CN114683286A - Damping-controllable robot arm and control system thereof - Google Patents
Damping-controllable robot arm and control system thereof Download PDFInfo
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- CN114683286A CN114683286A CN202210355536.XA CN202210355536A CN114683286A CN 114683286 A CN114683286 A CN 114683286A CN 202210355536 A CN202210355536 A CN 202210355536A CN 114683286 A CN114683286 A CN 114683286A
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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
- B25J13/00—Controls for manipulators
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Mathematical Physics (AREA)
- Software Systems (AREA)
- Fluid-Damping Devices (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The application provides a controllable damped robot arm includes: the robot mechanical arm is arranged on the base; the base is provided with a magnetorheological fluid damper, and the magnetorheological fluid damper is connected with the robot arm; the magnetorheological fluid damper is internally provided with a coil and a magnetic material, and after the coil is electrified, the shearing yield strength of the magnetic material is changed, so that the continuous adjustment of the damping force is realized. The output force of the cooperative robot is adjustable, quick response is achieved, work is stable, and man-machine interaction cooperation is achieved.
Description
Technical Field
The invention relates to the field of vibration control and automatic robots, in particular to a damping-controllable robot arm and a control system thereof.
Background
With the advance of the industrial automation process, the application scenes of the robot arm are wider and wider, but due to the joint flexibility and the connecting rod flexibility effect, the robot has a vibration phenomenon in the operation process and after the operation is stopped. The vibration not only seriously affects the positioning precision and the working stability of the robot, but also greatly reduces the working efficiency of the robot. It is therefore necessary to suppress such undesirable vibrations accordingly.
The existing robot mainly adopts a design form that a hydraulic balance bar or a spring cylinder is added at a joint of a mechanical arm. However, since the flexible robot is additionally provided with the hydraulic balance cylinder and the spring cylinder, the response speed is low, the controllability is poor, the production requirement is difficult to meet under the conditions of high positioning precision requirement and complex and changeable use environment, the working efficiency and the intelligence of the cooperative robot are greatly influenced, certain defects exist in vibration control and stability, and the man-machine cooperation of the cooperative robot is difficult to realize.
Disclosure of Invention
Based on the problems, the invention provides a cooperative robot system based on a magneto-rheological vibration control damper, in particular provides a magneto-rheological fluid damper with a damping control function, and the cooperative robot system is used for realizing adjustable output force, quick response, stable work and man-machine interaction cooperation.
The application provides a controllable damped robot arm includes: the robot mechanical arm is arranged on the base;
the magnetorheological fluid damper is arranged on the base and connected with the robot arm;
the magnetorheological fluid damper is internally provided with a coil and a magnetic material, and after the coil is electrified, the shearing yield strength of the magnetic material is changed, so that the continuous adjustment of the damping force is realized.
In one possible implementation mode, the magnetorheological damper is composed of a piston, an outer cylinder, an end cover, an excitation coil, magnetorheological fluid, a sealing ring and the like;
the coil is used for generating a magnetic circuit, the magnetorheological fluid generates a magnetic pole under the action of pressure to cause the magnetic reaction of the soft magnetic particles in the magnetorheological fluid, the flowing direction of the magnetorheological fluid is vertical to the direction of the magnetic field, and the change of the magnetic field is controlled by changing the current of the excitation coil, so that the damping force of the magnetorheological fluid damper is changed, and the force acting on the piston can consume energy through the damping force.
In one possible implementation manner, magnetorheological fluid is arranged inside the magnetorheological damper, and the magnetorheological fluid comprises magnetic particles and base fluid;
the magnetic particle includes: hydroxyl iron powder, carbonyl iron powder and/or composite soft magnetic particles.
In one possible implementation, a plurality of flexible joints are provided on the robot arm, including: the magnetorheological fluid damper is arranged at each joint.
In a possible implementation manner, the magnetorheological fluid damper is characterized by further comprising an internal sensor, wherein the internal sensor is used for detecting the position, the speed and the like of each joint to obtain a load signal and an arm spread parameter of the robot joint, and the load signal and the arm spread parameter are used for enabling the control device to adjust an output signal and control an excitation current in the magnetorheological fluid damper.
