CN117086854A - Large-stroke positioning device, robot system and method - Google Patents
Large-stroke positioning device, robot system and method Download PDFInfo
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- CN117086854A CN117086854A CN202311348485.9A CN202311348485A CN117086854A CN 117086854 A CN117086854 A CN 117086854A CN 202311348485 A CN202311348485 A CN 202311348485A CN 117086854 A CN117086854 A CN 117086854A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Human Computer Interaction (AREA)
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Abstract
The application provides a large-stroke positioning device, which is characterized by comprising: a driver including an output shaft; the speed reducer comprises a speed reducing shaft, one end of the output shaft is coupled with the speed reducer to drive the speed reducing shaft to rotate, and the rotation speed of the speed reducing shaft is smaller than that of the output shaft; the signal acquisition unit is arranged on the speed reduction shaft and synchronously rotates along with the speed reduction shaft, and is used for recording at least one of the rotation angle and the rotation radian of the speed reduction shaft, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and the control unit performs motion planning based on the information recorded by the signal acquisition unit to calculate and obtain target turns, and controls the driver to drive the output shaft to finish the rotation of the target turns.
Description
Technical Field
The application relates to the technical field of control positioning, in particular to a large-stroke positioning device, a robot system and a method.
Background
Currently, more and more scenes place demands on the control positioning of target devices. The control positioning comprises both control of the movement of the target device and acquisition and feedback of real-time position information of the target device.
It should be appreciated that the description in this background section is only for aiding in the understanding of the disclosed aspects of the application and is not necessarily prior art prior to the filing date of this application.
Disclosure of Invention
In one aspect, the present application provides a large travel positioning device, comprising: a driver including an output shaft; the speed reducer comprises a speed reducing shaft, one end of the output shaft is coupled with the speed reducer to drive the speed reducing shaft to rotate, and the rotation speed of the speed reducing shaft is smaller than that of the output shaft; the signal acquisition unit is arranged on the speed reduction shaft and synchronously rotates along with the speed reduction shaft, and is used for recording at least one of the rotation angle and the rotation radian of the speed reduction shaft, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and the control unit performs motion planning based on the information recorded by the signal acquisition unit to calculate and obtain target turns, and controls the driver to drive the output shaft to finish the rotation of the target turns.
In one embodiment, the apparatus further comprises a stroking assembly, and the motion planning comprises planning a real-time distance of a target component on the stroking assembly from an origin on a plane corresponding to a number of rotations of the output shaft.
In one embodiment, the apparatus further comprises: and the output assembly is coupled with the travel assembly, is arranged at one end, far away from the speed reducer, of the output shaft and synchronously rotates along with the output shaft, the output assembly converts the rotation motion of the output shaft into the plane motion of the target component, and the rotation circle number of the output assembly corresponds to the movement distance of the target component on the plane.
In one embodiment, the sampling frequency of the signal acquisition unit is between 1kHz and 30kHz, and the control unit controls the drive in real time based on the sampling frequency to locate the position of the movement of the target component in real time.
In one embodiment, the reduction ratio of the decelerator is not less than 3.
In one embodiment, the maximum movement distance L of the target member in a plane with respect to the origin satisfies: l is more than or equal to 0.5m and less than or equal to 20m.
Another aspect of the present application provides a long-stroke positioning robot system, comprising: an apparatus as in any above embodiments; and the mechanical arm is installed on the device, and the movement distance of the mechanical arm on a plane corresponds to the rotation number of the output shaft.
In still another aspect, the present application provides a method for positioning a large travel distance, including: setting a driver to drive the output shaft to rotate; a speed reducer coupled with the output shaft is arranged, wherein the output shaft drives a speed reducing shaft of the speed reducer to rotate, and the rotating speed of the speed reducing shaft is smaller than that of the output shaft; recording at least one of the rotation angle and the rotation radian of the speed reducing shaft by adopting a signal acquisition unit, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and performing motion planning based on the information recorded by the signal acquisition unit to calculate and obtain a target number of turns, and controlling the driver to drive the output shaft to complete the rotation of the target number of turns.
In one embodiment, the motion planning includes planning that a real-time position of the target component on the plane corresponds to a number of rotations of the output shaft.
In one embodiment, the maximum movement distance L of the target member in a plane with respect to the origin satisfies: l is more than or equal to 0.5m and less than or equal to 20m.
In one embodiment, the target component is located on a travel assembly, the method further comprising: an output assembly coupled with the stroke assembly is arranged, and the rotation movement of the output shaft is converted into the plane movement of the target component through the output assembly, wherein the rotation circle number of the output assembly corresponds to the movement distance of the target component on the plane.
