CN113183148A - Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method - Google Patents
Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method Download PDFInfo
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- CN113183148A CN113183148A CN202110346735.XA CN202110346735A CN113183148A CN 113183148 A CN113183148 A CN 113183148A CN 202110346735 A CN202110346735 A CN 202110346735A CN 113183148 A CN113183148 A CN 113183148A
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- guide cylinder
- industrial robot
- end effector
- flange
- fixed guide
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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
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention discloses a connecting device for an end effector of an industrial robot, which belongs to the technical field of industrial robots and comprises a connecting flange and an output flange, and is characterized in that: still include fixed guide cylinder, remove the guide cylinder and connect the guide cylinder, flange is connected with fixed guide cylinder, it is located fixed guide cylinder to remove the guide cylinder, remove guide cylinder and fixed guide cylinder sliding connection, output flange is connected with connecting the guide cylinder, it passes through the kinematic pair with connecting the guide cylinder and is connected to remove the guide cylinder. The invention can be suitable for the application problem of industrial robots avoiding singularity, and is simple and easy to operate, and good in safety.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a singularity-avoiding end effector connecting device and a singularity-avoiding method for an industrial robot.
Background
In the process of using the industrial robot, because the work task is varied, the industrial robot may pass through the joint singular position in the process of executing the task, and the motion of the industrial robot is uncontrollable.
At present, a plurality of robot path planning algorithms are proposed to solve the problem of singularity avoidance in the motion process of an industrial robot. Such an approach can solve the problem of partial evasion from the software level. Under the condition that the work task in industrial production is completely limited, the avoidance of singular movement of the joints of the industrial robot is realized only from the software planning level, which is difficult, so that the calculation process is time-consuming and low in efficiency, and even in some application scenes, the avoidance of obstacles cannot be realized by directly using a planning algorithm. Therefore, another common measure is that in industrial applications, redundant or super-redundant robots are often used to perform tasks safely and efficiently. However, for most industrial robots, the six-degree-of-freedom industrial robot is still mature and widely applied, and is simple to operate and low in price. Therefore, it is important to solve the problem of industrial robot singularity avoidance from the hardware level.
Chinese patent publication No. CN 207915494U, published as 2018, 09 and 28 discloses a mechanical industrial robot end effector, which is characterized in that: by preceding including executor stiff end, smooth claw cover, axis guide rail sleeve, hollow push rod, fixed connection ring flange to the back to and be located the spring between fixed connection ring flange and the axis guide rail sleeve, wherein:
the fixed end of the actuator is in clamping fit with the sliding claw sleeve to realize the rotation locking of the fixed end of the actuator and the sliding claw sleeve;
the rear end of the sliding claw sleeve is provided with a sliding claw sleeve rod, the peripheral surface of the sliding claw sleeve rod is sleeved with a hollow push rod, the peripheral surfaces of the hollow push rod and the sliding claw sleeve are sleeved with a middle shaft guide rail sleeve, and the front end surface of the hollow push rod is in pushing fit with the sliding claw sleeve so that the sliding claw sleeve is rotatably arranged in the middle shaft guide rail sleeve;
the rear end of the hollow push rod is fixedly provided with a fixed connecting flange, the peripheral surface of the hollow push rod is sleeved with a spring, and the spring is arranged between the front end surface of the fixed connecting flange and the rear end surface of the middle shaft guide rail sleeve in a compression mode;
and a round-head screw for limiting the forward movement of the sliding claw sleeve is arranged on the rear end surface of the sliding claw sleeve rod.
The mechanical end effector for an industrial robot disclosed in this patent document can satisfy the requirement that the industrial robot grips and moves a work object in a single degree of freedom movement, but still has the problems of application safety and difficulty in avoiding strangeness of the industrial robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the industrial robot singularity-avoiding end effector connecting device and the singularity-avoiding method.
The invention is realized by the following technical scheme:
the utility model provides an industrial robot keeps away singular end effector connecting device, includes flange and output flange, its characterized in that: still include fixed guide cylinder, remove the guide cylinder and connect the guide cylinder, flange is connected with fixed guide cylinder, it is located fixed guide cylinder to remove the guide cylinder, remove guide cylinder and fixed guide cylinder sliding connection, output flange is connected with connecting the guide cylinder, it passes through the kinematic pair with connecting the guide cylinder and is connected to remove the guide cylinder.
And the fixed guide cylinder and the movable guide cylinder are in spiral transmission or rack transmission.
And the moving distance between the fixed guide cylinder and the movable guide cylinder is measured by a grating ruler.
The kinematic pair is a spherical kinematic pair.
The rotational movement of the kinematic pair is measured by an angle sensor.
The connecting flange is detachably connected with the fixed guide cylinder.
The output flange is detachably connected with the connecting guide cylinder.
