CN114714342B - Rope-driven flexible arm driving rope hysteresis deformation measuring device and compensation control method thereof - Google Patents
Rope-driven flexible arm driving rope hysteresis deformation measuring device and compensation control method thereof Download PDFInfo
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- CN114714342B CN114714342B CN202210436147.XA CN202210436147A CN114714342B CN 114714342 B CN114714342 B CN 114714342B CN 202210436147 A CN202210436147 A CN 202210436147A CN 114714342 B CN114714342 B CN 114714342B
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- 238000009434 installation Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 9
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- 238000006073 displacement reaction Methods 0.000 claims description 7
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a rope-driven flexible arm driving rope hysteresis deformation measuring device and a compensation control method thereof, comprising the following steps: the fixture comprises a fixture platform, a tail end rope length measuring module and a driving rope, wherein the tail end rope length measuring module is arranged at the edge of one end of the fixture platform, one end of the driving rope is fixed on a rope clamping mechanism, the rest of the fixing rope sequentially penetrates through a plurality of wire guide holes and bypasses the driving rope groove, and the other end of the driving rope is connected with a weight and falls into the tail end adjacent space of the fixture platform. According to the rope-driven flexible arm driving rope hysteresis deformation measuring and compensating control method, the rope hysteresis deformation of the driving rope in a load condition and a rope servo driving system such as a rope-driven flexible mechanical arm is simulated, the rope hysteresis deformation is measured based on the driving rope hysteresis deformation, and the rope hysteresis deformation is compensated by adopting a PD (proportional and differential) feedback control method, so that the accuracy of rope-driven servo control is improved.
Description
Technical Field
The invention relates to a rope-driven flexible arm driving rope hysteresis deformation measuring device and a compensation control method thereof, and belongs to the field of robot control.
Background
The driving rope servo driving system has higher reliability and a more convenient configuration driving mode, and is widely applied to the aspects of rope-driven flexible mechanical arms, soft intelligent claws, medical appliances and the like. However, due to the friction force of rope perforation and the existence of mechanical gaps, the driving rope has obvious hysteresis deformation, and the motion precision of the rope driving servo control system is further affected.
The existing rope-driven flexible mechanical arm cannot fully measure the hysteresis deformation of the driving rope, and the measuring device cannot flexibly adjust the deflection angle of the driving rope, flexibly adjust the driving module and flexibly operate the driving rope in a compensation mode, so that the improvement of the servo control precision of the rope-driven flexible mechanical arm is limited.
Disclosure of Invention
The invention provides a rope-driven flexible arm driving rope hysteresis deformation measuring device and a compensation control method thereof, and aims to at least solve one of the technical problems in the prior art.
The technical scheme of the invention is a rope-driven flexible arm driving rope hysteresis deformation measuring device, which comprises: the tool comprises a tool platform, a driving module arranged on the tool platform, wherein the driving module comprises a linear guide rail, a guide rail sliding block, a rope clamping mechanism and a servo motor, the guide rail sliding block is in sliding connection with the linear guide rail sliding block, the rope clamping mechanism is fixedly connected with the guide rail sliding block, the servo motor drives the guide rail sliding block to slide on the linear guide rail through a transmission mechanism, a plurality of rope diversion modules which are arranged in space are arranged on the tool platform, the rope diversion modules comprise wire guide plates and wire guide holes which are arranged on the wire guide plates, the tail end rope length measuring module is arranged at one end edge of the tool platform, the tail end rope length measuring module comprises a supporting column seat and a rotating shaft which is in rotating connection with the supporting column seat, one end of the rotating shaft is provided with a driving rope groove, one end of the driving rope is fixed on the rope clamping mechanism, the rest of the driving rope sequentially penetrates through the wire guide holes and bypasses the driving rope groove, and the other end of the driving rope is connected with weights and falls into the tail end adjacent space of the tool platform.
Further, the driving module comprises a front bearing support seat, a rear bearing support seat, a front positioning support seat and a rear positioning support seat, the transmission mechanism comprises a ball screw and a screw nut, the front positioning support seat, the front bearing support seat, the rear bearing support seat and the rear positioning support seat are sequentially distributed and arranged on the tooling platform, the ball screw penetrates through the middle parts of the front positioning support seat and the rear positioning support seat, the side faces of the servo motor are fixed on the outer side faces of the front bearing support seat, a pair of linear guide rails are arranged between the front bearing support seat and the rear bearing support seat, the power end of the servo motor is connected with one end of the ball screw through a coupling, the screw nut is sleeved on the ball screw, the rope clamping mechanism is fixedly connected with the screw nut, and the front end and the rear end of the ball screw are respectively sleeved on the front bearing support seat and the rear bearing support seat.
