CN114029934B - Universal active radial compliant constant force end effector and working method thereof - Google Patents
Universal active radial compliant constant force end effector and working method thereof Download PDFInfo
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- CN114029934B CN114029934B CN202111512902.XA CN202111512902A CN114029934B CN 114029934 B CN114029934 B CN 114029934B CN 202111512902 A CN202111512902 A CN 202111512902A CN 114029934 B CN114029934 B CN 114029934B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a universal active radial flexible constant force end effector and a working method thereof, wherein the universal active radial flexible constant force end effector comprises a robot end connector, a layered driving cylinder body, an end tool connector and a six-dimensional force sensor, the robot end connector is connected with the tail end of an industrial robot, the six-dimensional force sensor is arranged between the robot end connector and the layered driving cylinder body, the lower part of the layered driving cylinder body is connected with the end tool connector, and the lower part of the end tool connector is connected with an end tool. The driver is connected with the tail end of the industrial robot through the tail end connector of the robot, a six-dimensional force sensor is connected between the tail end connector of the robot and the layered driving cylinder body, the tail end of the layered driving cylinder body can be connected with various tail end tools such as grinding, polishing and assembling, when the tail end tools are connected with the driver, the novel driver can provide stable rotating speed and torque for the tail end tools, and the tail end tools can adapt to various complex use scenes in actual production.
Description
Technical Field
The invention relates to the technical field of pneumatic drivers, in particular to a universal active radial compliant constant force end effector and a working method thereof.
Background
At present, most enterprises in the field of industrial robots in China place eyes in the fields of mechanical arm bodies, positioning technologies and algorithms, but efficient action execution cannot be completed by means of the mechanical arms, and end effectors become important parts for high-dexterity and high-cooperative robot application. The universal drive serves as an important part of the industrial robot solution, both to power the end tool and to reduce vibration effects during operation. The industrial robot can greatly reduce labor cost and distribute repeated tasks to the industrial robot, so that the manufacturing efficiency and cost efficiency are improved, and the problems of complex production process, resource waste and the like in the research and development process can be solved pertinently.
Disclosure of Invention
In order to solve the problems that the existing industrial robot end effector is designed only for a certain specific process, the production cost is increased, the design difficulty is increased and the like, the invention provides the universal active radial flexible constant force end effector, the driver is integrated with a pneumatic motor, a novel filling material and a six-dimensional force sensor, the vibration generated in the working process of the pneumatic motor and an end tool is absorbed under the condition that the output constant force of the driver is ensured, and the stability and the reliability of the industrial robot in the working process are ensured.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a general initiative radial compliance constant force end effector which characterized in that, includes robot end connector, layering drive cylinder body, initiative radial compliance module, terminal instrument and six-dimensional force transducer, robot end connector and industrial robot end connection, six-dimensional force transducer sets up between robot end connector and layering drive cylinder body, layering drive cylinder body lower part links to each other with initiative radial compliance module, initiative radial compliance module lower part and terminal instrument are connected.
The universal active radial flexible constant force end effector is characterized in that the robot end connector comprises an upper robot end connecting block, a lower robot end connecting block and a first vibration reduction material layer, wherein the first vibration reduction material layer is arranged between the upper robot end connecting block and the lower robot end connecting block.
The universal active radial compliant constant force end effector is characterized in that the layered driving cylinder body comprises a layered driving cylinder body upper cover plate, a layered upper driving outer cylinder, a pneumatic motor, a layered lower driving outer cylinder and a layered driving cylinder body lower cover plate, wherein the layered driving cylinder body upper cover plate is fixedly arranged on the layered upper driving outer cylinder, and the layered driving cylinder body lower cover plate is fixedly arranged on the layered lower driving outer cylinder; the middle cover plate of the layered driving cylinder body is arranged between the layered upper driving outer cylinder and the layered lower driving outer cylinder, and the pneumatic motor is arranged in the layered lower driving outer cylinder and is fixed at the bottom of the middle cover plate of the layered driving cylinder body.