The large-stroke positioning device provided by the application has at least one of the following beneficial effects:
according to the large-stroke positioning device in some embodiments of the present application, by providing the signal acquisition unit on the reduction shaft of the reduction gear and setting the rotation speed of the reduction shaft to be smaller than the rotation speed of the output shaft, the number of rotations (may be greater than one) of the output shaft can be controlled within the range that the rotation speed of the reduction shaft does not exceed one rotation (360 degrees).
According to the large-stroke positioning device in some embodiments of the application, the rotation angle/radian signal acquisition within a circle is realized by arranging the speed reducer and the signal acquisition unit in a combined mode, and the motion control of the output end is realized by the control unit, so that the signal acquisition by introducing a plurality of circles of encoders and the like can be avoided, thereby greatly reducing the cost of the device and improving the reliability and durability of the device.
Drawings
Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 is a partial schematic view of a long stroke positioning device according to some exemplary embodiments of the present application.
Fig. 2 is a partial schematic view of a long stroke positioning device according to other exemplary embodiments of the present application.
Fig. 3 is a flowchart of the operation of the long-stroke positioning device 100 according to embodiment 2 of the present application.
Fig. 4 is a schematic structural view of a long stroke positioning robot system according to an exemplary embodiment of the present application.
Fig. 5 is a flowchart of a long-stroke positioning method according to an exemplary embodiment of the present application.
100, a large-stroke positioning device; 110. a driver; 111. an output shaft; 120. a speed reducer; 121. a reduction shaft; 130. a signal acquisition unit; 140. a control unit; 150. a travel assembly; 151. a target component; 160. an output assembly; 200. a large-stroke positioning robot system; 210. a mechanical arm; 211. a connecting seat; 220. and (3) a bracket.
Detailed Description
For a better understanding of the application, various aspects of the application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the application and is not intended to limit the scope of the application in any way. Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items.
It should be noted that in this specification, the expressions "first", "second", etc. are used only to distinguish one feature from another feature, and do not denote any limitation of the features, particularly do not denote any order of precedence. Thus, a first direction discussed in this disclosure may also be referred to as a second direction and vice versa without departing from the teachings of the present disclosure.
In the description, references to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
In the drawings, the thickness, size, and shape of the components have been slightly adjusted for convenience of description. The figures are merely examples and are not drawn to scale. For example, the dimensions of the driver depicted in the drawings in the present application are not to scale in actual production. As used herein, "about," "approximately," and similar terms are used as terms of a table approximation, not as terms of a table degree, and are intended to illustrate inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.
It should be understood that expressions such as "comprising," "including," "having," "containing," and/or "comprising" are open-ended, rather than closed-ended, which indicates the presence of stated features, elements and/or components, but does not preclude the presence or addition of one or more other features, elements, components and/or groups thereof. Furthermore, when a statement such as "at least one of the following" appears after a list of features listed, it modifies the entire list of features rather than just modifying the individual elements in the list. Furthermore, when describing embodiments of the application, use of "may" means "one or more embodiments of the application. Also, the term "exemplary" is intended to refer to an example or illustration.
It will also be understood that meanings such as "on", "over" and "over" should be interpreted in the broadest sense such that "on" means not only "directly on" something but also includes "on" and having an intermediate feature or layer therebetween, and "over" or "over" means not only "over" or "over" something but also may include "over" or "over" something and having no intermediate feature or layer therebetween (i.e., directly on something).
Unless otherwise defined, all terms (including engineering and technical terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that, in the case of no conflict, the embodiments of the present application and features of the embodiments may be combined with each other. In addition, unless explicitly defined or contradicted by context, the particular steps included in the methods described herein need not be limited to the order described, but may be performed in any order or in parallel.
The inventor of the present application finds that the scheme of controlling and positioning the target device in the prior art has a plurality of disadvantages, and especially the control and positioning disadvantages in a large-stroke (more than 0.4 m) scene are more obvious. Specifically, a stretching displacement sensor or a magneto displacement sensor is adopted for control positioning, the scheme has high requirements on application environment, interference objects cannot exist in the range of a pull rope or the range of a magneto rod in the working process, a large amount of system space is occupied by the existence of the pull rope/the magneto rod, the application scene of a positioning device is greatly limited, and sensors, inductors and the like in the positioning device need to rotate for a plurality of times in large-stroke measurement, so that the positioning device has a complex structure and high cost;
the motor and the single-turn encoder are adopted to control and position the target device, the scheme has more limitations in application in a large-stroke scene due to smaller measurement range of the single-turn encoder, a mechanical limiting device is required to be arranged, and control software needs a startup zeroing operation, if the target device encounters interference in the zeroing process, the target device cannot be normally zeroed, so that startup is abnormal, the complexity of a system is increased, and the overall cost is higher;
the motor and the multi-turn encoder are adopted to control and position the target device, and the scheme is mostly applied to scenes with higher control precision requirements at present because of high cost, relatively complex structure after being connected with a system, easy to damage in the use process and limited in application in general scenes;
when the control and positioning requirements of the fields of lower industrial robots, cooperative robots, machine tool manufacturing, joint modules and the like on target devices are urgent, the prior art scheme cannot meet the requirements of various scenes.
