CN111098310A - Control method and control system of flexible cooperative robot - Google Patents
Control method and control system of flexible cooperative robot Download PDFInfo
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- CN111098310A CN111098310A CN202010011791.3A CN202010011791A CN111098310A CN 111098310 A CN111098310 A CN 111098310A CN 202010011791 A CN202010011791 A CN 202010011791A CN 111098310 A CN111098310 A CN 111098310A
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- robot
- workpiece placing
- placing body
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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
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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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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a control method and a control system of a flexible cooperative robot, which comprises the following steps: the central processing unit enables the robot to be in a ready posture through the robot controller, and determines the working space, the working speed and the working load of the robot; the robot controller rotates the workpiece placing body to an initial position; the central processor enables the robot to work in the first working procedure area of the workpiece placing body through the robot controller; the central processing unit judges whether the operation is completely finished; the central processor controls the workpiece placing body to rotate a certain angle through the workpiece placing body motor controller; the CPU causes the robot to perform the same operation in the second process area of the workpiece placing body as in the initial process area through the robot controller. The control method and the control system of the flexible cooperative robot can enable the robot to operate the operation object larger than the working range of the robot, and can save cost and reduce the occupied space of the system.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a control method and a control system of a flexible cooperative robot.
Background
In recent years, with the increasing degree of industrial automation, the application fields of industrial robots have been developed from industries such as automobiles, electronic appliances, and machines to other application fields, and become an indispensable part of many industrial fields. Conventional industrial robot control is based on position control, i.e. the robot is controlled to follow a certain predetermined trajectory. Such a control mode method enables the robot to be competent for most track following tasks, but for more and more application scenarios, especially for small-range high-precision operation tasks such as close tolerance assembly and workpiece finish machining, position control will be difficult to be competent due to a series of uncertain factors such as workpiece mounting positions. Therefore, modern industries place higher demands on the application flexibility and response sensitivity of robots. Many methods currently exist to monitor the contact state of the robot with the external environment by installing an external sensor, such as a force sensor or a vision system, while continuously modifying the slight position uncertainty deviation to achieve a small-scale high-precision operation.
However, in some manufacturing fields, since the robot is limited by its own working range, when the robot needs to perform all-around work on a work object, that is, a work area to be worked is large and exceeds the working range of the robot itself, a single robot cannot perform work in all the work areas, and usually the number of robots is increased to solve the problem. However, this requires a large investment and takes up a certain amount of space.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects in the prior art, the invention provides a control method and a control system of a flexible cooperative robot, which can enable the robot to operate an operation object larger than the working range of the robot, save the cost and reduce the occupied space of the system.
The technical scheme is as follows: the invention relates to a control method of a flexible cooperative robot, which comprises the following steps:
(1) the central processing unit enables the robot to be in a ready posture through the robot controller, and determines the working space, the working speed and the working load of the robot;
(2) the robot controller enables the workpiece placing body to rotate to an initial position, and enables a central line of an initial working procedure area of the workpiece placing body to be orthogonal to an axis of a machine base of the robot;
(3) the central processor enables the robot to work in the first working procedure area of the workpiece placing body through the robot controller;
(4) the central processing unit judges whether the operation is completely finished, and if not, the next step is carried out;
(5) the central processor controls the workpiece placing body to rotate a certain angle through the workpiece placing body motor controller, so that the central line of a second working procedure area of the workpiece placing body is orthogonal to the axis of the base of the robot;
(6) the central processing unit enables the robot to carry out the same operation in the second working procedure area of the workpiece placing body as the operation in the initial working procedure area through the robot controller, then the operation returns to the step (4), the judgment is carried out again, and the step (7) is carried out if the operation is completely finished;
(7) and finishing the operation.
Further, the step (1) of determining the working space of the robot refers to determining the maximum stroke and the minimum stroke of the robot arm.
Further, the working speed in the step (1) refers to the time used by the maximum stroke and the minimum stroke of the robot mechanical arm.
Further, the working load in the step (1) refers to the maximum load capacity which can be borne by the mechanical arm of the robot, the arm mass of the robot and the mass of the grabbed workpiece, and then the moment and the inertia moment of the arm of the robot are determined.
