TW201914787A - Robot with a variable number of arbors and control method thereof - Google Patents

Abstract

A robot with a variable number of arbors and a control method thereof are provided. The robot includes a base, a first joint arm and N robotic arms. One end of the first joint arm is connected to the base. When N is 1, one end of the robotic arm is connected to another end of the first joint arm in a manner as to be rotatable around the yaw axis or the pitch axis by a joint portion. When N is larger than 1, one end of one of the robotic arms is detachably connected to an adjacent robotic arm in a manner as to be rotatable around the yaw axis or the pitch axis by a joint portion. Driving units including multiple drivers and multiple motors are deposited in the base, the first robot arm and the robot arm. The drivers drive the motors to rotate.

Description

Robot with variable number of axes and control method thereof

The invention relates to the field of robot control, in particular to a robot with a variable number of axes and a control method thereof.

The main robots currently on the market include two types: SCARA robots and 6R robots.

SCARA robot, which is a flat articulated robot, is a robot arm used in assembly operations. Different from general articulated robots, articulated robots only have good flexibility on the plane, but have high rigidity in the direction perpendicular to the plane, so they are very suitable for vertical assembly operations. It can be used in assembly and handling operations. Achieve fast speeds and higher frequencies.

6R robot, that is, a robot with six rotating joints, has two more joints than a four-axis manipulator, so it has more degrees of freedom. It can pick up parts in any orientation on the horizontal plane. It is generally used in assembly, arc welding, and spot welding. , Spraying, dispensing, picking and packaging.

SCARA robot and 6R robot have the following advantages and disadvantages:

The SCARA robot has a light structure and a fast response, but it has the disadvantages that it cannot perform three-dimensional movements and the overall structure layout is not compact enough. Because of its specific shape, its working range is similar to a fan-shaped area. In practice, complex working areas require additional Adding a robot to cooperate with the operation not only causes a loss of operation accuracy, but also greatly increases the assembly cost, so it is not completely suitable for the large-scale and high-precision assembly operations of the 3C industry.

The disadvantages of traditional robotic arms (for example: 6R robot) are slow speed, high price, and limited spherical working range. In addition, the six-axis robotic arm specializes in the application of a large number of curved surfaces such as grinding and polishing. When it is used in the 3C industry, it requires only a small amount of three-dimensional movement.

Therefore, the present invention provides a robot with a variable number of axes and a control method thereof.

Aiming at the problems in the prior art, the object of the present invention is to provide a robot with a variable number of axes and a control method thereof, which overcomes the difficulties of the prior art, improves the rigidity of the robot, and can be quickly applied to production activities and can be performed with flexible action angles Various tasks and compact overall layout make it more suitable for practical use and has industrial value.

An embodiment of the present invention provides a robot with a variable number of axes, including:

A base

A first articulated arm, one end of which is connected to the base;

At least N robotic arms, N is a non-zero natural number. When N = 1, one end of the robotic arm is connected with the joint by a joint in a manner capable of rotating about the yaw axis or the pitch axis or twisted. The other end of the first articulated arm is connected; when N> 1, one end of any of the robotic arms is connected with an adjacent mechanical arm by a joint part in a manner capable of rotating or twisting about a yaw axis or a pitch axis. Disassemble ground connection

A driving part is provided inside the base, the first articulated arm, and the mechanical arm; the driving part includes a plurality of drivers and a plurality of motors, and the plurality of drivers are in the following two modes A plurality of said motors are driven to rotate.

Free rotation mode: each said motor is free to rotate; or

Horizontal rotation mode: At least one of the motors rotating around a yaw axis rotates in a horizontal plane.

Preferably, the driving unit controls the number of rotatable axes of the robot to change from a certain number of axes to any more or fewer axes.

Preferably, the robot arm is configured to change the total number of the robot arms by disassembling or splicing at least one robot arm.

Preferably, the robotic arm is configured to directly remove X robotic arms; or to disassemble Z robotic arms after disassembling Y robotic arms to change the total number of robotic arms, wherein X, Y, and Z are all constants, And X≤N, Y = N, Z≥1.