The present application provides a large stroke positioning device which at least partially ameliorates or solves the above-mentioned problems. The control of the number of rotations of the output shaft in the range of one rotation (360 degrees) can be realized by arranging a signal acquisition unit on the speed reduction shaft of the speed reducer and arranging the rotation speed of the speed reduction shaft to be smaller than the rotation speed of the output shaft; the speed reducer is provided with a proper speed reduction ratio, so that the rotation angle of a speed reducer speed reduction shaft is not more than 360 degrees, and the output shaft of the driver rotates for a plurality of circles, thereby driving the stroke assembly to realize large-stroke movement and acquiring real-time positioning information in the movement; compared with the motor-multi-turn encoder scheme, the device has the advantages that the production cost can be reduced by several times to tens of times, and the device is simple in structure and not easy to damage.
The features, principles, and other aspects of the present application are described in detail below with respect to the following drawings.
Fig. 1 is a partial schematic view of a long stroke positioning device according to some exemplary embodiments of the present application. As shown in fig. 1, the long-stroke positioning device 100 may include a driver 110, a decelerator 120, a signal acquisition unit 130, and a control unit 140 (refer to fig. 4). Illustratively, the driver 110 includes an output shaft 111, the output shaft 111 alongyOne end of the direction (i.e., the first direction) extends from the driver 110. The speed reducer 120 includes a speed reducing shaft 121, and the speed reducing shaft 121 may be disposed alongyExtending from the reducer 120 in the opposite direction (i.e., the second direction).
In some embodiments, an end of the output shaft 111 in the second direction is coupled with the decelerator 120 so as to rotate the deceleration shaft 121 when the output shaft 111 rotates, and the rotation speed of the deceleration shaft 121 is less than the rotation speed of the output shaft 111. Illustratively, the reducer 120 includes at least one set of gear assemblies (not shown) having an input end coupled to an end of the output shaft 111 in the second direction and an output end coupled to the reduction shaft 121 such that the output shaft 111 may transmit its rotation to the reduction shaft 121 through the gear assemblies. For example, each set of gear assemblies may include a plurality of intermeshing gears. The presence of the gear assembly in the reducer 120 causes the rotational speed of the reduction shaft 121 to be less than the rotational speed of the output shaft 111. The coupling may comprise a mechanical connection, in particular, for example, a keyed connection, a pin connection, a threaded connection, a squeeze connection, an in-line connection, or any combination thereof.
In some embodiments, the signal acquisition unit 130 is disposed on the reduction shaft 121. Further, the signal acquisition unit is located at one side of the reduction shaft 121 in the second direction. In other words, the decelerator 120 is located between the signal acquisition unit 130 and the driver 110. The structural design can realize that the signal acquisition unit 130 obtains the motion information of the large stroke of the output end of the driver 110 under the condition of small rotation number (not more than 1 circle). The signal acquisition unit 130 may be fixedly coupled to the reduction shaft 121 such that it rotates in synchronization with the reduction shaft 121. The fixed connection means includes at least one of bonding, welding, threaded connection, squeeze connection, in-line connection, snap connection, for example.
The signal acquisition unit 130 is configured to record at least one of a rotation angle and a rotation radian of the deceleration shaft 121, where the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2pi radian. It is understood that in actual operation, the number of rotations of the reduction shaft 121 is set to not more than 1, so that the rotation of the signal acquisition unit 130 is also performed within a range not exceeding 1.
It should be noted that, compared to a multi-turn encoder that records multi-turn rotation information, the signal acquisition unit 130 can only sense the absolute angular position within one turn. The application combines the signal acquisition unit 130 with the speed reducer 120, overcomes the limitation of small output end travel caused by the limitation that the maximum rotation angle is not more than 360 degrees/the maximum rotation radian is not more than 2 pi when the signal acquisition unit 130 acquires signals, and breaks through the limitation of the movement travel capable of positioning. In other words, the multi-rotation of the output shaft 111 corresponds to a large movement stroke, and the signal acquisition unit 130 can acquire the multi-rotation information of the output shaft 111 within a rotation range of 1 rotation, thereby realizing the positioning of the large movement stroke. Because the signal acquisition unit 130 acquires a unique coding signal in the rotation range of 1 circle, the uniqueness of the measured starting position and the measured ending position in the rotation range is determined by the mechanical position, and the angle/radian information is acquired, the positioning precision is high, the structure is simple, the damage is not easy, the large-stroke positioning is realized, and the cost is greatly reduced.
