CN104858892A - Modularized robot based on intelligent mechanical arm - Google Patents
Modularized robot based on intelligent mechanical arm Download PDFInfo
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- CN104858892A CN104858892A CN201510317041.8A CN201510317041A CN104858892A CN 104858892 A CN104858892 A CN 104858892A CN 201510317041 A CN201510317041 A CN 201510317041A CN 104858892 A CN104858892 A CN 104858892A
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Abstract
The invention discloses a modularized robot based on an intelligent mechanical arm, and belongs to the field of robots. The modularized robot based on the intelligent mechanical arm comprises the intelligent mechanical arm and modularized joints. The intelligent mechanical arm is cascaded into a robot having multiple degrees of freedom by the modularized joints. The intelligent mechanical arm comprises a body framework, a piezoelectric ceramic actuator, and stress sensors. The stress sensors are installed on the body framework; and the stress sensors installed on the body framework constitute a group which is used for measuring the overall deformation status of the body framework in its motion process. The piezoelectric ceramic actuator is installed inside the body framework and is used for compensating the overall deformation of the body framework in its motion process. The modularized robot employs the intelligent mechanical arm section based on the vibration measurement and the compensation in association with the feature that the modularized robot is easy to manufacture to increase the standardization degree of the robot, and to increase the adaptability of the robot to different working conditions as well, thereby increasing the working accuracy of the robot.
Description
Technical field
The present invention relates to robot field, be specifically related to the modularization robot based on intelligent machine mechanical arm.
Background technology
In underloading high speed and precision applications such as IC encapsulation, laser weld, the tandem mechanical arm mechanism artificially represented with serial machine is one of common mechanism form.The mechanism form of conventional serial manipulator is: elementary arm is fixed on pedestal, and all the other mechanical arms are connected successively by joint.Wherein the multifreedom motion of industrial robot is completed by the driven by servomotor of each joint.The Robot Design of traditional type often needs main body mechanism and the deceleration system (or straight drive system) of carrying out specific design each section of mechanical arm according to the real work demand of robot, thus cause the working method comparatively Focus of robot, the assemblies such as the mechanical arm designed are difficult to other types robot general, and then the standardization level causing robot to manufacture is lower, production batch is little, the high deficiency of manufacturing cost.In addition, because serial manipulator is when real work, its each section of Machinery Ministry inevitably also exists vibration, and the vibration of each section of mechanical arm can superpose the vibration being reflected as end effector of robot, affects the positioning precision of robot.In the application of high speed robot, the Vibration Condition of above-mentioned robotic arm is often more violent.And the mechanical arm body etc. of traditional robot design once sizing be just difficult to make a change, the dynamics such as its intrinsic frequency be difficult to change.Because robot pose change in the course of the work can cause the change of its dynamic characteristic, the design such as the body construction of the robot of traditional type is difficult to meet the consistent operating accuracy requirement under different operating mode under the changeable condition of pose, working distal tip when easily appearing at certain pose surpasses width oscillation phenomenon, reduces operating accuracy.
The robot of traditional type often adopts following scheme to suppress the tip vibration situation in the course of work: (1) adopts the mechanical arm body of high rigidity to design, and alleviates by the motion deformation of robot; (2) increase the stand-by period of vibration attenuation, ensure to perform precision; (3) vibration suppression control strategy is adopted.The position and attitude of the mechanical arm of serial manipulator in motion process can have greatly changed, and the dynamics parameters such as the rotary inertia of each section of mechanical arm can have greatly changed.
Climbing type machine people may be used for underloading occasion, and it adopts modular, manufactures comparatively simple.Its structure is mainly cylindrical structure, but its dynamic property is also more difficult adjusts according to dynamic operation condition, causes its operating accuracy under some conditions lower.
Traditional type robot mostly is non-modular designs, and its parts versatility is poor.Conventional machines people suppresses working distal tip to vibrate the method adopted, and there are the following problems:
The subject matter that existing method (1) exists is: although the mechanical arm body of high rigidity can alleviate the problems such as mechanical arm plastic deformation more effectively, and the body design of this kind of form high rigidity is often relatively heavy.To the exigent high speed and precision Sports Field of production efficiency, the deadweight of high rigid mechanism promotes the weighing factor of mechanism kinematic, thus causes there are differences between the body design target of high rigidity and the real optimization aim of high-speed mechanism.In addition, for multiple degrees of freedom cascade machine mechanical arm, the pose transfer pair of its mechanical arm causes the rigidity of whole mechanism to change, and this also can cut down the validity of mechanical arm high rigidity Design greatly.
The subject matter that existing method (2) exists is: although can ensure to perform precision, likely significantly increase the response time of train of mechanism, be not suitable for the high frequency sound field that production efficiency is high.