An industrial robot singularity avoiding method is characterized by comprising the following steps:
a. installing an industrial robot singularity-avoiding end effector connecting device between an industrial robot and an end effector;
b. performing task planning on a task to be executed by the industrial robot, determining the working space of the industrial robot, and adjusting the relative movement between a movable guide cylinder and a fixed guide cylinder or the relative orientation between the movable guide cylinder and a connecting guide cylinder in the singularity-avoiding end effector connecting device of the industrial robot when the planned movement process of the industrial robot has singularity;
c. and after the adjustment is finished, the task planning of the industrial robot is carried out again until the working space of the industrial robot is not singular, and the industrial robot finishes singularity avoidance and task execution.
The working principle of the invention is as follows:
during the use, install connecting device between industrial robot and end effector, after installing, at first carry out the mission planning to the task that industrial robot will carry out, confirm industrial robot workspace's safe condition. If the planned motion process of the industrial robot has a singular problem, adjusting the relative movement between the movable guide cylinder and the fixed guide cylinder or the relative orientation between the movable guide cylinder and the connecting guide cylinder in the connecting device, and after the adjustment is finished, re-planning the task of the industrial robot until the motion space of the industrial robot has no singularity. After the adjustment is completed, the industrial robot can perform the given task safely and reliably.
The beneficial effects of the invention are mainly shown in the following aspects:
1. according to the invention, the connecting flange is connected with the fixed guide cylinder, the movable guide cylinder is positioned in the fixed guide cylinder, the movable guide cylinder is connected with the fixed guide cylinder in a sliding manner, the output flange is connected with the connecting guide cylinder, the movable guide cylinder is connected with the connecting guide cylinder through the kinematic pair, when the adjustment is required in a strange situation, the movable guide cylinder can move along the inner wall of the fixed guide cylinder, and the kinematic pair forming ball is formed between the movable guide cylinder and the connecting guide cylinder, so that the angle transformation in any direction can be realized between the movable guide cylinder and the connecting guide cylinder, and further the angle transformation between the connecting flange and the output flange can be realized.
2. According to the invention, the detachable structure is arranged between the connecting flange and the fixed guide cylinder, so that the connecting flange is convenient to replace, the flange fixing device can be suitable for industrial robot flanges of different models, and the applicability is strong.
3. According to the invention, the detachable structure is arranged between the output flange and the connecting guide cylinder, so that the output flange is quite convenient to replace, and the detachable structure is suitable for end effectors of different types.
4. The invention' a, install the industrial robot to avoid the end effector junction device of strangeness between industrial robot and end effector; b. performing task planning on a task to be executed by the industrial robot, determining the working space of the industrial robot, and adjusting the relative movement between a movable guide cylinder and a fixed guide cylinder or the relative orientation between the movable guide cylinder and a connecting guide cylinder in the singularity-avoiding end effector connecting device of the industrial robot when the planned movement process of the industrial robot has singularity; c. after the regulation is accomplished, carry out industrial robot task planning again, do not have singularly until industrial robot working space, industrial robot accomplishes and keeps away singularity and carry out task ", through simple regulation, just can realize common industrial robot and keep away singularity's problem, avoided only going the complicacy from the software aspect and kept away singularity, keep away that singularity operation is more convenient reliable.
Drawings
The invention will be further described in detail with reference to the drawings and the detailed description, in which:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention mounted on an industrial robot;
fig. 3 is a block diagram of the operation flow of the industrial robot for avoiding strangeness.
The labels in the figure are: 1. the device comprises a connecting flange, 2, an output flange, 3, a fixed guide cylinder, 4, a movable guide cylinder, 5, a connecting guide cylinder, 6 and a kinematic pair.
Detailed Description
Example 1
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
The connecting flange 1 is connected with the fixed guide cylinder 3, the movable guide cylinder 4 is positioned in the fixed guide cylinder 3, the movable guide cylinder 4 is in sliding connection with the fixed guide cylinder 3, the output flange 2 is connected with the connecting guide cylinder 5, the movable guide cylinder 4 is connected with the connecting guide cylinder 5 through the kinematic pair 6, when meeting strange needs to be adjusted, the movable guide cylinder 4 can move along the inner wall of the fixed guide cylinder 3, the spherical kinematic pair 6 is formed between the movable guide cylinder 4 and the connecting guide cylinder 5, so that angle transformation in any direction can be realized between the movable guide cylinder 4 and the connecting guide cylinder 5, further, any angle transformation can be realized between the connecting flange 1 and the output flange 2, compared with the prior art, the connecting flange can be suitable for industrial robots to avoid strange application problems, and is simple and easy to operate, and has good safety.
Example 2
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
Example 3
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
And the moving distance between the fixed guide cylinder 3 and the movable guide cylinder 4 is measured by a grating ruler.
Example 4
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
And the moving distance between the fixed guide cylinder 3 and the movable guide cylinder 4 is measured by a grating ruler.
The kinematic pair 6 is a spherical kinematic pair.
Example 5
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
And the moving distance between the fixed guide cylinder 3 and the movable guide cylinder 4 is measured by a grating ruler.
The kinematic pair 6 is a spherical kinematic pair.
The rotational movement of the kinematic pair 6 is measured by an angle sensor.
Example 6
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
And the moving distance between the fixed guide cylinder 3 and the movable guide cylinder 4 is measured by a grating ruler.
The kinematic pair 6 is a spherical kinematic pair.