Illustratively, the signal acquisition unit 130 may include a single-turn absolute encoder. Further, optical single-turn encoders, magnetic single-turn encoders, capacitive single-turn encoders, piezoelectric single-turn encoders, acoustic single-turn encoders, and the like are included.
In some embodiments, the control unit 140 may receive at least one of the rotation angle and the rotation radian acquired by the signal acquisition unit 130, perform a motion planning by performing an inference analysis on the information, and calculate the target turns. Meanwhile, the control unit 140 is further configured to apply a control instruction to the driver 110 to drive the output shaft 111 to complete the rotation of the target number of turns.
Illustratively, the control unit 140 performs closed-loop automatic control through PID (proportion integration differentiation), which can reduce uncertainty based on comparison of feedback data, correct response of the system by comparing actual values of controlled variables with expected values, perform adjustment control to complete motion planning of the system, and control the driver 110 to drive the output shaft 111 to output planned target turns, thereby achieving precise control of rotation of the drive shaft 111.
In the exemplary embodiment, large stroke positioning device 100 also includes a stroke assembly 150 and an output assembly 160. The output assembly 160 is mounted to an end of the output shaft 111 remote from the reducer 120 and is rotatable synchronously with the output shaft 111. The travel assembly 150 is coupled to the output assembly 160, further, the coupling includes telescoping. The travel assembly 150 includes a target member 151, and rotation of the output shaft 111 may drive movement of the travel assembly 150 and may translate into planar movement of the target member 151.
The control unit 140 performs motion planning by PID, including planning that the real-time distance of the target part 151 from the origin a on the plane corresponds to the number of rotations of the output shaft 111. Illustratively, the control unit 140 plans a distance to be moved by the target member 151 from the origin a on a plane, then converts the displacement distance into a target number of turns required to be rotated by the output assembly 160, and controls the driver 110 to drive the output shaft 111 to complete the rotation of the target number of turns. In this process, the driver 110 further drives the reduction shaft 121 in the reducer 120 and the signal acquisition unit 130 on the reduction shaft 121 to rotate synchronously.
Due to the reduction ratio of the reducer 120, the rotation of the output shaft 111 is reduced when transmitted to the reduction shaft 121, and the rotation information of the reduction shaft 121 is acquired in real time by the signal acquisition unit 130. Meanwhile, the signal acquisition unit 130 feeds back the acquired data to the control unit 140 for continuous PID motion planning and motion adjustment, and finally, the target component 151 moves to a preset position, so that the position of the target component 151 is positioned.
It can be understood that, on the premise that the rotation speed of the output shaft 111 is the same, the larger the reduction ratio is, the slower the speed of the output of the reduction shaft 121 is; the larger the reduction ratio, the more the output shaft rotates when the reduction shaft 121 rotates 1 turn, and the larger the corresponding movement stroke. Illustratively, the reduction ratio of the reducer 120 is not less than 3. However, as the reduction ratio increases, there is a possibility that an error between mechanical transmissions becomes relatively large, which results in deterioration of positioning accuracy of the target member 151. Further, the reduction ratio of the speed reducer 120 may be set to be not less than 5 and not more than 300. The speed reducer 120 may include at least one of a planetary speed reducer and a harmonic speed reducer.
The sampling frequency of the signal acquisition unit 130 is between 1kHz and 30kHz, for example. The magnitude of the sampling frequency affects the real-time feedback of the signal acquisition unit 130 to the control unit 140. The control unit 140 may make real-time control adjustments to the driver 110 based on the sampling frequency to locate the position of the movement of the target part 111 in real time. Further, the sampling frequency may be set to not less than 10kHz and not more than 30kHz.
In embodiments of the present application, large-stroke (over 0.4 m) movement and positioning of the target member 151 may be achieved. Illustratively, the maximum distance of movement L of the target part 151 in a plane relative to the origin a is greater than 0.4m; further, the maximum movement distance L satisfies: l is more than or equal to 0.5m and less than or equal to 20m. The maximum movement distance L is affected by the reduction ratio of the speed reducer 120 and the output assembly 160. The increase in the reduction ratio contributes to the increase in the maximum movement distance L (i.e., the stroke of the large-stroke positioning device 100), but at the same time, the accuracy of positioning the target member 151 is sacrificed. Setting the stroke of the device to be no more than 20m is beneficial to realizing accurate positioning of the movement of the target part 151.