Preferably, the robot arm is configured to change the total number of the robot arms by splicing U robot arms; or splicing V robot arms after disassembling Y robot arms, wherein U, Y, and V are constants, and U≥1, Y = N, V≥1.

Preferably, the first articulated arm includes a support portion and a first joint, one end of the support portion is connected to the base, and the other end of the support portion is connected to the first joint.

Preferably, the support portion is twisted or translated relative to the base.

Preferably, the first joint is provided with a lifting claw, and the supporting portion is provided with a lifting groove, and the lifting claw is driven by the motor to move up and down in the lifting groove.

Preferably, the variable-axis robot includes:

A first joint, the first end of the first joint is connected to the support portion, and is raised and lowered relative to the support portion;

A second robotic arm, the first end of the second robotic arm is connected to the second end of the first joint via a first joint part in a manner capable of rotating around a yaw axis;

A third robotic arm, the first end of the third robotic arm is connected to the second end of the second robotic arm via a second joint portion so as to be rotatable about a yaw axis; and

A terminal manipulating portion is detachably connected to the second end of the third robot arm via a third joint portion so as to be rotatable about a yaw axis.

Preferably, the variable-axis robot includes:

A first joint, the first end of the first joint is connected to the support portion, and is raised and lowered relative to the support portion;

A second robotic arm, the first end of the second robotic arm is connected to the second end of the first joint via a first joint part in a manner capable of rotating around a yaw axis;

A third robotic arm, the first end of the third robotic arm is connected to the second end of the second robotic arm via a second joint portion so as to be rotatable about a yaw axis; and

A terminal manipulating portion is detachably connected to the second end of the third robot arm via a third joint portion so as to be rotatable about a pitch axis.

Preferably, the variable-axis robot includes:

A first joint, a first end of which is connected to the support portion, and is raised and lowered relative to the support portion; and

A second robotic arm, the first end of the second robotic arm is connected to the second end of the first joint via a first joint portion in a manner rotatable about a yaw axis; and

A terminal manipulating portion is detachably connected to the second end of the second robot arm via a third joint portion so as to be rotatable about a yaw axis or a pitch axis.

Preferably, the horizontal height of the robot arm closer to the first articulated arm is higher, and the horizontal height of the robot arm farther from the first articulated arm is lower, and a plurality of robot arms of the robot with a variable number of axes are generally oriented toward Gravity descends stepwise.

Preferably, the rotation axes of all the joint portions of the driving portion between the robot arms in the horizontal rotation mode are parallel to the vertical direction.

Preferably, in the horizontal rotation mode, the driving part controls the motors of all the joint parts between the robot arms to rotate in a horizontal plane, so that the rotation applied to the robot arm closest to the first joint arm is applied. The shaft has the smallest torque.

Preferably, in the free rotation mode, the driving part controls the motors of all the joint parts between the robot arms to rotate freely, so that the ones applied to the rotation axis of the robot arm closest to the first joint arm The torque is minimal.

An embodiment of the present invention also provides a control method of a variable-axis number robot. The above-mentioned variable-axis number robot is used. The control method performs driving control of the driver in any one of the following control modes:

Axis coordinate control mode;

End DH matrix control mode;

Axis-based motion control mode; and

End-to-end control mode.

Preferably, the control method is an axis coordinate control mode and includes the following steps:

Pre-store state parameters of free rotation mode and state parameters of horizontal rotation mode;

When configured in free rotation mode, the state parameters of free rotation mode are called for control;

When configured in the horizontal rotation mode, the state parameters of the horizontal rotation mode are called for control;

Wherein, the step of calling the state parameters of the free rotation mode for control includes program initialization parameters, drive parameter initialization, configuration parameter initialization, and control interface initialization;

The steps of calling the state parameters of the horizontal rotation mode for control include program initialization parameters, drive parameter initialization, configuration parameter initialization, and control interface initialization.

Preferably, the program initialization parameters of the free rotation mode include: the number of drives running in the free rotation mode, and software limit of each axis, quality of each axis, centroid position, maximum speed, maximum acceleration, and maximum Jerk

The program initialization parameters of the horizontal rotation mode include: the number of drivers running in the horizontal rotation mode, and software limits of each axis, the quality of each axis, the position of the center of mass, the maximum speed, the maximum acceleration, and the maximum jerk.