Further, the rope clamping mechanism comprises a mounting part, a first connecting part and a second connecting part which are integrally formed with two sides of the mounting part, wherein a pair of first bolt mounting openings and second bolt mounting openings are respectively formed in the upper end and the lower end of the side part of the mounting part, a first mounting notch is formed in the middle of the side part of the mounting part in a downward opening mode, a through hole for connecting a driving rope is formed in the tail end of the first connecting part, one side surface of the screw nut penetrates through the first bolt mounting openings and the second bolt mounting openings through two pairs of bolt components to be fastened with the mounting part, and the ball screw is arranged between a pair of linear guide rails and guide rail sliding blocks sliding on the linear guide rails and fastened with the corresponding guide rail sliding blocks through bolts.
Further, the rope diversion module comprises a supporting base, the periphery of the supporting base is fixed on the tooling platform through bolts, at least two rows of adjusting through holes which are distributed in an arc shape are formed in the supporting base, the two rows of adjusting through holes are distributed in a diagonal mode, third bolt mounting openings are formed in the root portions of the two sides of the wire guide plate downwards respectively, and the positions of the pair of third bolt mounting openings are matched with the positions of the pair of adjusting through holes of the two rows respectively.
Further, the upper part of the side surface of the wire guide plate is provided with a plurality of rows of wire guide holes with intervals.
Further, the terminal rope length measurement module comprises a bottom plate, one side surface of the bottom plate is connected with the bottom of the support column base in an integrated manner, and a fourth bolt mounting hole is formed in the other side surface of the bottom plate, wherein the bottom plate passes through the fourth bolt mounting hole through bolts to be fixed on the tool platform.
Further, the upper portion of support post seat begins to have the installation through-hole, terminal rope length survey module includes encoder, code fixed block, first bearing and second bearing, pivot pivoted other end suit first bearing and second bearing in proper order from inside to outside, first bearing and second bearing are installed respectively in the installation through-hole, the code fixed block covers the lateral surface of second bearing, the edge passes through the bolt fastening at the side of support post seat around the code fixed block, the code installation through-hole has been seted up at the middle part of code fixed block, the axis at encoder middle part passes the terminal fixed connection of code installation through-hole and pivot.
Further, the surface of the tooling platform is provided with equally-spaced internal thread mounting holes which are arrayed, and the weights are disc-shaped.
The method for measuring and compensating the hysteresis deformation of the rope driven flexible arm driving rope comprises the following steps of:
s100, arranging a driving module on a tooling platform and an end rope length measuring module at the end of the surface of the tooling platform, arranging a plurality of rope phase-changing modules which are arranged in a space manner on the tooling platform between the driving module and the end rope length measuring module, adjusting the deflection angle of the wire guide plates on a supporting base, fixing one end of the driving rope on a pair of adjusting through holes through bolts passing through first bolt mounting holes, fixing one end of the driving rope on a rope clamping mechanism, enabling the driving rope to pass through wire guide holes on the wire guide plates and bypass a driving rope groove on a rotating shaft, and enabling the end connection weights of the driving rope to fall into the adjacent space at the end of the tooling platform;
s200, under the condition of weight load, a servo motor drives a guide rail slide block to carry out servo drive on a linear guide rail through a screw rod, and drives a driving rope to move according to a desired track under the limit of a wire guide plate;
s300, collecting data of the driving rope bypassing the rotating shaft by the encoder, measuring actual displacement of the tail end of the driving rope, and calculating to obtain a hysteresis deformation amount of the driving rope;
and S400, carrying out weighted calculation according to the current value and the change trend of the hysteresis variable of the driving rope and feeding back to the driving end of the servo motor, and repeating the operations from the step S200 to the step S300.
Further, for step S400: and (3) driving the current value and the change trend of the rope hysteresis deformation quantity, superposing feedforward control based on the expected track speed, carrying out weighted calculation, feeding back to the driving end of the servo motor, and repeating the operations from the step (200) to the step (300).