The universal type active radial compliant constant force end effector is characterized in that the active radial compliant module comprises a first rod end joint bearing, a servo electric cylinder, a second rod end joint bearing, a movable disc, a diamond bearing seat, a deep groove ball bearing, an end tool connecting screw rod and a high-speed universal joint coupler; one end of the servo electric cylinder is connected with 3 rod end joint bearings I, the other end of the servo electric cylinder is connected with 3 rod end joint bearings II, the lower cover plate of the layered driving cylinder body is fixedly connected with the rod end joint bearings I, and the rod end joint bearings II are fixedly connected with the movable disc; the end tool connecting screw is connected with the pneumatic motor through a high-speed universal joint coupling, the movable disc is fixedly connected with the diamond-shaped bearing seat, and the bottom of the end tool connecting screw is connected with the end tool.
The universal active radial compliant constant force end effector is characterized in that a vibration reduction material layer II is arranged between the layered upper driving outer cylinder and the middle cover plate of the layered driving cylinder body.
The universal active radial compliant constant force end effector is characterized in that a vibration reduction material layer III is arranged between the lower cover plate of the layered driving cylinder body and the layered lower driving outer cylinder.
The universal active radial compliant constant force end effector is characterized in that a filling material is arranged between the pneumatic motor and the inner wall of the layered lower driving outer cylinder inside the layered lower driving outer cylinder.
The universal active radial compliant constant force end effector is characterized in that the end tool adopts polishing equipment.
The working method of the universal active radial compliant constant force end effector comprises the following steps:
1) Inputting the size parameters of the workpiece to be processed on the mechanical arm after power-on, judging whether the mechanical arm is at an initial working position, and controlling the mechanical arm to adjust to the initial position if the mechanical arm is not at the initial position, starting the pneumatic motor and starting to work close to the workpiece;
2) In the directions of the x axis and the y axis, the mechanical arm runs at a constant speed according to the initial speed, enters a force feedback subroutine to perform operation work, and finally judges whether the operation is finished or not;
3) In the force feedback subroutine, force data of the end tool are collected through a six-dimensional force sensor, wherein the force data comprise normal forces along an x axis, a y axis and a z axis respectively, and the normal force F is obtained after filtering processing x 、F y And F z ；
4) Judgment F z Whether or not to be within the range of the preset constant force operation, i.e. F zmin ＜F z ＜F zmax If F z When the positive pressure is smaller than the minimum value, the positive pressure does not reach the set constant force value, and the robot is controlled to descend to an output value delta Z calculated by PID; if F z If the value is larger than the maximum value, the robot is controlled to rise to an output value delta Z calculated by PID; judgment F x 、F y If the working resistance exceeds the maximum value defined by the PID calculation result, the polishing speed and the feeding speed are reduced according to the PID calculation result; the rest state keeps the state at the last moment to work continuously.
The beneficial effects of the invention are as follows:
1) The driver is connected with the tail end of the industrial robot through the tail end connector of the robot, a six-dimensional force sensor is connected between the tail end connector of the robot and the layered driving cylinder body, the tail end of the layered driving cylinder body can be connected with various tail end tools such as grinding, polishing and assembling, when the tail end tools are connected with the driver, the novel driver can provide stable rotating speed and torque for the tail end tools, and the tail end tools can adapt to various complex use scenes in actual production.
2) Through the control to the servo electric cylinder of initiative radial compliance module, can be according to the appearance of part and the data of sensor measurement, the position gesture of the terminal instrument of real-time adjustment end effector, laminating curved surface improves work efficiency for the robot has dexterous operation space big, operation position and operation gesture adjustment control convenient, simple configuration, economic nature in the operation in-process.
3) The driver module has universality, and the development and production cost of the robot end effector can be reduced by adopting the universal driver, so that the driver can be connected with various end tools, the flexibility of the robot end effector can be improved, and the driver module can be applied to grinding, polishing, bolt assembly and the like.
4) In the layered driving cylinder body, the middle of the connecting part of the cylinder body is separated by adopting a novel vibration reduction material, so that vibration generated in the working of the pneumatic motor and the tail end tool can be prevented from being transmitted to the tail end of the industrial robot, and meanwhile, the driver can also float axially to a certain extent. The novel filling material is arranged between the pneumatic motor of the layered lower driving cylinder body and the driving cylinder body, so that vibration generated by the pneumatic motor is absorbed, and through the two arrangement modes, the vibration of the end effector can be reduced, and the stability and the reliability of the end tool in the working process are improved.
5) The six-dimensional force sensor is integrated in the driver, so that the force and the moment in the working process of the end effector can be measured in real time, and the measured data can be transmitted to the robot control system in real time, so that the end tool keeps constant force in the working process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a robotic connector of the present invention;
FIG. 3 is a schematic diagram of a layered drive cylinder of the present invention;
FIG. 4 is a schematic view of an active radial compliance module configuration of the present invention;
fig. 5 is a control flow diagram of an end effector of the present invention.
