robot based on the control instruction.
8. The apparatus of claim 7, wherein the determining unit comprises:
the starting module is used for starting the seventh axis of the robot when the additional axis of the seventh axis is linearly arranged;
and the control module is used for forbidding the seventh axis of the robot to be used and controlling other six axes of the robot to work when the additional axis of the seventh axis is not linearly arranged.
9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform the seventh robot-based axis control method according to any one of claims 1 to 5.
10. A processor for running a computer program, wherein the computer program is run to perform the seventh robot-based axis control method according to any one of claims 1 to 5.
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