In one possible implementation, the system is characterized by further comprising an external sensor, wherein the external sensor is used for sensing the working environment and the working object.
In a possible implementation, waist joint J1 is connected to the collaborative robot base, the rotation angle of waist joint J1 is 320 °, waist joint J1 connects elbow joint J2, elbow joint J2 connects elbow joint J3, shoulder joint J3's rotation angle is 220 °, shoulder joint J3 connects elbow joint J4, elbow joint J4's rotation angle is 270 °, elbow joint J4 connects wrist joint J5, wrist joint J5's rotation angle is 532 °, wrist joint J6's rotation angle is 200 °, and wrist joint J7's rotation angle is 600 °.
On the other hand, the application provides a damping-controllable robot arm control system, which comprises a sensor arranged on a robot arm, and a data acquisition device, a control unit and a power supply which are sequentially connected;
the robot arm adopts a controller with a driving and controlling unified framework, and comprises a main computer, a PC (personal computer) and a driving module; and the controller is suitable for nonlinear robot joint control, adjusts servo parameters according to the motion state, acquires a servo control result, adjusts control parameters according to errors and adjusts configuration parameters according to the state of the motor.
In a possible implementation manner, the PC end of the control system is composed of a signal analysis system and a multi-channel centralized data acquisition instrument, the signal analysis system is a DH5928W wireless dynamic signal testing and analysis system, and the functions of real-time data acquisition, real-time waveform display, data storage, time domain analysis and frequency domain analysis can be realized by online connection.
Due to the application of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the magneto-rheological vibration control damper has the characteristic of quickly and continuously and reversibly adjusting the damping force according to the vibration condition. The damper control method does not generate extra vibration, is small in size and strong in environment adaptability, and has good technical application prospect in quick and flexible robot vibration control, the damping force provided by the damper is continuously adjustable, the adjusting range is large due to the magnetorheological fluid in the damper control method, and the damper has good operation stability.
2. The cooperative robot adopts an IRC5 controller of ABB, the controller adopts a structure with uniform drive and control, and the cooperative robot can adapt to nonlinear robot joint control, adjust servo parameters according to a motion state, acquire a servo control result, adjust control parameters according to errors and adjust configuration parameters according to the state of a motor, thereby realizing higher safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a diagram of a cooperative robotic flexible joint configuration according to an exemplary embodiment of the present application;
FIG. 2 is a schematic view of a magnetorheological damper cooperative robot and a control system thereof according to an exemplary embodiment of the present application;
fig. 3 is a schematic design structure diagram of a magnetorheological fluid and a damper thereof according to an exemplary embodiment of the present application.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
For a better illustration of the invention, the following detailed description of the invention is given in conjunction with the accompanying drawings.
As shown in fig. 1 and 2, the operation device is a flexible joint arm, the flexible joint is composed of a shoulder joint, a wrist joint, an elbow joint and a wrist joint, the flexible joint arm is installed on a robot base, and the robot operation device is based on a magnetorheological fluid damper and utilizes the characteristics of adjustable output force, fast response, good vibration reduction controllability and the like.
The magnetorheological fluid damper is arranged on the base and connected with the robot arm; a coil and a magnetic material are arranged in the magnetorheological fluid damper, and after the coil is electrified, the shearing yield strength of the magnetic material is changed, so that the continuous adjustment of the damping force is realized.
Waist joint J1 is connected to the collaborative robot base, waist joint J1's rotation angle is 320 °, waist joint J1 connects elbow joint J2, elbow joint J3 is connected to elbow joint J2, shoulder joint J3's rotation angle is 220 °, shoulder joint J3 connects elbow joint J4, elbow joint J4's rotation angle is 270 °, elbow joint J4 connects the wrist joint, wrist joint J5's rotation angle is 532 °, wrist joint J6's rotation angle is 200 °, and wrist joint J7's rotation angle is 600 °.