The beneficial effects of the invention are as follows:
1. according to the rope-driven flexible arm driving rope hysteresis deformation measuring device, the power end of the servo motor drives the driving rope to move forwards and backwards through the rope clamping mechanism, the plurality of wire guide plates flexibly deflect at the tool platform according to the movement track of the driving rope, and further the change of the included angle of the driving rope passing through the wire guide is controlled, so that the testing condition of the driving rope is flexibly adjusted.
2. The connecting parts at two sides of the installation part are respectively matched with the slide rails vertically opposite to the connecting parts, so that the rope clamping mechanism can stably slide under the limit of the ball screw and the pair of slide rails, the straightness movement of the rope clamping mechanism can be kept, and the precision of the testing device is further provided.
3. In order to reduce the interference of shaking generated in the lifting process of the weight on the driving rope, a disc-shaped weight with larger moment of inertia in the hanging direction of the rope is used.
4. According to the rope-driven flexible arm driving rope hysteresis deformation measuring and compensating control method, the rope hysteresis deformation of the driving rope in a load condition and a rope servo driving system such as a rope-driven flexible mechanical arm is simulated, the rope hysteresis deformation is measured based on the driving rope hysteresis deformation, and the rope hysteresis deformation is compensated by adopting a PD (proportional and differential) feedback control method, so that the accuracy of rope-driven servo control is improved.
Drawings
Fig. 1 is a general schematic diagram of a rope-driven flexible arm driving rope hysteresis deformation measuring device according to an embodiment of the present invention.
Fig. 2 is a detailed schematic diagram of a driving module according to an embodiment of the present invention.
Fig. 3 is a detailed schematic view of the external components of the ball screw according to an embodiment of the present invention.
Fig. 4 is a detailed schematic diagram of a tether mechanism according to an embodiment of the present invention.
Fig. 5 is a detailed schematic view of a rope direction block according to an embodiment of the invention.
Fig. 6 is a detailed schematic view of a support base according to an embodiment of the present invention.
Fig. 7 is a detailed schematic of a tip rope length measurement module according to an embodiment of the invention.
Fig. 8 is an exploded schematic view of a tip rope length measurement module according to an embodiment of the present invention.
Fig. 9 is a block diagram of a compensation control method based on a rope-driven flexible arm driving rope hysteresis deformation measuring device according to an embodiment of the present invention.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure.
Referring to fig. 1 to 8, in some embodiments, the invention discloses a rope-driven flexible arm driving rope hysteresis deformation measuring device, comprising: tooling platform 1000, the surface of tooling platform 1000 is provided with equally spaced internally threaded mounting holes 1100 arranged in an array. The internal thread mounting hole 1100 on the tooling platform 1000 is matched with the positions of the lower driving module 2000, the rope direction changing module 3000 and the tail end rope length measuring module 4000 to adjust, mount and fix the positions, so that the measuring device can adjust the measuring conditions of a plurality of rope drives.
Referring to fig. 1 in combination with fig. 2-4, a drive module 2000 is provided on the tooling platform 1000. The driving module 2000 includes a linear guide 2100, a guide rail slider 2200 slidably connected to the linear guide 2100, a rope clamping mechanism 2800 fixedly connected to the guide rail slider 2200, and a servo motor 2110 provided at the end of the linear guide 2100. The driving end of the servo motor 2110 drives the guide rail sliding block 2200 to slide on the linear guide rail 2100 through the transmission mechanism 2700. The rope clamping mechanism 2800 is displaced on the linear guide 2100 by the guide rail slider 2200, and drives the driving rope to displace.
Referring to fig. 1 in combination with fig. 5-6, a plurality of spatially arranged rope diversion modules 3000 are provided on tooling platform 1000. The rope direction changing module 3000 comprises a wire guide plate 3100 and wire guide holes 3110 formed on the wire guide plate 3100, the plurality of wire guide plates 3100 can adjust deflection angles on the tooling platform 1000, the included angles of the wire guide plates 3100 through which the driving rope 5000 passes can be changed, and the driving rope 5000 can have various track displacement on the tooling platform 1000.
Referring to fig. 1 in combination with fig. 7 to 8, a terminal rope length measuring module 4000 is provided at an end edge of the tooling platform 1000. The end rope length measuring module 4000 includes a support post 4100 and a rotating shaft 4200 rotatably connected to the support post 4100, wherein a driving rope groove 4210 is provided at one end of the rotating shaft 4200. The end rope length measurement module 4000 is used for guiding the horizontal distribution of the driving rope 5000 on the tooling platform 1000 to transition to a hanging state, and can measure end position data of the driving rope 5000.