The variable-axis robot and the control method provided by the present invention improve the rigidity of the robot, which can be quickly applied to production activities and can perform various tasks with flexible action angles. At the same time, the overall layout is compact, so it is more suitable for practical use, and has Industrial use value.

In order to have a better understanding of the above and other aspects of the present invention, the following specific examples are described in detail below in conjunction with the accompanying drawings:

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete, and the concept of the example embodiments will be comprehensive Communicate to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and their repeated description will be omitted.

FIG. 1 is a schematic diagram of a variable-axis number robot according to the present invention. Fig. 2 is a schematic diagram of another variable-axis number robot of the present invention. As shown in FIGS. 1 and 2, the variable-axis robot of the present invention includes a base 1, a first articulated arm 17, at least N robot arms 15, and a driving unit. One end of the first articulated arm 17 is connected to the base 1. At least N robotic arms 15 where N is a non-zero natural number. When N = 1, one end of the robotic arm 15 is connected by a joint in a manner capable of rotating or twisting about a yaw axis or a pitch axis. The other end of the first articulated arm 17 is connected (see FIG. 1). When N> 1, one end of any one of the robot arms 15 is detachably connected to the adjacent robot arm 15 by a joint portion in a manner capable of rotating about the yaw axis or the pitch axis or torsion (see Section 2). Figure). The driving portion (not shown) is disposed inside the base 1, the first articulated arm 17, and the mechanical arm 15. The driving unit includes a plurality of drivers (not shown in the figure) and a plurality of motors (not shown in the figure). The plurality of drives drives the plurality of motors to rotate in the following two modes. Free rotation mode: each said motor is free to rotate. Or horizontal rotation mode: at least one of the motors rotating around a yaw axis rotates in a horizontal plane. The horizontal rotation mode in the present invention can rotate or twist around the yaw axis, so the rigidity of the robot can be improved, while the free rotation mode can realize flexible operation angles to perform various tasks, and the overall layout is compact, which is more suitable for practical use. And has industrial use value.

Comparing FIG. 1 and FIG. 2, it can be seen that the number of rotatable axes controlled by the driving unit of the robot can be changed from a certain number of axes to any more or fewer axes. The total number of the robot arms 15 in the present invention may be arbitrary, and the number of the robot arms 15 may be changed by disassembling or splicing the robot arms according to the actual working conditions, but it is not limited thereto.

In a preferred embodiment, the robotic arm is configured to change the total number of the robotic arms by disassembling or splicing at least one robotic arm. For example: remove all the existing robotic arms first, or add several new robotic arms after removing a few robotic arms, etc., but not limited to this.

In a preferred embodiment, the structural change that changes the total number of robot arms in the present invention is: the robot arms are configured by directly disassembling X robot arms; or disassembling Z robot arms after disassembling Y robot arms to change The total number of robot arms is described, where X, Y, and Z are all constants, and X≤N, Y = N, and Z≥1, but not limited to this.

In a preferred embodiment, the structural change that changes the total number of robot arms in the present invention is: the robot arms are configured to be spliced by U robot arms; or V robot arms are spliced after disassembling Y robot arms to change the The total number of robot arms, where U, Y, and V are all constants, and U≥1, Y = N, and V≥1, but not limited to this.

In actual production use, the robot arm at the end of the robot is usually configured as an end manipulator for operation in order to perform specific operations. The following are examples of several robots with variable number of axes to reveal the implementation principle of the present invention:

FIG. 3 is a perspective view of a variable-axis robot according to the present invention. As shown in FIG. 3, a robot with a variable number of axes according to the present invention includes a base 1, a first articulated arm, a multi-articulated arm, a terminal manipulation portion 10, and a driving portion. The support portion 2 is rotated relative to the base 1. The first articulated arm includes a support portion 2 and a first joint 4. The first joint 4 is provided with a lifting claw 3, the supporting portion 2 is provided with a lifting groove 11, and the lifting claw 3 is driven by the driver to lift and lower in the lifting groove 11. The first end of the multi-articulated arm is connected to the first joint 4, and the first joint 4 is raised and lowered relative to the support portion 2. The illustrated multi-articulated arm includes a plurality of robotic arms connected to each other end-to-end and a joint portion connecting the robotic arms. One end of the robotic arm is connected to the other end of the other robotic arm by a joint part in a manner capable of rotating around the yaw axis, but not limited thereto. The end effector 10 is detachably connected to the second end of the multi-articulated arm via a third joint portion 12 so as to be rotatable about a yaw axis. The end manipulating portion 10 in the present invention may be any function manipulating portion existing or invented in the future. The rotation axis of the third joint portion 12 is parallel to the vertical plane and can be rotated horizontally, but is not limited thereto. In this embodiment, the multi-articulated arm mainly includes: a second robot arm 6, a third robot arm 8, and a first joint portion 5, but it is not limited thereto. A first end of the second robot arm 6 is connected to a second end of the first joint 4 via a first joint portion 5 so as to be rotatable about a yaw axis. The first end of the third robot arm 8 is connected to the second end of the second robot arm 6 via a second joint portion 7 so as to be rotatable about a yaw axis, and the second end of the third robot arm 8 and the third joint Department 12 is connected. In this embodiment, a horizontal rotation axis J1, a vertical lifting axis Z2, a horizontal rotation axis J3, and a horizontal rotation axis J4 are respectively provided between the base 1, the support portion 2, the robot arm, and the end manipulating portion 10 of the variable-axis robot. Twist the rotation axis J5 and the horizontal rotation axis J6. The driving part includes a plurality of drives and a plurality of motors respectively disposed between the joint part, the support part 2 and the base 1, and between the first end of the multi-articulated arm and the support part 2. The plurality of drives are in the following two modes A plurality of said motors are driven to rotate (free rotation mode and horizontal rotation mode).

The free rotation mode allows each motor to rotate freely, and each joint has a sufficient degree of freedom. The horizontal rotation mode is that at least one motor that rotates or twists around the yaw axis rotates in the horizontal plane, and the other motors do not work. In the horizontal rotation mode, the rotation axes of all the articulated parts of the articulated arm are parallel to the vertical direction. In the horizontal rotation mode, all the motors that rotate about the pitch axis or the lifting axis stop working, thereby improving the rigidity of the robot in the vertical direction.

In a variant, the variable-axis robot of the present invention can change the number and structure of the robot's axes according to the use scene and technical requirements. For example, by assembling a new robot arm with a current variable-axis robot, or disassembling the current robot arm, the total number of rotation axes between the robot arms of the multi-joint arm is increased or decreased, but not limited thereto.

Moreover, the change in the number of axes of the present invention can also be achieved through another solution: according to performance requirements, such as working range, positioning accuracy, etc., the number of axes of the robot can be changed from a certain number of axes to any more or fewer axes . The number of axes of the present invention can be switched to more or fewer axes, for example, in the case of the existing 5-axis, it can be switched to more axes such as 6-axis, 7-axis, etc., or it can be switched to 4-axis, 3-axis, etc. axis. The axis switching method of the present invention can be various. For example, when the existing 5 axis is switched to 6 axis, it can be directly added to the existing 5 axis, or a new axis can be added after switching the 5th axis. The 5th and 6th axis of the structure realizes the switch from the 5-axis mode to the 6-axis mode. On this basis, the technical solution of increasing or decreasing the number of rotating shafts in the present invention by disassembling or assembling a robot arm or a joint part also falls within the protection scope of the present invention.

The variable-axis robot of the present invention can change the structure of a certain axis or a certain number of axes according to the needs of a specific action when an actual mechanical arm is used. The selection of the switching axis of the present invention may be various. For example, when the existing 5 axis is switched to 6 axis, the added 6th axis structure may not be unique, and the 6th axis may be a horizontal axis or a vertical axis. In addition, the number of axes of the present invention can be unchanged, and the specific axis structure can be switched to a different structure axis, for example, the existing 6 axis, and the 5th and 6th axes are any one of a yaw structure, a pitch structure, or a torsion structure, respectively. And the structures of the 5th and 6th axes are different. After switching, the 5th and 6th axes can be switched to the 5th and 6th axes of the same structure, but not limited to this. On this basis, the technical solution of changing the direction of the rotation axis in the present invention by disassembling or assembling a robot arm or a joint part also falls within the protection scope of the present invention.