The rotational movement of the kinematic pair 6 is measured by an angle sensor.
The connecting flange 1 is detachably connected with the fixed guide cylinder 3.
Set up to detachable construction between flange 1 and the fixed guide cylinder 3, make things convenient for flange 1's change, can be applicable to the industrial robot flange of different models, the suitability is strong.
Example 7
Referring to fig. 1 and 2, an industrial robot keeps away strange end effector connecting device, including flange 1 and output flange 2, still include fixed guide cylinder 3, remove guide cylinder 4 and connect guide cylinder 5, flange 1 is connected with fixed guide cylinder 3, it is located fixed guide cylinder 3 to remove guide cylinder 4, remove guide cylinder 4 and fixed guide cylinder 3 sliding connection, output flange 2 is connected with connecting guide cylinder 5, it is connected through kinematic pair 6 with connecting guide cylinder 5 to remove guide cylinder 4.
And the fixed guide cylinder 3 and the movable guide cylinder 4 are in screw transmission or rack transmission.
And the moving distance between the fixed guide cylinder 3 and the movable guide cylinder 4 is measured by a grating ruler.
The kinematic pair 6 is a spherical kinematic pair.
The rotational movement of the kinematic pair 6 is measured by an angle sensor.
The connecting flange 1 is detachably connected with the fixed guide cylinder 3.
The output flange 2 is detachably connected with the connecting guide cylinder 5.
The output flange 2 and the connecting guide cylinder 5 are arranged in a detachable structure, so that the output flange 2 is quite convenient to replace, and the connecting guide cylinder can be suitable for end effectors of different types.
Example 8
Referring to fig. 1 and 3, an industrial robot singularity avoidance method includes the following steps:
a. installing an industrial robot singularity-avoiding end effector connecting device between an industrial robot and an end effector;
b. performing task planning on a task to be executed by the industrial robot, determining the working space of the industrial robot, and adjusting the relative movement between a movable guide cylinder 4 and a fixed guide cylinder 3 or the relative orientation between the movable guide cylinder 4 and a connecting guide cylinder 5 in the connection device of the industrial robot singularly-avoiding end effector when the planned movement process of the industrial robot is different;
c. and after the adjustment is finished, the task planning of the industrial robot is carried out again until the working space of the industrial robot is not singular, and the industrial robot finishes singularity avoidance and task execution.
A, installing an end effector connecting device of an industrial robot avoiding singularity between the industrial robot and an end effector; b. performing task planning on a task to be executed by the industrial robot, determining the working space of the industrial robot, and adjusting the relative movement between a movable guide cylinder 4 and a fixed guide cylinder 3 or the relative orientation between the movable guide cylinder 4 and a connecting guide cylinder 5 in the connection device of the industrial robot singularly-avoiding end effector when the planned movement process of the industrial robot is different; c. after the regulation is accomplished, carry out industrial robot task planning again, do not have singularly until industrial robot working space, industrial robot accomplishes and keeps away singularity and carry out task ", through simple regulation, just can realize common industrial robot and keep away singularity's problem, avoided only going the complicacy from the software aspect and kept away singularity, keep away that singularity operation is more convenient reliable.
Claims (8)
1. The utility model provides an industrial robot keeps away singular end effector connecting device, includes flange (1) and output flange (2), its characterized in that: still including fixed guide cylinder (3), removal guide cylinder (4) and connection guide cylinder (5), flange (1) is connected with fixed guide cylinder (3), removal guide cylinder (4) are located fixed guide cylinder (3), remove guide cylinder (4) and fixed guide cylinder (3) sliding connection, output flange (2) are connected with connection guide cylinder (5), remove guide cylinder (4) and be connected through kinematic pair (6) with connection guide cylinder (5).
2. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: the fixed guide cylinder (3) and the movable guide cylinder (4) are in screw transmission or rack transmission.
3. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: and the moving distance between the fixed guide cylinder (3) and the movable guide cylinder (4) is measured by a grating ruler.
4. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: the kinematic pair (6) is a spherical kinematic pair.
5. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: the rotational movement of the kinematic pair (6) is measured by an angle sensor.
6. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: the connecting flange (1) is detachably connected with the fixed guide cylinder (3).
7. An industrial robot setover end effector attachment apparatus according to claim 1, wherein: the output flange (2) is detachably connected with the connecting guide cylinder (5).
8. An industrial robot singularity avoiding method is characterized by comprising the following steps:
a. installing an industrial robot singularity-avoiding end effector connecting device between an industrial robot and an end effector;
b. carrying out task planning on tasks to be executed by the industrial robot, determining the working space of the industrial robot, and adjusting the relative movement between a movable guide cylinder (4) and a fixed guide cylinder (3) or the relative orientation between the movable guide cylinder (4) and a connecting guide cylinder (5) in the connection device of the end effector of the industrial robot for avoiding strangeness when the planned movement process of the industrial robot has strangeness;
c. and after the adjustment is finished, the task planning of the industrial robot is carried out again until the working space of the industrial robot is not singular, and the industrial robot finishes singularity avoidance and task execution.
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