The robot base is provided with a magnetorheological vibration control damper, the magnetorheological damper is composed of a piston, an outer cylinder, an end cover, an excitation coil, magnetorheological fluid, a sealing ring and other structures, and the working principle is as follows: the current passes through the coil to generate a magnetic circuit, the magnetorheological fluid generates a magnetic pole under the action of pressure to cause the magnetic reaction of the soft magnetic particles in the magnetorheological fluid, the flowing direction of the magnetorheological fluid is vertical to the direction of the magnetic field, and the change of the magnetic field is controlled by changing the current of the excitation coil, so that the damping force of the magnetorheological fluid damper is changed, and the force acting on the piston can consume energy through the damping force.
Preferably, magnetorheological fluid is arranged in the magnetorheological vibration damping control damper, the magnetorheological fluid mainly comprises magnetic particles, base fluid, additives and the like, and the magnetic particles mainly comprise hydroxyl iron powder, carbonyl iron powder, composite soft magnetic particles and the like; the base liquid is a continuous medium in which soft magnetic particles can be suspended and is an important component of the magnetorheological fluid; the additive comprises a dispersing agent, an anti-settling agent and the like, and is mainly used for improving the viscosity and the shear yield strength of the magnetorheological fluid.
As shown in fig. 3, the present application further provides a controlled damping robotic arm control system comprising: the device comprises a control device, a servo driving part and a sensing device; the control device comprises a PC control panel, a PLC data acquisition module, a signal processing module and the like; the servo driving part executes the instruction of the control device and drives the movement of each joint; the sensing device comprises an internal sensor and an external sensor, the internal sensor detects the position, the speed and the like of each joint of the robot, and the external sensor is used for sensing a working environment and a working object; parameters such as load signals, arm extension and the like at the joint of the robot are obtained through an internal sensor arranged on the joint of the robot, a control mode (including feedback compensation) is designed at a PC (personal computer) end to adjust output signals, exciting current in a magnetorheological fluid damper is controlled, joint load of the cooperative robot is controlled through the magnetorheological fluid damper arranged on a base and the joint, and a closed-loop control system is formed.
The cooperative robot adopts an IRC5 controller of ABB, the controller adopts a driving and controlling unified framework and comprises a main computer of x86, a PC computer, a driving module and the like; the IRC5 controller can adapt to nonlinear robot joint control, adjust servo parameters according to a motion state, acquire a servo control result, adjust control parameters according to errors, adjust configuration parameters according to the state of a motor, and achieve higher safety.
Preferably, the PC end of the control system is composed of a signal analysis system and a multi-channel centralized data acquisition instrument, the signal analysis system is a DH5928W wireless dynamic signal testing and analysis system, and the online system can realize functions of real-time data acquisition, real-time waveform display, data storage, time domain analysis, frequency domain analysis and the like; the method has the characteristics of high anti-interference capability, low error rate, high reliability, long transmission distance, low power consumption and the like.
The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A controllably damped robotic arm, comprising: the robot mechanical arm is arranged on the base;
the base is provided with a magnetorheological fluid damper, and the magnetorheological fluid damper is connected with the robot arm;
and a coil and a magnetic material are arranged in the magnetorheological fluid damper, and after the coil is electrified, the shearing yield strength of the magnetic material is changed, so that the continuous adjustment of the damping force is realized.
2. A controllable damping robot arm as claimed in claim 1, wherein said magnetorheological damper comprises a piston, an outer cylinder, an end cap, a magnet exciting coil, magnetorheological fluid and a sealing ring;
the coil is used for generating a magnetic circuit, the magnetorheological fluid generates a magnetic pole under the action of pressure to cause the magnetic reaction of the soft magnetic particles in the magnetorheological fluid, the flowing direction of the magnetorheological fluid is vertical to the direction of a magnetic field, and the change of the magnetic field is controlled by changing the current of the excitation coil, so that the damping force of the magnetorheological fluid damper is changed, and the force acting on the piston can consume energy through the damping force.
3. A damping-controllable robot arm as claimed in claim 2, wherein magnetorheological fluid is provided inside the magnetorheological damper, and the magnetorheological fluid comprises magnetic particles and base fluid;
the magnetic particle includes: hydroxyl iron powder, carbonyl iron powder and/or composite soft magnetic particles.