Existing method (3) Problems existing is: solution is still the vibration suppressing method based on control strategy.And widely use in design field based on the vibration suppressing method of control strategy merely.In the face of improving the demand of execution speed and precision further, the room for promotion of the method is limited.
It is not high to there is workload in climbing type machine people, and the requirement under the different operating mode of the more difficult adaptation of structural dynamic characteristics, different positions and pose condition, its operating accuracy is limited.
Summary of the invention
The object of the invention is to propose a kind of modularization robot based on intelligent machine mechanical arm, utilize the intelligent machine mechanical arm section based on vibration measurement and compensation, and the feature being easy to manufacture of binding modules robot, improve the standardization level of robot, also hoisting machine people, to the adaptability of different operating mode, improves the operating accuracy of robot simultaneously.
In order to achieve the above object, the present invention adopts following technical scheme:
Based on the modularization robot of intelligent machine mechanical arm, comprise intelligent machine mechanical arm and modularized joint, described intelligent machine mechanical arm is connected into multi-freedom robot by modularized joint, described intelligent machine mechanical arm section comprises body frame, piezoelectric ceramic actuator and strain transducer, described strain transducer is arranged in described body frame, be arranged on the group that strain transducer in described body frame is formed, for measuring self bulk deformation situation in body frame motion process and by measurement feedback to control system; Described piezoelectric ceramic actuator is installed in described body frame, for compensating self bulk deformation of described body frame in motion process under the effect of control system.
One as the modularization robot that the present invention is based on intelligent machine mechanical arm is improved, described modularized joint comprises a pair joint Connection Block, universal gear axle, a pair gear train and fixing pivot pin, arrange in cross between described a pair joint Connection Block, described universal gear axle is arranged at the bottom of described joint Connection Block, and described a pair gear train is that cross to be installed between described a pair joint Connection Block and to be meshed with described universal gear axle by described fixing pivot pin.Gear train can be with movable joint Connection Block to occur relatively to rotate relative to universal gear axle under respective joint motor drives, and then drives the multifreedom motion of the intelligent machine mechanical arm section be connected with joint Connection Block.
Another kind as the modularization robot that the present invention is based on intelligent machine mechanical arm improves, and described body frame is the truss-like structure for integral type processing.Body frame be integral type processing truss-like structure not only low, the modularized design of cost of manufacture, be convenient to install, and stabilized structure, quality is light, and robot can flexible motion.
As the present invention is based on intelligent machine mechanical arm modularization robot another improve, described body frame is made up of a series of basic beam, described basic beam comprises the basic beam of intersection on the basic beam and body frame four side of body frame length direction, described substrate beam is provided with basic hole slot, piezoelectric ceramic actuator is installed in described basic hole slot, and strain transducer is arranged at the another side relative with described piezoelectric ceramic actuator.
As the further improvement of modularization robot that the present invention is based on intelligent machine mechanical arm, described control system is PID(proportional-integral-differential) control system.
From the above, the present invention compared with prior art has following beneficial effect:
Modularization robot based on intelligent machine mechanical arm of the present invention by being provided with compressive strain sensor and piezoelectric ceramic actuator on mechanical arm and body frame, first by self the bulk deformation situation of compressive strain sensor measurement body frame in motion process, then namely piezoelectric ceramic actuator produces the power contrary with deformation direction, body frame is made to produce reciprocal distortion, thus compensate for the self-deformation of body frame in motion process, change the rigidity of structure of body frame, realize the stiffness tuning of body frame, thus improve the operating accuracy of robot, robot of the present invention simultaneously, no matter be that body frame or modularized joint all can standard modular be manufactured, not only cost is low, and can improve the standardization level of robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the modularization robot that the present invention is based on intelligent machine mechanical arm;
Fig. 2 is the structural representation of embodiment one intelligent machine mechanical arm;
Fig. 3 is the enlarged diagram at embodiment one intelligent machine mechanical arm A place;
Fig. 4 is the structural representation of modularized joint of the present invention;
Fig. 5 is the structural representation of embodiment two intelligent machine mechanical arm;
Fig. 6 is the enlarged diagram at embodiment two intelligent machine mechanical arm B place;
Fig. 7 is that PID controls to be the control block diagram of figure;
In figure: 1 intelligent machine mechanical arm, 2 modularized joints, 101 body connecting plates, 102 body frame, 103 piezoelectric ceramic actuators, 104 strain transducers, 201 joint Connection Blocks, 202 universal gear axles, 203 gear trains, 204 fixing pivot pins.
Detailed description of the invention
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent.
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
Below in conjunction with the Figure of description in the present invention, be clearly and completely described the technical scheme in invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
As shown in Figure 1, for this is based on the structural representation of the modularization robot of intelligent machine mechanical arm, comprise intelligent machine mechanical arm 1 and modularized joint 2, described intelligent machine mechanical arm 1 is connected into multi-freedom robot by modularized joint 2.