In the figure, 1 is a robot end connector, 2 is a pneumatic driving module, 3 is an active radial compliant module, 4 is an end tool, and 5 is a six-dimensional force sensor; 11. connecting blocks are arranged on the tail ends of the robots; 12. a connecting block is arranged at the tail end of the machine; 13. a damping material layer I; 21. a layered driving cylinder upper cover plate; 22. a long bolt; 23. vibration damping material layer II; 24. a layered lower driving outer cylinder; 25. a filler material; 26. a pneumatic motor; 27. a lower cover plate of the cylinder body is driven in a layered manner; 28. vibration damping material layer III; 29. a middle cover plate of the cylinder body is driven in a layered manner; 210. driving the outer cylinder in a layered manner; 31. the first rod end joint bearing 32 is a servo electric cylinder, 33 and the second rod end joint bearing; 34. a movable plate; 35. a diamond bearing seat; 36. deep groove ball bearings; 37. an end tool connecting screw; 38. high speed universal joint coupling.
Detailed Description
The invention is further described below with reference to the drawings.
As shown in fig. 1-5, a universal active radial compliant constant force end effector includes a robot end connector 1, a layered driver cylinder 2, an end tool connector 3, a six-dimensional force sensor 4, an upper robot end connection block 11, a lower robot end connection block 12, a first damping material layer 13, an upper layered driver cylinder cover 21, a long bolt 22, a second damping material layer 23, a lower layered driver outer cylinder 24, a filler material 25, a pneumatic motor 26, a lower layered driver cylinder cover 27, a third damping material layer 28, a middle layered driver cylinder cover 29, and upper layered driver outer cylinder 210, a first rod end joint bearing 31, a servo motor cylinder 32, a second rod end joint bearing 33, a movable disk 34, a diamond bearing seat 35, a deep groove ball bearing 36, an end tool connecting screw 37, and a high speed universal joint coupling 38.
The robot end connector 1 is connected to the industrial robot end by 4M 6 bolts. The robot end connector 1 is connected with the upper part of the six-dimensional force sensor 4 through an M4 bolt, the lower part of the six-dimensional force sensor 4 is connected with the layered driving cylinder body 2 through an M4 bolt, the lower part of the layered driving cylinder body 2 is connected with the end tool connector 3 through an M4 bolt, and the lower part of the end tool connector 3 can be connected with various end tools.
The robot end connector 1 mainly comprises an upper connecting block 11 at the end of the robot, a lower connecting block 12 at the end of the robot and a first damping material layer 13, wherein the first damping material layer 13 can reduce vibration generated in the working process of an end tool, three parts are connected by 4M 6 bolts according to assembly requirements, and the driver can be tightly connected with the end of an industrial robot by using the robot end connector 1.
The core part of the universal constant force flexible pneumatic driver is a layered driving cylinder body 2, and the layered driving cylinder body 2 mainly comprises a layered driving cylinder body upper cover plate 21, a long bolt 22 (M6 x 75), a damping material layer II 23, a layered lower driving outer cylinder 24, a filling material 25, a pneumatic motor 26, a layered driving cylinder body lower cover plate 27, a damping material layer III 28, a layered driving cylinder body middle cover plate 29 and a layered upper driving outer cylinder 210. The upper part of the upper cover plate 21 of the layered driving cylinder body is connected with the six-dimensional force sensor 4 by 6M 4, and the upper cover plate 21 of the layered driving cylinder body, the upper driving outer cylinder 210 of the layered driving cylinder body, the second damping material layer 23, the middle cover plate 29 of the layered driving cylinder body and the lower driving outer cylinder 24 of the layered driving cylinder body are sequentially connected by 8 long bolts 22 (M6 x 75). A middle cover plate 29 of the layered driving cylinder is adopted to separate the upper cover plate 21 of the layered driving cylinder from the lower cover plate 27 of the layered driving cylinder, and the upper part of the layered driving cylinder 2 is provided with a passage for a gas source pipeline of the pneumatic motor and facilitating the exhaust of the pneumatic motor 26. The lower part of the filling material 25 having a certain fluidity is prevented from entering the upper part and is convenient for assembly and later disassembly and maintenance.