The robot with a variable number of axes in the free rotation mode of the present invention is configured as a robot arm in a six-axis mode, which is equivalent to a conventional six-axis robot (6R robot). A robot with a variable number of axes in the horizontal rotation mode is configured as a four-axis robot arm, which is equivalent to a SCARA robot (that is, a planar articulated robot. SCARA is the abbreviation of Selective Compliance Assembly Robot Arm, which means a robot used in assembly operations. Arm. It has 3 swivel joints, which is best for planar positioning.). The variable-axis robot of the present invention has the industrial characteristics of a SCARA robot: high accuracy, fast speed, more freedom and greater flexibility than a SCARA robot. Moreover, the variable-axis robot of the present invention has a cylindrical working range, which is superior to the conventional multi-axis robot. The invention can also realize the switching of different number of axes of one robotic arm, the cost of one multi-axis robotic arm can use the functions of multiple modes, and the application flexibility is better. Therefore, the variable-axis robot of the present invention can realize the switch of the number of robot axes and the change of the structure of the switched axes, and can be used to flexibly apply the number of robot axes to the needs of the production line according to the production line adjustment This kind of advantage is that the robot of the present invention has precise plane positioning, increases the degree of freedom of the robot, and expands the scope of application. The multi-axis transformation mode enables one robot to be used in various fields, which greatly reduces the production cost of the enterprise. .

When the number of robot axes is switched, the drive of the axis joint motor will change accordingly. As the number of axes increases, the number of motors used will increase or decrease, and the number of drivers matching the motor will increase or decrease accordingly. When the four-axis mode and the six-axis mode are switched, the overall architecture of the system is unchanged, because the number of driving motors running in different modes is different, so when switching, the number of running motor drives needs to be changed. In actual operation, it is not necessary to change the wiring of the circuit, and only through the software program control, the total number of motor drivers can be changed when the number of axes is switched.

In order that the multi-articulated arm of the present invention has multiple mechanical arms, and in order to reduce the tensile effect of the quality of the root mechanical arm on the first end of the multi-articulated arm, the level of the mechanical arm closer to the first end of the multi-articulated arm is higher , The lower the horizontal height of the robot arm closer to its second end. Each level of the robotic arm is similar to a descending step, so that the overall articulated arm descends stepwise toward the direction of gravity. This inclined step-down posture helps disperse the tension of the first end of the overall quality of the articulated arm and the support 2 effect. Especially when the articulated arm includes 5 robotic arms and 8 robotic arms, the overall strength of the articulated arm can be enhanced more effectively, and the center of gravity of the articulated arm can also be reduced.

In another preferred embodiment, in the horizontal rotation mode, the driving part controls the motors of all the joints between the robot arms to rotate in a horizontal plane so that the closest to the first The torque of the rotary axis of an articulated arm is the smallest.

In another preferred embodiment, in the free rotation mode, the driving part controls the motors of all joint parts between the robot arms to rotate freely so as to be applied to the robot arm closest to the first joint The rotation axis of the arm has the smallest torque.

Fig. 4 is a perspective view of another variable axis number robot according to the present invention. As shown in FIG. 4, in another embodiment of the present invention, the end effector 10 is connected to the second end of the multi-articulated arm via a third joint portion 9 so as to be rotatable about a pitch axis. The rotation axis of the third joint portion 12 is parallel to the horizontal plane and can be pitched and rotated, but is not limited thereto. In this embodiment, a horizontal rotation axis J1, a vertical lifting axis Z2, a horizontal rotation axis J3, and a horizontal rotation axis J4 are respectively provided between the base 1, the support portion 2, the robot arm, and the end manipulating portion 10 of the robot with a variable number of axes. Twist the rotation axis J5 and the pitch rotation axis J6. The other technical features are shown above, and will not be repeated here. On this basis, the technical solution of changing the rotation direction or driving function of the articulated arm at both ends of the multi-articulated arm also falls within the protection scope of the present invention.