4. A controllably damped robotic arm as claimed in claim 1, wherein said robotic arm is provided with a plurality of flexible joints, comprising: the magnetorheological fluid damper is arranged at each joint.
5. A damping controllable robot arm as claimed in any one of claims 1 to 4, further comprising an internal sensor, said internal sensor detecting the position, velocity, etc. of each joint to obtain the load signal, arm spread parameter of the robot joint, for the control device to adjust the output signal to control the excitation current inside the MR damper.
6. A controllably damped robotic arm according to any of claims 1 to 4, further comprising external sensors for sensing work environment and work object.
7. A robot arm with controllable damping as claimed in claim 4, characterized in that the robot base is connected to a waist joint J1, the rotation angle of the waist joint J1 is 320 °, the waist joint J1 is connected to an elbow joint J2, the elbow joint J2 is connected to an elbow joint J3, the rotation angle of the shoulder joint J3 is 220 °, the shoulder joint J3 is connected to an elbow joint J4, the rotation angle of the elbow joint J4 is 270 °, the elbow joint J4 is connected to a wrist joint J5, the rotation angle of the wrist joint J5 is 532 °, the rotation angle of the wrist joint J6 is 200 ° and the rotation angle of the wrist joint J7 is 600 °.
8. A damping-controllable robot arm control system is characterized by comprising a sensor arranged on a robot arm, and a data acquisition device, a control unit and a power supply which are sequentially connected;
the robot arm adopts a controller with a driving and controlling unified framework, and comprises a main computer, a PC (personal computer) and a driving module; and the controller is suitable for nonlinear robot joint control, adjusts servo parameters according to the motion state, acquires a servo control result, adjusts control parameters according to errors and adjusts configuration parameters according to the state of the motor.
9. A controllable damping robot arm control system according to claim 8, characterized in that the PC end of the control system is composed of a signal analysis system and a multi-channel centralized data acquisition instrument, the signal analysis system is DH5928W wireless dynamic signal testing analysis system, and the online functions of real-time data acquisition, real-time waveform display, data storage, time domain analysis and frequency domain analysis can be realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210355536.XA CN114683286A (en) | 2022-04-06 | 2022-04-06 | Damping-controllable robot arm and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210355536.XA CN114683286A (en) | 2022-04-06 | 2022-04-06 | Damping-controllable robot arm and control system thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056883A (en) * | 2013-01-11 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Double-manipulator coordination control system and double-manipulator coordination control method |
| CN106015437A (en) * | 2016-07-04 | 2016-10-12 | 北京交通大学 | Order-variable electromagnetic rheological damper |
| CN207534849U (en) * | 2017-11-09 | 2018-06-26 | 武汉鑫成旌实业有限公司 | A kind of industrial robot for stablizing processing cast member |
| CN111805427A (en) * | 2020-07-21 | 2020-10-23 | 中国科学院长春光学精密机械与物理研究所 | Precision calibration device and method of magnetorheological polishing equipment |
| CN112060133A (en) * | 2020-09-30 | 2020-12-11 | 上海应用技术大学 | Damping-adjustable mechanical arm flexible joint |
-
2022
- 2022-04-06 CN CN202210355536.XA patent/CN114683286A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056883A (en) * | 2013-01-11 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Double-manipulator coordination control system and double-manipulator coordination control method |
| CN106015437A (en) * | 2016-07-04 | 2016-10-12 | 北京交通大学 | Order-variable electromagnetic rheological damper |
| CN207534849U (en) * | 2017-11-09 | 2018-06-26 | 武汉鑫成旌实业有限公司 | A kind of industrial robot for stablizing processing cast member |
| CN111805427A (en) * | 2020-07-21 | 2020-10-23 | 中国科学院长春光学精密机械与物理研究所 | Precision calibration device and method of magnetorheological polishing equipment |
| CN112060133A (en) * | 2020-09-30 | 2020-12-11 | 上海应用技术大学 | Damping-adjustable mechanical arm flexible joint |
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