As shown in Figure 2, intelligent machine mechanical arm 1 comprises body frame 102, body connecting plate 101, piezoelectric ceramic actuator 103 and strain transducer 104, wherein body connecting plate 101 is installed on the two ends of body frame 102, this body frame 102 as shown in Figure 2, for the truss-like structure of integral type processing, concrete form is cuboid engraved structure, the body frame 102 of hollow out process is made up of a series of basic beam in form, basic beam comprises the basic beam of intersection (diagonal of rectangle) on the basic beam (four limits of rectangle) and body frame four side of body frame length direction.
As shown in Figure 3, each basic beam is provided with basic hole slot, the length direction of basic hole slot is along the length direction of basic beam; Again as shown in Figure 2, piezoelectric ceramic actuator 103 is installed in this basic hole slot, and strain transducer 104 is arranged on the side adjacent with this piezoelectric ceramic actuator 103.
As shown in Figure 4, this modularized joint 2 comprises a pair joint Connection Block 201, universal gear axle 202, a pair gear train 203 and fixing pivot pin 204, wherein arrange in cross between this pair joint Connection Block 201, universal gear axle 202 is arranged at the bottom of joint Connection Block 201, this a pair gear train 203 to be installed in cross between this pair joint Connection Block 201 by fixing pivot pin 204 and to be meshed with this universal gear axle 202, this gear train 203 can be with movable joint Connection Block 201, relative to universal gear axle 202, relative rotation occurs under respective joint motor (not shown), and then drive the intelligent machine mechanical arm 1 be connected with joint Connection Block 201 to realize multifreedom motion.Wherein joint motor (not shown) can be installed in joint Connection Block 201 or in intelligent machine mechanical arm 1.
The operation principle of the intelligent machine mechanical arm in the present embodiment is specially:
A. the deformation condition of body frame 102 is measured by a series of strain transducer 104, and by the result feedback of measurement in PID control system;
B. the piezoelectric ceramic actuator 103 be arranged in body frame 102 produces displacement and exports under the effect of PID control system, forces body frame 102 that the distortion contrary with deformation condition measured in a step occurs;
C. strain transducer 104 and piezoelectricity pottery driver 103 combine formation the acting in conjunction of measurement-execution close loop control circuit under, realize the stiffness equivalent of body frame.
Wherein, as shown in Figure 7, its control flow is specific as follows for the control block diagram of PID control system:
1). reference input is 0
2). the strain of each basic beam measured by the strain transducer on mechanical arm, calculates bending and torsion distortion;
3). bending, torsional deflection and reference input deviation, by PID arithmetic, calculated the reversible deformation power of each basic beam, be applied on the basic beam of correspondence by piezoelectric actuator;
4). repeat 2), 3), until deviation is 0, realize the compensation of basic beam distortion.
The present embodiment in further application, can also with other module synergy of control system, realize stiffness equivalent optimization initiatively.One of embody rule form can be: using the body rigidity active adjustment of the present embodiment as the basic link of high first class control system, achieve optimized control.
Embodiment two
In the present embodiment, structure fundamental sum embodiment one based on the modularization robot of intelligent machine mechanical arm is identical, but the structure of body frame is as seen in figs. 5-6, the diplopore groove being set to setting in pairs for the basic hole slot installing piezoelectric ceramic actuator in body frame 102; In paired diplopore groove, be separately installed with piezoelectric ceramic actuator, the displacement that can produce along basic beam segment length direction exports.
In sum, be embodiment of the present invention content, and obviously embodiments of the present invention are not limited in this, it according to different application environment, can utilize functions implementing the present invention corresponding demand.
Claims (5)
1. based on the modularization robot of intelligent machine mechanical arm, it is characterized in that, comprise intelligent machine mechanical arm and modularized joint, described intelligent machine mechanical arm is connected into multi-freedom robot by modularized joint, described intelligent machine mechanical arm section comprises body frame, piezoelectric ceramic actuator and strain transducer, described strain transducer is arranged in described body frame, be arranged on the group that strain transducer in described body frame is formed, for measuring self bulk deformation situation in body frame motion process and by measurement feedback to control system; Described piezoelectric ceramic actuator is installed in described body frame, for compensating self bulk deformation of described body frame in motion process under the effect of control system.
2. as claimed in claim 1 based on the modularization robot of intelligent machine mechanical arm, it is characterized in that, described modularized joint comprises a pair joint Connection Block, universal gear axle, a pair gear train and fixing pivot pin, arrange in cross between described a pair joint Connection Block, described universal gear axle is arranged at the bottom of described joint Connection Block, and described a pair gear train is that cross to be installed between described a pair joint Connection Block and to be meshed with described universal gear axle by described fixing pivot pin.