The invention also discloses a control system of the flexible cooperative robot, which comprises the following components:
a central processing unit, a robot controller, a workpiece placing body motor controller, a region monitoring system and a built-in force sensing system,
the central processing unit is used for responding to the instruction of the user and sending out a control signal for completing each operation to be executed by each instruction;
the robot controller is respectively connected with the central processing unit and the robot and receives a control signal of the central processing unit so as to control the rotating speed and the position of a servo motor of the robot, form the motion track of the robot and transmit the running state parameters of the robot to the central processing unit;
the workpiece placing body is a rotating table and is driven by a motor of the workpiece placing body;
the workpiece placing body motor controller is respectively connected with the central processing unit and the workpiece placing body motor and receives a control signal of the central processing unit so as to control the rotating speed and the position of the workpiece placing body motor and transmit the position state parameters of the workpiece placing body to the central processing unit;
the region monitoring system comprises a laser distance sensor positioned in the center of an operation region, the laser distance sensor is connected with the central processing unit, the operation region calibrates a plurality of safety regions from inside to outside, the working speeds of the robots corresponding to different safety regions are different, and the working speed of the innermost safety region is the lowest;
the built-in force sensing system comprises a flexible mechanism located on a mechanical arm of the robot, wherein a force sensor is arranged on the flexible mechanism and connected with a central processing unit, and the central processing unit is connected with the robot controller.
Furthermore, a plurality of working procedure areas are uniformly distributed on the workpiece placing body, and each working procedure area is not larger than the working range of the robot; the robot is disposed beside the workpiece placement body in a manner orthogonal to a center line of an initial working area on the workpiece placement body.
Further, the robot controller and the workpiece placing body motor controller are servo amplifiers.
Furthermore, the flexible mechanism is provided with a plurality of flexible check rings, and the flexible check rings are sleeved on the mechanical arm.
Further, the speed of the innermost safety domain is set to about 1.5 m/s, and the maximum force of the robot arm is controlled to about 150N.
Has the advantages that: the invention adopts a workpiece placing body controlled by a central processing unit to match the robot to work. Compared with the method of adding the robot to expand the working area in the prior art, the method has the following advantages:
1) the huge cost and space position requirements brought by the increase of the robot are saved;
2) only the operation programs of a part of operation areas need to be compiled, and other operation areas are reproduced in the programmed operation areas through the rotation of the workpiece placing body, so that the time and the workload required by programming are saved;
3) the workpiece placing body motor controller and the robot controller are integrated together and are connected to the central processing unit, so that the central processing unit can control the workpiece placing body like a rotating shaft of the robot, the position of the robot and the rotation of the workpiece placing body can realize accurate position coordination, and the control operation of the system is more convenient. In addition, because the workpiece placing body motor controller is integrated in the robot control cabinet, the structure is compact in hardware, an expensive servo control unit required by a common servo motor is not needed, and the cost is saved.
Detailed Description
The invention will be further illustrated with reference to specific examples:
the invention relates to a control system of a flexible cooperative robot, comprising:
a central processing unit, a robot controller, a workpiece placing body motor controller, a region monitoring system and a built-in force sensing system,
the central processing unit is used for responding to the instruction of the user and sending out a control signal for completing each operation to be executed by each instruction;
the robot controller is respectively connected with the central processing unit and the robot and receives a control signal of the central processing unit so as to control the rotating speed and the position of a servo motor of the robot, form the motion track of the robot and transmit the running state parameters of the robot to the central processing unit;
the workpiece placing body is a rotating table and is driven by a motor of the workpiece placing body;
the workpiece placing body motor controller is respectively connected with the central processing unit and the workpiece placing body motor and receives a control signal of the central processing unit so as to control the rotating speed and the position of the workpiece placing body motor and transmit the position state parameters of the workpiece placing body to the central processing unit.
A plurality of working procedure areas 1 and 2 … … n are uniformly distributed on the table board of the workpiece placing body, and each working procedure area is not larger than the working range of the robot;
the robot has six degrees of freedom and is disposed beside the workpiece placement body orthogonally to a center line of an initial working area on the workpiece placement body.
The robot controller and the workpiece placing body motor controller are servo amplifiers.
The central processor, the robot controller and the workpiece placing body motor controller are integrated in a robot control cabinet.
The region monitoring system comprises a laser distance sensor positioned in the center of an operation region, the laser distance sensor is connected with the central processing unit, the operation region calibrates a plurality of safety regions from inside to outside, the working speeds of the robots corresponding to different safety regions are different, and the working speed of the innermost safety region is the lowest;
the built-in force sensing system comprises a flexible mechanism located on a mechanical arm of the robot, wherein a force sensor is arranged on the flexible mechanism and connected with a central processing unit, and the central processing unit is connected with the robot controller.
Specifically, the smaller the area is, the higher the pressure intensity is, the more the flexible mechanism is provided with a plurality of flexible check rings which are sleeved on the mechanical arm, so that the flexible check rings deform when the mechanical arm impacts human beings, and the human beings are not damaged; in addition, the robot and the area of the flexible retainer ring, which is in contact with a human, are provided with smooth chamfers on the surfaces, so that the phenomenon that the human is accidentally injured in the working process due to sharp edges is avoided.