With reference to the drive line 5000 trend of fig. 1: one end of the driving rope 5000 is fixed on the rope clamping mechanism 2800, the rest of the fixing ropes sequentially pass through the plurality of wire holes 3110 and bypass the driving rope grooves 4210, and the other end of the driving rope 5000 is connected with the weight 6000 and falls into the adjacent space at the tail end of the tooling platform 1000.
According to the rope-driven flexible arm driving rope hysteresis deformation measuring device, the power end of the servo motor drives the driving rope to move forwards and backwards through the rope clamping mechanism, the plurality of wire guide plates flexibly deflect at the tool platform according to the movement track of the driving rope, and further the change of the included angle of the driving rope passing through the wire guide is controlled, so that the testing condition of the driving rope is flexibly adjusted.
Referring to fig. 2 in combination with fig. 3, the driving module 2000 includes a front bearing support 2300, a rear bearing support 2400, a front positioning support 2500, and a rear positioning support 2600. The front positioning support base 2500, the front bearing support base 2300, the rear bearing support base 2400 and the rear positioning support base 2600 are sequentially distributed on the tooling platform 1000. The transmission mechanism 2700 includes a ball screw 2710 and a screw nut 2720.
Referring to fig. 2 to 3, the ball screw 2710 passes through the middle portions of the front positioning support 2500 and the rear positioning support 2600, the lateral surface of the servo motor 2110 is fixed to the outer lateral surface of the front bearing support 2300, and the pair of linear guides 2100 are disposed between the front bearing support 2300 and the rear bearing support 2400.
With continued reference to fig. 2 to 3, the power end of the servo motor 2110 is connected to one end of the ball screw 2710 through a coupling 2900, the screw nut 2720 is sleeved on the ball screw 2710, the rope clamping mechanism 2800 is fixedly connected to the screw nut 2720, and the front end and the rear end of the ball screw 2710 are sleeved on the front bearing support 2300 and the rear bearing support 2400 respectively. The cooperation of front bearing support 2300 and back bearing support 2400 guarantees that ball screw 2710 is under the front and back support of front bearing support 2300 and back bearing support 2400, and ball screw 2710 can have good axiality, guarantees simultaneously that linear guide 2100 has good depth of parallelism and accurate interval between ball screw 2710's the axis, finally makes drive rope 5000 can accurate displacement.
Referring to fig. 2 to 4, the rope clip mechanism 2800 includes a mounting portion 2810, and a first connection portion 2811 and a second connection portion 2812 integrally formed with both sides of the mounting portion 2810. A pair of first bolt mounting openings 2813 and second bolt mounting openings 2814 are respectively formed at the upper end and the lower end of the side portion of the mounting portion 2810, a first mounting notch 2815 is formed in the middle of the side portion of the mounting portion 2810 in a downward opening mode, and a through hole for connecting a driving rope 5000 is formed in the tail end of the first connecting portion 2811. One side of the screw nut 2720 is fastened to the mounting portion 2810 by two pairs of bolt members penetrating the first bolt mounting hole 2813 and the second bolt mounting hole 2814, respectively. The ball screw 2710 is disposed between a pair of linear guides 2100 and a guide rail slider 2200 that slides on the linear guides 2100. The first connection portion 2811 and the second connection portion 2812 are fastened to the corresponding rail slider 2200 by bolts, respectively.
The integrated mechanism of the rope clamping mechanism 2800 is characterized in that connecting parts at two sides of the mounting part 2810 are respectively matched with the slide rails vertically opposite to the connecting parts, so that the rope clamping mechanism can be stably limited to slide by the ball screw and the pair of slide rails, the straightness movement of the rope clamping mechanism can be kept, and the precision of the testing device is further provided.
Referring to fig. 5 to 6, the rope direction changing module 3000 includes a support base 3200. The periphery of the supporting base 3200 is fixed on the tooling platform 1000 through bolts, at least two rows of adjusting through holes 3210 distributed in an arc shape are formed in the supporting base 3200, and the two rows of adjusting through holes 3210 are distributed diagonally. Third bolt mounting openings 3120 are respectively provided at the bottom of both sides of the lead plate 3100, and a pair of the third bolt mounting openings 3120 are respectively matched with the positions of a pair of the adjusting holes 3210 of the two rows. Referring to fig. 6, the distribution of the adjustment holes enables the lead plate 3100 to adjust a plurality of angles of deflection on the support base 3200, and a gap exists between the adjustment holes 3210, so that both ends of the lead plate 3100 can be stably fixed to the pair of adjustment holes 3210 through bolts, and the driving rope 5000 cannot pass through the lead holes 3110, thereby avoiding affecting the accuracy of the driving rope test.