Fig. 2 is a partial schematic view of a long stroke positioning device according to other exemplary embodiments of the present application. As shown in connection with fig. 1 and 2, the output assembly 160 may include wheeled items, such as pulleys, gears, etc., may also include couplings, etc., or may include a combination of wheeled items and couplings. The travel assembly 150 may include a belt, chain belt, screw, worm, etc., that cooperates with the output assembly 160. When the output assembly 160 is, for example, a gear, a pulley, the stroke assembly 150 corresponds to a belt, a chain belt, etc. (shown with reference to fig. 2); when the output assembly 160 is, for example, a coupling, the stroke assembly 150 is, for example, a screw, a worm, etc. (see fig. 1).
For example, the origin a may be set as an initial position point of the target member 151. The target component 151 may be part of the construction of the travel assembly 150 or may be a separate component and mounted to the travel assembly 150. The plane isxShaft and method for producing the sameyThe axes being co-located in a plane about which the output assembly 160 rotatesyRotation of the shaft.
In order to further explain the inventive concept, a scheme will be described below by way of specific examples.
Examples
With continued reference to FIG. 1, this embodiment shows a high travel positioning device 100 including a rimyThe driver 100, the decelerator 120, the signal acquisition unit 130, and the control unit 140 are sequentially disposed in the opposite direction of the above. The names and interrelationships of the components in the large-stroke positioning device 100 and the functional principle can be referred to above, and will not be described herein.
In this embodiment, the output assembly 160 is a coupling, the stroke assembly 150 is a screw rod, the screw rod is matched with the driver 110 through the coupling and can rotate under the driving of the driver 110, and the screw rod can be alongxIs arranged in a direction extending. The target member 151 is a base block penetrated by the screw and having threads, the threads on the base block mating with the threads on the screw. The screw rod rotates around the shaft through the threads to drive the base block to generate a rimxDirection or direction ofxIs a linear motion in the opposite direction.
Specifically, the maximum rotation range of the signal acquisition unit 130 does not exceed 360 degrees, the reduction ratio of the speed reducer 120 is 300, and the base block isxThe maximum movement distance L (i.e. stroke) in the direction relative to the origin a is 20m.
When the deceleration shaft 121 drives the signal acquisition unit 130 to rotate, the signal acquisition unit 130 can record angle/radian information and feed back the angle/radian information to the control unit 140, and the control unit 140 regulates and positions the actual motion state of the base block through PID.
In actual operation, the output shaft 111 rotates 3000 degrees (i.e. 8.33 circles) for every 10 degrees of rotation of the signal acquisition unit 130, and the base block isxDirection or direction ofx556mm in the opposite direction.
In this embodiment, an anti-bending mechanism is further provided, and the anti-bending mechanism is used for ensuring the screw rod to followxLevelness of the direction. Since the deflection prevention mechanism is not the focus of the present application, the details concerning this mechanism are not described in detail herein.
Examples
With continued reference to FIG. 2, this embodiment illustrates another implementation of the high travel positioning device 100. The main difference between the implementation of this example and example 1 is that:
in this embodiment, the output assembly 160 is a pulley, the number of pulleys is a plurality, and the stroke assembly 150 is a belt that is sleeved on the outer circumference of the pulley and is drivable by the pulley. The target member 151 is a clamp secured to the upper edge of the beltxDirection or direction ofxIs synchronized with the belt.
Specifically, the maximum rotation range of the signal acquisition unit 130 is not more than 360 degrees, the effective diameter of the belt pulley is 32mm, the reduction ratio of the speed reducer 120 is 5, and the clamp is positioned onxThe maximum movement distance L (i.e. stroke) in the direction relative to the origin a is 0.5m.
When the deceleration shaft 121 drives the signal acquisition unit 130 to rotate, the signal acquisition unit 130 can record angle/radian information and feed back the angle/radian information to the control unit 140, and the control unit 140 regulates and controls the actual motion state of the clamp through PID and positions the clamp.
In actual operation, the output shaft 111 rotates 50 degrees for every 10 degrees of rotation of the signal acquisition unit 130, and the clamp is inxDirection or direction ofx14mm in opposite direction of motion.