The force sensor on the flexible retainer ring forms a force sensing system, whether the arm touches a person or an object can be sensed in real time in the moving process of the robot, once the arm touches the person, the flexible retainer ring deforms, the deformation is fed back to the force sensor, the processor judges whether the arm touches the object according to a signal transmitted by the built-in force sensor, then the signal is transmitted to a control unit of the robot, the size of the deformation is judged, and the robot stops corresponding movement when the signal exceeds a threshold value.
Regional monitored control system, including the laser distance sensor who is located the regional central authorities of operation, laser distance sensor with the control unit is connected for monitor people's position, thereby judge the functioning speed of system, a plurality of security domains are markd from inside to outside to the operation region, the operating speed of the robot that different security domains correspond is different, and the operating speed of the security domain of the most inboard is minimum, thereby makes the people when not, high-speed operation improves production efficiency, and people's safety is ensured in the time of at a slow speed operation.
Specifically, the laser distance sensor generates a safety light curtain, the operation area is divided into an operation area S1, a cooperation area S2, a deceleration area S3 and a warning area S4 from inside to outside, the position of the robot is marked as the operation area S1, the area of man-machine cooperation is marked as the cooperation area S2, the robot keeps normal working speed before entering the warning area S4, the robot gives an alert when entering the warning area S4, the safety light curtain of the emergency stop system and the laser distance sensor is activated, the working speed of the robot is reduced when the person enters the deceleration area S3, and the working speed of the robot is reduced to a limit value when the person enters the cooperation area S2.
If the robot cannot reduce the speed to a low enough value before the person enters the cooperation domain S2, or the robot system does not prepare for speed reduction before the person enters the speed reduction domain S3, the protection stop is triggered, and the emergency stop is triggered by the emergency stop system.
In addition, in order to prevent people from entering the safety domain and the laser distance sensor is not actuated or otherwise fails, a plurality of pressure-sensitive carpets are laid on the ground of the safety domain, the pressure-sensitive carpets sense the entering of people through the pressure sensor laid in the carpets on the ground, so that an emergency stop system is activated, the fault of the laser distance sensor is convenient to overhaul, and the safety of people is guaranteed through a double-insurance mode.
The principle of the flexible robot system of the invention is as follows: the robot has six degrees of freedom, so that the robot is provided with six servo motors, and the rotation angles of the servo motors determine the position and the posture of the robot; the robot controller controls the six servo motors in three modes of position, speed and moment, so that the high-precision positioning of the transmission system is realized; the operation object is placed on the workpiece placing body; the operation program of one process area is programmed on the CPU, and other operation areas are reproduced in the programmed process area by the rotation of the workpiece placing body. The workpiece placing body motor controller and the robot controller are connected to the central processing unit on the central processing unit, so that the workpiece placing body can be controlled like a rotating shaft of the robot, the position of the robot and the rotation of the workpiece placing body can be accurately coordinated, and the control operation of the system is more convenient.
The invention discloses a control method of a flexible cooperative robot, which comprises the following steps:
(1) the central processing unit enables the robot to be in a ready posture through the robot controller, and determines the working space, the working speed and the working load of the robot; the working space of the robot is a space area which can be reached by the robot arm, the working space of the robot is determined by the degree of freedom of the robot, the higher the degree of freedom of the robot is, the larger the working space of the robot is, and two points are mainly used for determining the working space of the robot, namely the maximum stroke of the robot arm and the minimum stroke of the robot arm; the working speed is as follows: having determined the maximum and minimum strokes of the robotic arm, then recording the time taken by the robotic arm to complete the maximum and minimum strokes using a time recording instrument; the robot working load is determined, the maximum load capacity which can be borne by the mechanical arm of the robot, the arm mass of the robot and the mass of the grabbed workpiece are determined, and then the moment and the moment of inertia of the robot arm are determined.
(2) The robot controller enables the workpiece placing body to rotate to an initial position, and enables a central line of an initial working procedure area of the workpiece placing body to be orthogonal to an axis of a machine base of the robot;
(3) the central processor enables the robot to work in the first working procedure area of the workpiece placing body through the robot controller;
(4) the central processing unit judges whether the operation is completely finished, and if not, the next step is carried out;
(5) the central processor controls the workpiece placing body to rotate a certain angle through the workpiece placing body motor controller, so that the central line of a second working procedure area of the workpiece placing body is orthogonal to the axis of the base of the robot;
(6) the central processing unit enables the robot to carry out the same operation in the second working procedure area of the workpiece placing body as the operation in the initial working procedure area through the robot controller, then the operation returns to the step (4), the judgment is carried out again, and the step (7) is carried out if the operation is completely finished;
(7) and finishing the operation.