Referring to fig. 5, the upper side of the wire guide plate 3100 is provided with a plurality of rows of wire guide holes 3110 having a space therebetween. The driving rope 5000 passes through the wire guide 3110 with different heights on different wire guide plates 3100, so that different movement tracks of the driving rope 5000 can be adjusted, and the testing device can flexibly and variably adjust the track of the driving rope.
Referring to fig. 7-8, the end cord length measurement module 4000 includes a base plate 4300. One side surface of the bottom plate 4300 is integrally connected with the bottom of the support post 4100, a fourth bolt mounting hole 4310 is formed in the other side surface of the bottom plate 4300, and the bottom plate 4300 is fixed on the tooling platform 1000 through bolts passing through the fourth bolt mounting hole 4310. The fixed position of the end rope length measuring module 4000 on the optical loading platform 1000 is adjusted through the bottom plate, so that the position of the component on the tooling platform 1000 can be flexibly adjusted.
Referring to fig. 7 to 8, the upper portion of the support post 4100 begins with a mounting through hole 4110. The end rope length measuring module 4000 includes an encoder 4400, an encoding fixing block 4500, a first bearing 4600, and a second bearing 4700. Referring to fig. 8, the rotating end of the rotating shaft 4200 is sleeved with the first bearing 4600 and the second bearing 4700 sequentially from inside to outside. In order to reduce the stress of the encoder 4400 during measurement, the first bearing 4600 and the second bearing 4700 are respectively installed in the installation through hole 4110, the encoding fixing block 4500 covers the outer side surface of the second bearing 4700, the peripheral edge of the encoding fixing block 4500 is fixed on the side surface of the support column base 4100 through bolts, the middle part of the encoding fixing block 4500 is provided with an encoding installation through hole 4510, and a middle shaft in the middle part of the encoder 4400 passes through the encoding installation through hole 4510 and is fixedly connected with the tail end of the rotating shaft 4200. The encoder 4400 on the end rope length measuring module 4000 can measure the displacement of the end of the drive rope, and after knowing the diameter of the drive rope groove 4210 and the angle measurement of the encoder 4400, the displacement of the end of the opposite drive rope 5000 can be converted.
Referring to fig. 1, the weight 6000 is disc-shaped, and different weights are selected according to the load conditions. In order to reduce the interference of the shaking generated during the lifting of the weight 6000 to the driving rope, a disc-shaped weight having a large moment of inertia in the rope hanging direction is used.
According to fig. 9, the invention also discloses a method for measuring and compensating the hysteresis deformation of the rope-driven flexible arm driving rope, which comprises the following steps:
s100, a driving module 2000 is arranged on the tooling platform 1000 and a tail end rope length measuring module 4000 at the tail end of the surface of the tooling platform 1000, then a plurality of rope phase change modules which are arranged in a space are arranged on the tooling platform 1000 between the driving module 2000 and the tail end rope length measuring module 4000, the deflection angle of the wire guide plates 3100 on the supporting base 3200 is adjusted, one end of the driving rope 5000 is fixed on a pair of adjusting through holes 3210 through bolts passing through a first bolt mounting hole, the driving rope 5000 passes through wire guide holes 3110 on the wire guide plates 3100 and bypasses a driving rope groove 4210 on a rotating shaft 4200, and the tail end connecting weight 6000 of the driving rope 5000 falls into the tail end adjacent space of the tooling platform 1000.
And S200, under the condition of the load of the weight 6000, the servo motor 2110 drives the guide rail sliding block 2200 to perform servo driving on the linear guide rail 2100 through the lead screw, so that the driving rope 5000 is driven to move according to a desired track under the limitation of the lead plate 3100.
And S300, the encoder 4400 collects data of the driving rope 5000 bypassing the rotating shaft 4200, measures actual displacement of the tail end of the driving rope 5000, and calculates to obtain hysteresis deformation of the driving rope 5000.
And S400, carrying out weighted calculation according to the current value and the change trend of the hysteresis variable of the driving rope 5000 and feeding back to the driving end of the servo motor 2110, and repeating the operations from the step S200 to the step S300.