Fig. 5 is a perspective view of another variable-axis number robot according to the present invention. As shown in FIG. 5, in another embodiment of the present invention, the articulated arm includes only a second robot arm 6. The first end of the second robot arm 6 is connected to the second end of the first joint 4 via a first joint portion 5 so as to be rotatable about the yaw axis, and the second end of the second robot arm 6 and the third joint portion link. In this embodiment, a horizontal rotation axis J1, a vertical lifting axis Z2, a horizontal rotation axis J3, and a torsion rotation axis J5 are respectively provided between the base 1, the support portion 2, the robot arm, and the end manipulating portion 10 of the variable-axis robot. And the pitch rotation axis J6. The smaller the total number of robotic arms contained in the articulated arm, the stronger the relative rigidity. On this basis, the technical solution of increasing or decreasing the total number of robot arms of the multi-articulated arm also falls within the protection scope of the present invention.

The invention also protects a control method of a variable-axis robot. The above-mentioned variable-axis robot is used. The control method is to perform drive control of the driver in any of the following control modes: axis coordinate control mode, end DH matrix control mode. , Coordinate axis-based motion control mode and end-to-end control mode.

In the axis coordinate control mode, the user can modify the parameters of each axis joint in the GUI (graphical user interface) to control the movement of the arm. The methods of changing parameters include: 1. Drag the slider to gradually increase the parameters; 2. Write the joint parameters directly.

In the terminal DH matrix control mode, the user can directly modify the parameters in the terminal DH matrix to control the movement of the arm.

In the coordinate axis-based motion control mode, the user can control the movement of the arm by controlling the end of the arm along the selected coordinate axis (such as the X axis, Y axis, and Z axis of the coordinates).

In the end-to-end control mode, the user specifies the coordinates of the start and end points and the movement mode (such as fast point-to-point, straight-line point-to-point) to control the movement of the arm.

The above four modes can add 3D model to the GUI to display the posture. An arm with any number of axes includes, but is not limited to, all of the above four control modes, that is, there may be one, there may be two, there may be three, and there may be four. The GUI interface may include one, two or more control modes. Path planning and difference compensation can be shared functions, or they can be tied to each mode separately.

FIG. 6 is a flowchart of a method of controlling a variable-axis robot according to the present invention. As shown in FIG. 6, the control method in this embodiment is an axis coordinate control mode, which includes the following steps:

S100. Pre-store state parameters of the free rotation mode and state parameters of the horizontal rotation mode.

S101. Determine whether the robot with a variable number of axes is configured in a free rotation mode or a horizontal rotation mode. If it is a free rotation mode, step S102 is performed, and if it is a horizontal rotation mode, step S103 is performed.

S102. When the free rotation mode is configured, state parameters of the free rotation mode are called for control.

S103. When the horizontal rotation mode is configured, state parameters of the horizontal rotation mode are called for control.

The steps of calling the state parameters of the free rotation mode for control include program initialization parameters, drive parameter initialization, configuration parameter initialization, and control interface initialization.

The steps of calling the state parameters of the horizontal rotation mode for control include program initialization parameters, drive parameter initialization, configuration parameter initialization, and control interface initialization.

Preferably, the program initialization parameters of the free rotation mode include: the number of drives running in the free rotation mode, and the software limit of each axis, the quality of each axis, the position of the center of mass, the maximum speed, the maximum acceleration, and the maximum jerk , But not limited to this.

The program initialization parameters of the horizontal rotation mode include: the number of drives running in the horizontal rotation mode, and the software limit of each axis, the quality of each axis, the position of the center of mass, the maximum speed, the maximum acceleration, and the maximum jerk, but not This is the limit.

In one embodiment, the user can modify the parameters of each axis joint in the GUI to control the movement of the arm. The methods of changing parameters include: 1. Drag the slider to gradually increase the parameters; 2. Write the joint parameters directly. When the four or six axes are switched, the software will be initialized, and then the software parameter initialization, driver parameter initialization, configuration parameter initialization, and GUI initialization will be performed in this order.