Fig. 3 is a diagram of a large stroke positioning device 100 according to the present embodimentIs described. As shown in fig. 3, when the long-stroke positioning device 100 is started up to operate, it is first detected whether the driver 110 is abnormal, and if not, the control unit 140 detects that the fixture is in real timexA position on the shaft. The signal acquisition unit 130 performs data acquisition and feeds back to the control unit 140. The control unit 140 calculates the effective diameter of the pulley by combining the reduction ratio and the angle/radian information fed back from the signal acquisition unit 130xAnd (5) shaft displacement. The control amount may be calculated based on the actual position of the jig and a predetermined target position and a control instruction may be generated, after which the control instruction may be sent to the driver 110 to make motion adjustment. The repeatable run control unit 140 controls the clamp to be clampedxDetection and regulation of the real-time position on the shaft until the clamp is completed to stop at a predetermined target position.
Examples
With continued reference to fig. 2, this embodiment illustrates yet another implementation of the high travel positioning device 100. In this embodiment, the output assembly 160 is a plurality of gears, the stroke assembly 150 is a chain, and the chain is sleeved on the periphery of the gears and can be driven by the gears. The target part 151 is a section of chain (i.e., the target part 151 is a portion of chain) along whichxDirection or direction ofxIs linearly moved in the opposite direction.
Specifically, the maximum rotation range of the signal acquisition unit 130 is not more than 360 degrees, the effective diameter of the gear is 27.5mm, the reduction ratio of the speed reducer 120 is 20, and the chain length is as followsxThe maximum movement distance L (i.e. stroke) in the direction relative to the origin a is 1.5m.
In actual operation, the output shaft 111 rotates 200 degrees for every 10 degrees of rotation of the signal acquisition unit 130, and the chain is in the following stagexDirection or direction ofx41.5mm in opposite direction of motion.
In another aspect, the application provides a large-stroke positioning robot system. Fig. 4 is a schematic structural view of a long stroke positioning robot system according to an exemplary embodiment of the present application. As shown in fig. 4, the long-stroke positioning robot system 200 includes the long-stroke positioning device 100 and a robot arm 210. The mechanical arm 210 is mounted on the large stroke positioning device 100, and the movement distance of the mechanical arm 210 on the plane corresponds to the rotation number of the output shaft 111. It should be noted that, under the same condition, the corresponding relationship between the movement distance and the number of rotations of the output shaft 111 is that the more the number of rotations of the output shaft 111 is, the greater the movement distance of the mechanical arm 210 on the plane is.
In some embodiments, the robotic arm 210 is mounted on the target part 151 and follows the target part 151xDirection or direction ofxIs moved in synchronism in the opposite direction. The maximum movement stroke of the robot arm 210 is the same as the maximum movement stroke L of the target member 151, and is not less than 0.5m and not more than 20m. The connection mode of the mechanical arm 210 and the target part 151 includes bolting, screwing, buckling, welding, bonding or any combination thereof.
In some embodiments, the robotic arm 210 further includes a connection mount 211 and an end effector (not shown). The connecting seat 211 is arranged at the bottom of the mechanical arm 210 and is connected with the target part 151; the end effector is disposed at an end of the mechanical arm 210 away from the connection base 211. Illustratively, the end effector includes a magnetically attractable jaw, a mechanical gripper, or the like.
In some embodiments, the high-travel positioning robotic system 200 further includes a stand 220, the stand 200 for carrying the high-travel positioning device 100 and the robotic arm 210. The main body portion of the bracket 220 for supporting may be composed of a steel member, an aluminum member, an alloy member, or the like.
In some embodiments, the high-travel positioning robotic system 200 further includes a control module (not shown) that can apply control instructions to the robotic arm 210 and control the robotic arm 210 to perform predetermined actions.
The long-range positioning robot system 200 can be applied to various scenes such as medical treatment, home, industry, security, education, retail and the like. For example, the long-stroke positioning robotic system 200 may be used for cooking and cooking in a kitchen setting to automate the preparation of food items; the end effector can be used for clamping cookware such as cookware, frying baskets, cutters, scoops and the like.
In yet another aspect, the present application provides a method of large-stroke positioning. Fig. 5 is a flowchart of a long-stroke positioning method according to an exemplary embodiment of the present application. As shown in fig. 5, the present application provides a large-stroke positioning method 1000, including:
step S1100, setting a driver to drive an output shaft to rotate;
step S1200, a speed reducer coupled with an output shaft is arranged, wherein the output shaft drives a speed reducing shaft of the speed reducer to rotate;
step S1300, recording at least one of the rotation angle and the rotation radian of the speed reducing shaft by adopting a signal acquisition unit, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and
in step S1400, motion planning is performed based on the information recorded by the signal acquisition unit to calculate the target turns, and the driver is controlled to drive the output shaft to complete the rotation of the target turns.