For step S400: the current value and the variation trend of the hysteresis deformation quantity of the driving rope 5000 are overlapped with feedforward control based on the expected track speed, weighted calculation is carried out, the weighted calculation is fed back to the driving end of the servo motor 2110, and the operations from the step S200 to the step S300 are repeated, so that the control precision of the rope driving system can be further improved.
According to the rope-driven flexible arm driving rope hysteresis deformation measuring and compensating control method, the rope hysteresis deformation of the rope servo driving system such as the rope-driven flexible mechanical arm is measured under the load condition in a simulated manner, the rope hysteresis deformation is compensated by adopting a PD proportional and differential feedback control method based on the driving rope hysteresis deformation, and the accuracy of the rope-driven servo control is further improved.
The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.
Claims (2)
1. A method for controlling the hysteresis deformation measurement and compensation of a rope-driven flexible arm driving rope (5000), the method comprising the following steps:
s100, arranging a driving module (2000) on a tooling platform (1000) and arranging an end rope length measuring module (4000) at the tail end of the surface of the tooling platform (1000), arranging a plurality of rope direction changing modules which are arranged in space on the tooling platform (1000) between the driving module (2000) and the end rope length measuring module (4000), adjusting the deflection angle of a wire guide plate (3100) on a supporting base (3200), fixing the wire guide plate on a pair of adjusting through holes (3210) through bolts through a third bolt mounting opening, fixing one end of the driving rope (5000) on a rope clamping mechanism (2800), penetrating the wire guide holes (3110) on the wire guide plates (3100) through the driving rope (5000) and bypassing a driving rope groove (4210) on a rotating shaft (4200), and enabling the tail end connecting weight (6000) of the driving rope (5000) to drop into the tail end adjacent space of the tooling platform (1000);
s200, under the condition of the load of the weight (6000), a servo motor (2110) drives a guide rail sliding block (2200) to slide on a linear guide rail (2100) through a screw rod, and drives a driving rope (5000) to move according to a desired track under the limit of a wire guide plate (3100);
s300, an encoder (4400) collects data of the driving rope (5000) bypassing the rotating shaft (4200), measures actual displacement of the tail end of the driving rope (5000), and calculates to obtain hysteresis deformation of the driving rope (5000);
s400, carrying out weighted calculation according to the current value and the change trend of the hysteresis deformation quantity of the driving rope (5000) and feeding back to the driving end of the servo motor (2110) based on the proportional and differential feedback compensation control method of the hysteresis deformation quantity of the driving rope (5000), and repeating the operations from the step S200 to the step S300;
the method is applied to a rope-driven flexible arm driving rope hysteresis deformation measuring device, and the rope-driven flexible arm driving rope hysteresis deformation measuring device comprises:
a tooling platform (1000),
the driving module (2000) is arranged on the tooling platform (1000), the driving module (2000) comprises a linear guide rail (2100), a guide rail sliding block (2200) which is in sliding connection with the linear guide rail (2100), a rope clamping mechanism (2800) which is fixedly connected with the guide rail sliding block (2200) and a servo motor (2110) which is arranged at the tail end of the linear guide rail (2100), the servo motor (2110) drives the guide rail sliding block (2200) to slide on the linear guide rail (2100) through a transmission mechanism (2700),
a plurality of rope direction changing modules (3000) which are arranged in space and are arranged on the tooling platform (1000), wherein the rope direction changing modules (3000) comprise a wire guide plate (3100) and wire guide holes (3110) which are arranged on the wire guide plate (3100),
the tail end rope length measuring module (4000) is arranged at the edge of one end of the tooling platform (1000), the tail end rope length measuring module (4000) comprises a supporting column seat (4100) and a rotating shaft (4200) which is rotationally connected with the supporting column seat (4100), one end of the rotating shaft (4200) is provided with a driving rope groove (4210),
the driving rope (5000), one end of the driving rope (5000) is fixed on the rope clamping mechanism (2800), the rest driving rope (5000) sequentially passes through the plurality of wire guide holes (3110) and bypasses the driving rope groove (4210), and the other end of the driving rope (5000) is connected with a weight (6000) and falls into an adjacent space at the tail end of the tooling platform (1000);
the driving module (2000) comprises a front bearing support seat (2300), a rear bearing support seat (2400), a front positioning support seat (2500) and a rear positioning support seat (2600),