Software parameter initialization: When it is determined that the set number of axes is consistent with the mechanical configuration, the software parameters will be initialized according to the number of axes at this time. Initialized parameters include the number of drives controlled by the master (in six-axis mode, the number of drives is six; in four-axis mode, the number of drives is four), the software limit of each axis, that is, the motion of the joint Range. When exceeding this range, an alarm will occur and the machine will automatically stop; the mass of each axis, the center of mass position, the maximum speed, the maximum acceleration and the maximum jerk.

Driver parameter initialization: During the software parameter initialization stage, which axis joints are involved in the operation of the robot arm, and the implementation of the axis joint operation control depends on the driver and the motor. Because of the different weight, length, centroid position, and speed of each joint, its drive parameters are also different. And because of the power problem, the driver and the motor usually have a one-to-one correspondence. Therefore, when the motor is replaced (including the brand, model, and power), the driver is changed. Whether it is a replacement or a new one, the processing in the software part remains the same. Set the drive parameters. The setting of this parameter includes: internal parameters of the driver and communication method. Therefore, correct driver parameter setting is an essential part to ensure the normal operation of the device. In the embodiment of switching between four and six axes, parameters such as the weight of the four-axis state and the six-axis state of the arm are different, so the driver parameters need to be initialized according to different states. The main parameters to be set in the driver include: inertia ratio, position loop gain, speed proportional gain, speed integral time constant, speed feedforward gain, torque feedforward gain, etc.

Configuration parameter initialization: The configuration parameters include the length and height of each axis joint, the deflection angle on the X axis, and the deflection angle on the Z axis to calculate the DH matrix corresponding to the configuration. The DH matrix contains the end of the arm. Posture and position coordinates in space. At this point, the model of the arm of this configuration is set up in the controller.

GUI initialization: Based on the arm configuration completed in step 3, initialize the GUI interface. The arm configuration will be displayed in the GUI interface. After completing the above steps, you can start controlling the arm body to make it move in space. For example, Fig. 7 is a schematic diagram of the software interface of the variable-axis robot of the present invention in a six-axis mode. As shown in FIG. 7, the parameters of each axis can be adjusted in the software interface 21 in the six-axis mode, and the results of the instant demonstration are intuitively displayed in the robot model demonstration window 22. FIG. 8 is a schematic diagram of a software interface of the variable-axis robot of the present invention in a four-axis mode. As shown in FIG. 8, the parameters of each axis can be adjusted in the software interface 23 in the four-axis mode, and the result of the instant demonstration is intuitively displayed in the robot model demonstration window 24.

In summary, the variable-axis robot and its control method provided by the present invention improve the rigidity of the robot, which can be quickly applied to production activities and can perform various tasks with flexible action angles. At the same time, the overall layout is compact, which is more suitable for practical applications. , And has industrial use value.

The above is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without deviating from the concept of the present invention, several simple deductions or replacements can be made, which should all be regarded as belonging to the protection scope of the present invention.

In summary, although the present invention has been disclosed as above with the embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention pertains can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope of the attached patent application.

1‧‧‧ base

2‧‧‧ support

3‧‧‧ Lifting claw

4‧‧‧ first joint

5‧‧‧ first joint

6‧‧‧Second robot arm

7‧‧‧second joint

8‧‧‧ third robot arm

9‧‧‧ the third joint

10‧‧‧ terminal control unit

11‧‧‧ Lifting trough

12‧‧‧ the third joint

15‧‧‧ robotic arm

16‧‧‧ Joint

17‧‧‧The first articulated arm

21‧‧‧ software interface in six-axis mode

22‧‧‧ Robot model demo window

23‧‧‧ Software interface in four-axis mode

24‧‧‧ Robot model demo window

S100 ～ S103‧‧‧Process steps

J1, J3, J4, J6‧‧‧rotation shaft

J5‧‧‧Twist rotation axis

Z2‧‧‧Vertical lifting shaft

Other features, objects, and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings. FIG. 1 is a schematic diagram of a variable-axis robot according to the present invention. FIG. 2 is a schematic diagram of another variable-axis robot according to the present invention. FIG. 3 is a perspective view of another variable-axis robot according to the present invention. FIG. 4 is a perspective view of another variable-axis robot according to the present invention. FIG. 5 is a perspective view of another variable-axis robot according to the present invention. FIG. 6 is a flowchart of a control method of a variable-axis robot according to the present invention. FIG. 7 is a schematic diagram of a software interface of the variable-axis number robot of the present invention in a six-axis mode. FIG. 8 is a schematic diagram of a software interface of a variable-axis robot of the present invention in a four-axis mode.