The packing material 25 is closely attached to the pneumatic motor 26 and the layered lower driving outer cylinder 24, and when the robot end performs work, the packing material 25 can absorb vibration of the pneumatic motor, and can effectively prevent the end tool from generating large vibration in the working process. The layered lower driving outer cylinder 24 is separated from the layered driving cylinder lower cover plate 27 by a damping material layer III 28, so that vibration generated by contact between the end tool and the surface of the workpiece during the working process of the end tool can be reduced, and high stability and reliability of the end tool can be realized.
A first rod end joint bearing 31, a servo electric cylinder 32, a second rod end joint bearing 33, a movable disc 34, a diamond-shaped bearing seat 35, a deep groove ball bearing 36, an end tool connecting screw 37 and a high-speed universal joint coupling 38; one end of the servo electric cylinder 43 is connected with the first 3 rod end joint bearings 31, the other end of the servo electric cylinder is connected with the second 3 rod end joint bearings 33, the lower cover plate 27 of the layered driving cylinder body is fixedly connected with the first rod end joint bearings 31, and the second rod end joint bearings 33 are fixedly connected with the movable disc 34; the end tool connecting screw 37 is connected with the air motor 26 by a high-speed universal joint coupling 38, and the movable disc 34 and the diamond-shaped bearing seat 35 are fixedly connected, and the bottom of the end tool connecting screw 37 is connected with the end tool 4.
In the embodiment of the invention, the first vibration reduction material layer 13, the second vibration reduction material layer 23 and the third vibration reduction material layer 28 are made of rubber materials, the filling material 25 is made of foam, and the foam and the rubber are organically bonded together between the second vibration reduction material layer 23 and the filling material 25 and between the third vibration reduction material layer 28 and the filling material 25 through epoxy resin adhesives.
An active compliance control system of a universal active radial compliance constant force end effector, wherein a servo drive control system has obvious leading advantages in the field of industrial control, has a wide application range and has strong adaptability to scenes with different control requirements. Aiming at the action characteristic of linear reciprocating motion of the active radial compliant module, the invention combines the actual control requirements of high control precision and high response speed, comprehensively considers the advantages and disadvantages of various aspects of a servo control system, and selectively adopts a semi-closed loop servo control system to control the position of a controlled object. Because the active compliant control system not only needs to have strong motion control capability, but also needs strong data acquisition and calculation capability, the system also has higher requirements in the aspect of software design and development. Therefore, the control function and the design requirements of all aspects of software and hardware are comprehensively considered, and the active compliant control system is more suitable for a control system architecture combining a PC and a programmable controller. In the actual operation process, the upper computer reads the appearance of the part to be processed and an action file corresponding to the inclination angle between the end tools measured by the sensor, sends an action control instruction to the lower computer, after receiving the instruction, the PLC adopting a position control mode analyzes the instruction signal, converts the action instruction into a high-speed pulse signal and a direction signal to be transmitted to the servo driver, and the servo driver converts the signal into a corresponding electric signal to drive the action executing mechanism to perform corresponding action.
The working method comprises the following steps:
after power-on, inputting the size parameters of the workpiece to be processed on the mechanical arm, judging whether the mechanical arm is at an initial working position, if not, adjusting to the initial position, starting the pneumatic motor and starting to work close to the workpiece, enabling the x-axis and the y-axis to run at a constant speed according to the initial speed, entering a force feedback information operation subroutine to perform operation, and finally judging whether the operation is finished. The force feedback information operation subprogram obtains normal force F through filtering processing of information obtained by the six-dimensional force sensor x 、F y And F z Judgment F z Whether or not to be within the range of the preset constant force operation, i.e. F zmin ＜F z ＜F zmax If F z When the positive pressure is smaller than the minimum value, the positive pressure does not reach the set constant force value, and the robot is controlled to descend to an output value delta Z calculated by PID; if F z If the value is larger than the maximum value, the robot is controlled to rise to an output value delta Z calculated by PID; judgment F x 、F y If the working resistance exceeds the maximum value defined by the PID calculation result, the polishing speed and the feeding speed should be properly reduced according to the PID calculation result; the rest state keeps the state at the last moment to work continuously.