It should be understood that the steps shown in method 1000 are not exclusive and that other steps may be performed before, after, or between any of the steps shown. Further, some of the illustrated steps may be performed concurrently or may be performed in a different order than illustrated in fig. 4. The above steps S1100 to S1400 are further described below in conjunction with fig. 1 to 5.
Referring to fig. 1 to 5, a driver 100 may be provided, the driver 100 having a driving shaft 111, the driving shaft 111 performing a rotational motion under the driving of the driver 110. An output assembly 160 is mounted at one end of the output shaft 111, and the output assembly 160 rotates synchronously with the output shaft 111. The output assembly 160 is coupled to the travel assembly 150 in a manner that includes a socket. The travel assembly 150 includes a target member 151, and rotation of the output shaft 111 may drive movement of the travel assembly 150 and may translate into planar movement of the target member 151.
A speed reducer 120 coupled with the output shaft 111 is provided, the speed reducer 120 includes a speed reducing shaft 121, and the speed reducing shaft 121 can be arranged alongxOpposite direction (shown in FIG. 1) oryExtending from the reducer 120 in the opposite direction (shown in fig. 2). Output shaft 111 edgexOpposite direction (shown in FIG. 1) oryThe opposite end of (shown in fig. 2) is coupled to the reducer 120 so that when the output shaft 111 rotatesDriving the rotation of the reduction shaft 121.
Illustratively, the speed reducer 120 has a certain reduction ratio, and the presence of the reduction ratio may make the rotational speed of the reduction shaft 121 smaller than the rotational speed of the output shaft 111. It can be understood that, on the premise that the rotation speed of the output shaft 111 is the same, the larger the reduction ratio is, the slower the speed of the output of the reduction shaft 121 is; the larger the reduction ratio, the more the output shaft rotates when the reduction shaft 121 rotates 1 turn, and the larger the corresponding movement stroke. Illustratively, the speed reducer 120 has a reduction ratio of not less than 3. However, as the reduction ratio increases, there is a possibility that an error between mechanical transmissions becomes large, resulting in deterioration of positioning accuracy of the target member 151. Further, the reduction ratio of the speed reducer 120 is not less than 5 and not more than 300.
The signal acquisition unit 130 may be employed to record at least one of the rotation angle and the rotation radian of the reduction shaft 121. In an exemplary embodiment, the signal acquisition unit 130 performs signal acquisition with a maximum rotation angle of not more than 360 degrees relative to the initial position, a maximum rotation arc of not more than 2pi radians, and a sampling frequency of between 1kHz and 30kHz. Further, the sampling frequency of the signal acquisition unit 130 is not less than 10kHz and not more than 25kHz. The magnitude of the sampling frequency affects the real-time feedback of the data collected by the signal collection unit 130.
A control unit 140 may be provided and the motion planning performed by PID. The motion planning may be performed based on the information acquired by the signal acquisition unit 130 to calculate the target turns, and the driver 110 may be controlled to drive the output shaft 11 to complete the rotation of the target turns.
Specifically, the target part 151 is planned in a plane (includingxShaft and method for producing the sameyThe plane in which the shafts are co-located) corresponds to the number of rotations of the output shaft 111.
Illustratively, the control unit 140 plans a distance to be moved by the target member 151 from the origin a on a plane, then converts the displacement distance into a target number of turns required to be rotated by the output assembly 160, and controls the driver 110 to drive the output shaft 111 to complete the rotation of the target number of turns. The number of rotations of the output shaft 111 affects the movement distance of the target member 151, and the greater the number of rotations, the greater the movement distance of the target member 151 in the same linear direction. In this process, the driver 110 further drives the reduction shaft 121 in the reducer 120 and the signal acquisition unit 130 on the reduction shaft 121 to rotate synchronously.
The existence of the reduction ratio allows the rotation of the output shaft 111 to be reduced when transmitted to the reduction shaft 121, and the rotation information of the reduction shaft 121 is acquired in real time by the signal acquisition unit 130. Meanwhile, the signal acquisition unit 130 feeds back the acquired data to the control unit 140 for continuous PID motion planning and motion adjustment, and finally, the target component 151 moves to a preset position and positioning of the position of the target component 151 is achieved.
The positioning method of the present application can be used to move the target member 151 in a plane (e.g., alongxDirection-xMovement in the opposite direction). The maximum movement distance L of the target member 151 with respect to the origin a satisfies: l is more than or equal to 0.5m and less than or equal to 20m. The maximum movement distance L is commonly affected by the reduction ratio and the output assembly 160. The increase in the reduction ratio contributes to the increase in the maximum movement distance L, but at the same time, the accuracy of positioning the target member 151 is sacrificed. Setting the maximum travel no more than 20m is advantageous for achieving accurate positioning of the movement of the target member 151.