Claims (10)

A robot with a variable number of axes includes: a base; a first articulated arm, one end of the first articulated arm is connected to the base; at least N robot arms, N is a non-zero natural number, when N = At 1 o'clock, one end of the robotic arm is connected to the other end of the first articulated arm by a joint in a manner capable of rotating or twisting about the yaw axis or the pitch axis; when N> 1, either One end of the robotic arm is detachably connected to an adjacent robotic arm by a joint portion in a manner capable of rotating around a yaw axis or a pitch axis or twisted; and a driving portion provided on the driving portion. The base, the first articulated arm, and the inside of the mechanical arm; the driving part includes a plurality of drivers and a plurality of motors, and the plurality of drivers drive the plurality of motors to rotate in the following two modes; a free rotation mode: Each of the motors can rotate freely; or a horizontal rotation mode: at least one of the motors rotating about a yaw axis rotates in a horizontal plane. The variable-axis-number robot according to item 1 of the scope of patent application, wherein the robot arm is configured to change the total number of the robot arm by disassembling or splicing at least one robot arm. The variable-axis number robot according to item 2 of the patent application scope, wherein the robot arm is configured to directly disassemble X robot arms; or disassemble Y robot arms and then splice Z robot arms to change the robot arm The total number of X, Y, Z are all constants, and X≤N, Y = N, Z≥1. The variable axis number robot according to item 2 of the patent application scope, wherein the robot arm is configured by splicing U robot arms; or disassembling Y robot arms and splicing V robot arms to change the robot arm's The total number, where U, Y, and V are all constants, and U≥1, Y = N, and V≥1. The variable-axis-number robot according to item 1 of the scope of patent application, wherein the first articulated arm includes a support portion and a first joint, one end of the support portion is connected to the base, and the other of the support portion One end is connected to the first joint. The variable-axis-number robot according to item 5 of the patent application scope, wherein the support portion is twisted or translated relative to the base. The variable axis number robot according to item 5 of the scope of patent application, wherein the first joint is provided with a lifting claw, the supporting portion is provided with a lifting groove, and the lifting claw is driven by the motor in the place. Lifting in the lifting tank. A control method of a variable-axis number robot adopts a variable-axis number robot as described in any one of items 1 to 7 of a patent application scope, and the control method is performed in any of the following control modes. The drive control of the drive unit is described as: axis coordinate control mode; end DH matrix control mode; coordinate axis-based motion control mode; and end point-to-point control mode. The method for controlling a robot with a variable number of axes according to item 8 of the scope of patent application, wherein the control method is the axis coordinate control mode and includes the following steps: Pre-store state parameters of the free rotation mode and the state of the horizontal rotation mode Parameters; when configured in the free rotation mode, calling the state parameters of the free rotation mode for control; and when configured in the horizontal rotation mode, calling the state parameters of the horizontal rotation mode Performing control; wherein the step of invoking the state parameter of the free rotation mode for control includes program initialization parameters, driving parameter initialization, configuration parameter initialization, and control interface initialization; and the invoking the horizontal rotation mode The step of controlling the state parameters includes the program initialization parameters, the driving parameter initialization, the configuration parameter initialization, and the control interface initialization. The method for controlling a robot with a variable number of axes according to item 9 of the scope of patent application, wherein the program initialization parameters of the free rotation mode include: the number of drivers running in the free rotation mode, and each axis Software limit, mass of each axis, center of mass position, maximum speed, maximum acceleration, and maximum jerk; the program initialization parameters of the horizontal rotation mode include: the number of drives running in the horizontal rotation mode, and each Software limit of each axis, mass of each axis, centroid position, maximum speed, maximum acceleration and maximum jerk.