Claims (6)
1. The universal type active radial compliance constant force end effector is characterized by comprising a robot end connector (1), a layered driving cylinder body (2), an active radial compliance module (3), an end tool (4) and a six-dimensional force sensor (5), wherein the robot end connector (1) is connected with the tail end of an industrial robot, the six-dimensional force sensor (5) is arranged between the robot end connector (1) and the layered driving cylinder body (2), the lower part of the layered driving cylinder body (2) is connected with the active radial compliance module (3), and the lower part of the active radial compliance module (3) is connected with the end tool (4);
the layered driving cylinder body (2) comprises a layered driving cylinder body upper cover plate (21), a layered upper driving outer cylinder (210), a pneumatic motor (26), a layered lower driving outer cylinder (24) and a layered driving cylinder body lower cover plate (27), wherein the layered driving cylinder body upper cover plate (21) is fixedly arranged on the layered upper driving outer cylinder (210), and the layered driving cylinder body lower cover plate (27) is fixedly arranged on the layered lower driving outer cylinder (24); the middle cover plate (29) of the layered driving cylinder body is arranged between the layered upper driving outer cylinder (210) and the layered lower driving outer cylinder (24), and the pneumatic motor (26) is arranged in the layered lower driving outer cylinder (24) and is fixed at the bottom of the middle cover plate (29) of the layered driving cylinder body;
the active radial compliant module (3) comprises a first rod end joint bearing (31), a servo electric cylinder (32), a second rod end joint bearing (33), a movable disc (34), a diamond-shaped bearing seat (35), a deep groove ball bearing (36), a tail end tool connecting screw rod (37) and a high-speed universal joint coupler (38); one end of the servo electric cylinder (32) is connected with 3 rod end joint bearings I (31), the other end of the servo electric cylinder is connected with 3 rod end joint bearings II (33), the lower cover plate (27) of the layered driving cylinder body is fixedly connected with the rod end joint bearings I (31), and the rod end joint bearings II (33) are fixedly connected with the movable disc (34); the end tool connecting screw (37) is connected with the pneumatic motor (26) through a high-speed universal joint coupling (38), the movable disc (34) is fixedly connected with the diamond-shaped bearing seat (35), and the bottom of the end tool connecting screw (37) is connected with the end tool (4);
and a damping material layer II (23) is arranged between the layered upper driving outer cylinder (210) and the layered driving cylinder middle cover plate (29).
2. The universal active radial compliant constant force end effector of claim 1, wherein the robotic end connector (1) comprises an upper robotic end connection block (11), a lower robotic end connection block (12), and a first layer of damping material (13), the first layer of damping material (13) being disposed between the upper robotic end connection block (11) and the lower robotic end connection block (12).
3. A universal active radial compliant constant force end effector as claimed in claim 1 wherein a layer three (28) of damping material is provided between said lower deck (27) of the layered drive cylinder and the lower drive outer cylinder (24).
4. A universal active radial compliant constant force end effector as claimed in claim 1 wherein said layered under drive outer cylinder (24) is internally provided with filler material (25) between the air motor (26) and the inner wall of the layered under drive outer cylinder (24).
5. A universal active radial compliant constant force end effector as claimed in claim 1, wherein said end tool (4) employs a sharpening device.
6. A method of operating a universal active radial compliant constant force end effector as described in claim 1 comprising the steps of:
1) Inputting the size parameters of the workpiece to be processed on the mechanical arm after power-on, judging whether the mechanical arm is at an initial working position, and controlling the mechanical arm to adjust to the initial position if the mechanical arm is not at the initial position, starting the pneumatic motor and starting to work close to the workpiece;
2) In the directions of the x axis and the y axis, the mechanical arm runs at a constant speed according to the initial speed, enters a force feedback subroutine to perform operation work, and finally judges whether the operation is finished or not;
3) In the force feedback subroutine, force data of the end tool are collected through a six-dimensional force sensor, wherein the force data comprise normal forces along an x axis, a y axis and a z axis respectively, and the normal force F is obtained after filtering processing x 、F y And F z ；
4) Judgment F z Whether or not to be within the range of the preset constant force operation, i.e. F zmin ＜F z ＜F zmax If F z When the positive pressure is smaller than the minimum value, the positive pressure does not reach the set constant force value, and the robot is controlled to descend to an output value delta Z calculated by PID; if F z If the value is larger than the maximum value, the robot is controlled to rise to an output value delta Z calculated by PID; judgment F x 、F y Whether or not to exceed that defined byIf the maximum value is exceeded, the working resistance is excessively large, and the polishing speed and the feeding speed are reduced according to the PID calculation result; the rest state keeps the state at the last moment to work continuously.
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