Since the contents and structures referred to in the description of the high-travel positioning apparatus 100 above are fully or partially applicable to the high-travel positioning method 1000 described herein, the description thereof will not be repeated.
It should be noted that, although the rotation angle of the signal acquisition unit 130 set by the large-stroke positioning device 100, the large-stroke positioning robot system 200, and the large-stroke positioning method 1000 in the context of the present application does not exceed 360 degrees, and the rotation radian does not exceed 2 pi, those skilled in the art can perform expansion of the rotation angle/rotation radian during signal acquisition without departing from the concept of the present application according to actual needs, and select an appropriate signal acquisition unit. For example, under the concept of the application, the rotation angle at the time of signal acquisition is extended to more than 360 degrees and a corresponding multi-turn encoder is selected as the signal acquisition unit for achieving the positioning of the target part 151 in a large stroke movement.
The above description is only illustrative of the embodiments of the application and of the technical principles applied. It will be appreciated by those skilled in the art that the scope of the application is not limited to the specific combination of the above technical features, but also encompasses other technical solutions which may be formed by any combination of the above technical features or their equivalents without departing from the technical concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (11)
1. A large travel positioning device, the device comprising:
a driver including an output shaft;
the speed reducer comprises a speed reducing shaft, one end of the output shaft is coupled with the speed reducer to drive the speed reducing shaft to rotate, and the rotation speed of the speed reducing shaft is smaller than that of the output shaft;
the signal acquisition unit is arranged on the speed reduction shaft and synchronously rotates along with the speed reduction shaft, and is used for recording at least one of the rotation angle and the rotation radian of the speed reduction shaft, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and
and the control unit performs motion planning based on the information recorded by the signal acquisition unit so as to calculate and obtain target turns, and controls the driver to drive the output shaft to finish the rotation of the target turns.
2. The apparatus of claim 1, further comprising a travel assembly, wherein the motion planning comprises planning a real-time distance of a target component on the travel assembly from an origin on a plane corresponding to a number of rotations of the output shaft.
3. The apparatus of claim 2, wherein the apparatus further comprises:
the output component is coupled with the travel component, is arranged at one end of the output shaft far away from the speed reducer and synchronously rotates along with the output shaft,
the output assembly converts the rotation motion of the output shaft into the plane motion of the target component, and the rotation circle number of the output assembly corresponds to the movement distance of the target component on the plane.
4. A device according to claim 3, characterized in that the sampling frequency of the signal acquisition unit is between 1kHz and 30kHz, and the control unit controls the drive in real time based on the sampling frequency to locate the movement position of the target component in real time.
5. The apparatus of claim 1, wherein the reduction ratio of the decelerator is not less than 3.
6. A device according to claim 3, characterized in that the maximum movement distance L of the target component in a plane with respect to the origin is such that: l is more than or equal to 0.5m and less than or equal to 20m.
7. A high-travel positioning robotic system, the system comprising:
the device of any one of claims 1 to 6; and
and the mechanical arm is arranged on the device, and the movement distance of the mechanical arm on a plane corresponds to the rotation number of the output shaft.
8. A method of large travel positioning, the method comprising:
setting a driver to drive the output shaft to rotate;
a speed reducer coupled with the output shaft is arranged, wherein the output shaft drives a speed reducing shaft of the speed reducer to rotate, and the rotating speed of the speed reducing shaft is smaller than that of the output shaft;
recording at least one of the rotation angle and the rotation radian of the speed reducing shaft by adopting a signal acquisition unit, wherein the rotation angle is not more than 360 degrees, and the rotation radian is not more than 2 pi radians; and
and performing motion planning based on the information recorded by the signal acquisition unit to calculate and obtain target turns, and controlling the driver to drive the output shaft to finish the rotation of the target turns.
9. The positioning method of claim 8, wherein the motion planning comprises planning a distance of a real-time position of the target part on the plane from the origin corresponding to a number of rotations of the output shaft.
10. The positioning method according to claim 9, wherein a maximum movement distance L of the target member in a plane with respect to the origin satisfies: l is more than or equal to 0.5m and less than or equal to 20m.
11. The positioning method of claim 9, wherein the target component is located on a travel assembly, the method further comprising:
an output assembly coupled to the travel assembly is provided and the rotational motion of the output shaft is translated by the output assembly into a planar motion of the target member,
wherein the number of rotations of the output assembly corresponds to the distance of movement of the target component on a plane.
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