3. as claimed in claim 1 based on the modularization robot of intelligent machine mechanical arm, it is characterized in that, described body frame is the truss-like structure for integral type processing.
4. as claimed in claim 3 based on the modularization robot of intelligent machine mechanical arm, it is characterized in that, described body frame is made up of a series of basic beam, described basic beam comprises the basic beam of intersection on the basic beam and body frame four side of body frame length direction, described substrate beam is provided with basic hole slot, piezoelectric ceramic actuator is installed in described basic hole slot, and strain transducer is arranged on the side adjacent with described piezoelectric ceramic actuator.
5., as claimed in claim 1 based on the modularization robot of intelligent machine mechanical arm, it is characterized in that, described control system is PID control system.
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Cited By (13)
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| CN105150219A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Super-redundant flexible mechanical arm based on rope driving |
| CN106670511A (en) * | 2017-01-05 | 2017-05-17 | 郑州坤博科技有限公司 | High-precision mechanical arm for lathe and lathe |
| CN107199557A (en) * | 2016-08-31 | 2017-09-26 | 工心（上海）科技有限公司 | Robot architecture's unit, robot and robot construction method |
| WO2018145800A1 (en) * | 2017-02-07 | 2018-08-16 | Technische Universität Darmstadt | Sensor arrangement for force or torque measurement, and a method for the production thereof |
| CN109352671A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of manipulator joint and its working method of patch type piezoelectric driving |
| CN110228055A (en) * | 2019-05-30 | 2019-09-13 | 南方科技大学 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN110842936A (en) * | 2019-11-14 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Cooperative robot joint module and cooperative robot |
| CN111726034A (en) * | 2020-05-25 | 2020-09-29 | 南京航空航天大学 | Surface-mounted piezoelectric rotating mechanism and driving method thereof |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
| WO2021077887A1 (en) * | 2019-10-23 | 2021-04-29 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
| JPWO2020031289A1 (en) * | 2018-08-08 | 2021-06-03 | 株式会社安川電機 | robot |
| EP3888854A1 (en) * | 2020-04-02 | 2021-10-06 | Kabushiki Kaisha Yaskawa Denki | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105150219A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Super-redundant flexible mechanical arm based on rope driving |
| CN105150219B (en) * | 2015-09-28 | 2017-06-23 | 哈尔滨工业大学深圳研究生院 | A kind of super redundancy flexible mechanical arm driven based on rope |
| CN107199557A (en) * | 2016-08-31 | 2017-09-26 | 工心（上海）科技有限公司 | Robot architecture's unit, robot and robot construction method |
| CN106670511A (en) * | 2017-01-05 | 2017-05-17 | 郑州坤博科技有限公司 | High-precision mechanical arm for lathe and lathe |
| WO2018145800A1 (en) * | 2017-02-07 | 2018-08-16 | Technische Universität Darmstadt | Sensor arrangement for force or torque measurement, and a method for the production thereof |
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| JPWO2020031289A1 (en) * | 2018-08-08 | 2021-06-03 | 株式会社安川電機 | robot |
| JP7028330B2 (en) | 2018-08-08 | 2022-03-02 | 株式会社安川電機 | robot |
| CN109352671A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of manipulator joint and its working method of patch type piezoelectric driving |
| CN110238873B (en) * | 2019-04-25 | 2023-12-08 | 浙江师范大学 | Orthogonal piezoelectric joint mechanism and control method thereof |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN110228055A (en) * | 2019-05-30 | 2019-09-13 | 南方科技大学 | Multi-joint mechanical arm suitable for physical interaction in unstructured environment |
| WO2021077887A1 (en) * | 2019-10-23 | 2021-04-29 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
| CN110842936A (en) * | 2019-11-14 | 2020-02-28 | 迈赫机器人自动化股份有限公司 | Cooperative robot joint module and cooperative robot |
| CN113492419A (en) * | 2020-04-02 | 2021-10-12 | 株式会社安川电机 | Robot |
| EP3888854A1 (en) * | 2020-04-02 | 2021-10-06 | Kabushiki Kaisha Yaskawa Denki | Robot |
| US11724383B2 (en) | 2020-04-02 | 2023-08-15 | Kabushiki Kaisha Yaskawa Denki | Robot |
| CN111726034B (en) * | 2020-05-25 | 2021-05-25 | 南京航空航天大学 | Surface-mounted piezoelectric rotating mechanism and driving method thereof |
| CN111726034A (en) * | 2020-05-25 | 2020-09-29 | 南京航空航天大学 | Surface-mounted piezoelectric rotating mechanism and driving method thereof |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
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