the transmission mechanism (2700) comprises a ball screw (2710) and a screw nut (2720),
the front positioning support seat (2500), the front bearing support seat (2300), the rear bearing support seat (2400) and the rear positioning support seat (2600) are sequentially distributed and arranged on the tooling platform (1000),
the ball screw (2710) passes through the middle parts of the front positioning support seat (2500) and the rear positioning support seat (2600), the side surface of the servo motor (2110) is fixed on the outer side surface of the front positioning support seat (2500), the pair of linear guide rails (2100) are arranged between the front bearing support seat (2300) and the rear bearing support seat (2400),
the power end of the servo motor (2110) is connected with one end of a ball screw (2710) through a coupling (2900), a screw nut (2720) is sleeved on the ball screw (2710), the rope clamping mechanism (2800) is fixedly connected with the screw nut (2720), and the front end and the rear end of the ball screw (2710) are sleeved with a front bearing support seat (2300) and a rear bearing support seat (2400) respectively;
the rope clamping mechanism (2800) comprises a mounting part (2810), a first connecting part (2811) and a second connecting part (2812) which are integrally formed with two sides of the mounting part (2810), a pair of first bolt mounting openings (2813) and second bolt mounting openings (2814) are respectively formed at the upper end and the lower end of the side part of the mounting part (2810), a first mounting notch (2815) is formed in the middle of the side part of the mounting part (2810) in a downward opening manner, a through hole for connecting a driving rope (5000) is formed at the tail end of the first connecting part (2811),
one side surface of the screw nut (2720) is fastened with the mounting part (2810) through two pairs of bolt components respectively penetrating through the first bolt mounting opening (2813) and the second bolt mounting opening (2814),
the ball screw (2710) is disposed between a pair of linear guides (2100) and a guide rail slider (2200) that slides on the linear guides (2100),
the first connecting part (2811) and the second connecting part (2812) are respectively fastened with the corresponding guide rail sliding blocks (2200) through bolts;
the rope diversion module (3000) comprises a support base (3200), the periphery of the support base (3200) is fixed on the tooling platform (1000) through bolts, the support base (3200) is provided with at least two rows of adjusting through holes (3210) which are distributed in an arc shape, the two rows of adjusting through holes (3210) are distributed in a diagonal shape,
third bolt mounting openings (3120) are respectively arranged at the root parts of the two sides of the wire guide plate (3100) downwards, and the positions of a pair of the third bolt mounting openings (3120) are respectively matched with the positions of a pair of the adjusting through holes (3210) of the two rows;
the upper part of the side surface of the wire guide plate (3100) is provided with a plurality of rows of wire guide holes (3110) with intervals;
the end rope length measuring module (4000) comprises a bottom plate (4300), one side surface of the bottom plate (4300) is integrally connected with the bottom of the support column seat (4100), a fourth bolt mounting hole (4310) is formed in the other side surface of the bottom plate (4300),
wherein the bottom plate (4300) is fixed on the tooling platform (1000) through a bolt passing through a fourth bolt mounting hole (4310);
the upper part of the support column seat (4100) is provided with a mounting through hole (4110),
the end rope length measuring module (4000) comprises an encoder (4400), an encoding fixing block (4500), a first bearing (4600) and a second bearing (4700), the rotating end of the rotating shaft (4200) is sequentially sleeved with the first bearing (4600) and the second bearing (4700) from inside to outside, the first bearing (4600) and the second bearing (4700) are respectively installed in an installation through hole (4110), the encoding fixing block (4500) covers the outer side surface of the second bearing (4700), the peripheral edge of the encoding fixing block (4500) is fixed on the side surface of a supporting column seat (4100) through bolts, an encoding installation through hole (4510) is formed in the middle of the encoding fixing block (4500), and a center shaft in the middle of the encoder (4400) penetrates through the encoding installation through hole (4510) to be fixedly connected with the tail end of the rotating shaft (4200).
The surface of the tooling platform (1000) is provided with equally spaced internal thread mounting holes (1100) which are arrayed,
the weight (6000) is disc-shaped.
2. The rope-driven flexible arm driving rope (5000) hysteresis deformation measurement compensation control method according to claim 1, wherein, for step S400:
and (3) driving the current value and the change trend of the hysteresis deformation quantity of the rope (5000), superposing feedforward control based on the expected track speed, performing weighted calculation, feeding back to the driving end of the servo motor (2110), and repeating the operations from the step S200 to the step S300.
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