The flexible robot system of the invention can be applied to various manufacturing processes, and can also adopt more than one workpiece placing body to cooperate with the operation of the robot.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A control method of a flexible cooperative robot, characterized in that: the method comprises the following steps:
(1) the central processing unit enables the robot to be in a ready posture through the robot controller, and determines the working space, the working speed and the working load of the robot;
(2) the robot controller enables the workpiece placing body to rotate to an initial position, and enables a central line of an initial working procedure area of the workpiece placing body to be orthogonal to an axis of a machine base of the robot;
(3) the central processor enables the robot to work in the first working procedure area of the workpiece placing body through the robot controller;
(4) the central processing unit judges whether the operation is completely finished, and if not, the next step is carried out;
(5) the central processor controls the workpiece placing body to rotate a certain angle through the workpiece placing body motor controller, so that the central line of a second working procedure area of the workpiece placing body is orthogonal to the axis of the base of the robot;
(6) the central processing unit enables the robot to carry out the same operation in the second working procedure area of the workpiece placing body as the operation in the initial working procedure area through the robot controller, then the operation returns to the step (4), the judgment is carried out again, and the step (7) is carried out if the operation is completely finished;
(7) and finishing the operation.
2. The control method of a flexible cooperative robot according to claim 1, characterized in that: the step (1) of determining the working space of the robot refers to determining the maximum stroke and the minimum stroke of a mechanical arm of the robot.
3. The control method of a flexible cooperative robot according to claim 1, characterized in that: the working speed in the step (1) refers to the time used by the maximum stroke and the minimum stroke of the robot mechanical arm.
4. The control method of a flexible cooperative robot according to claim 1, characterized in that: the working load in the step (1) refers to the maximum load capacity which can be borne by the mechanical arm of the robot, the arm mass of the robot and the mass of the grabbed workpiece, and then the moment and the moment of inertia of the robot arm are determined.
5. A control system of a flexible cooperative robot, characterized in that: the method comprises the following steps:
a central processing unit, a robot controller, a workpiece placing body motor controller, a region monitoring system and a built-in force sensing system,
the central processing unit is used for responding to the instruction of the user and sending out a control signal for completing each operation to be executed by each instruction;
the robot controller is respectively connected with the central processing unit and the robot and receives a control signal of the central processing unit so as to control the rotating speed and the position of a servo motor of the robot, form the motion track of the robot and transmit the running state parameters of the robot to the central processing unit;
the workpiece placing body is a rotating table and is driven by a motor of the workpiece placing body;
the workpiece placing body motor controller is respectively connected with the central processing unit and the workpiece placing body motor and receives a control signal of the central processing unit so as to control the rotating speed and the position of the workpiece placing body motor and transmit the position state parameters of the workpiece placing body to the central processing unit;
the region monitoring system comprises a laser distance sensor positioned in the center of an operation region, the laser distance sensor is connected with the central processing unit, the operation region calibrates a plurality of safety regions from inside to outside, the working speeds of the robots corresponding to different safety regions are different, and the working speed of the innermost safety region is the lowest;
the built-in force sensing system comprises a flexible mechanism located on a mechanical arm of the robot, wherein a force sensor is arranged on the flexible mechanism and connected with a central processing unit, and the central processing unit is connected with the robot controller.
6. The control system of a flexible cooperative robot according to claim 5, wherein: a plurality of working procedure areas are uniformly distributed on the workpiece placing body, and each working procedure area is not larger than the working range of the robot; the robot is disposed beside the workpiece placement body in a manner orthogonal to a center line of an initial working area on the workpiece placement body.
7. The control system of a flexible cooperative robot according to claim 5, wherein: and the robot controller and the workpiece placing body motor controller are servo amplifiers.
8. The control system of a flexible cooperative robot according to claim 5, wherein: the flexible mechanism is provided with a plurality of flexible check rings, and the flexible check rings are sleeved on the mechanical arm.
9. The control system of a flexible cooperative robot according to claim 5, wherein: the speed of the innermost safety domain is set to about 1.5 m/s, and the maximum force of the mechanical arm is controlled to about 150N.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010011791.3A CN111098310A (en) | 2020-01-07 | 2020-01-07 | Control method and control system of flexible cooperative robot |
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| CN202010011791.3A CN111098310A (en) | 2020-01-07 | 2020-01-07 | Control method and control system of flexible cooperative robot |
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| CN202010011791.3A Pending CN111098310A (en) | 2020-01-07 | 2020-01-07 | Control method and control system of flexible cooperative robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022183372A1 (en) * | 2021-03-02 | 2022-09-09 | 中国科学院深圳先进技术研究院 | Control method, control apparatus, and terminal device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689302A (en) * | 2012-05-31 | 2012-09-26 | 上海发那科机器人有限公司 | Flexible robot system |
| CN107813308A (en) * | 2017-10-20 | 2018-03-20 | 高井云 | A kind of human computer cooperation system of robot |
| CN109986557A (en) * | 2019-02-22 | 2019-07-09 | 浙江树人学院（浙江树人大学） | Industrial robot flexibility method of servo-controlling |
-
2020
- 2020-01-07 CN CN202010011791.3A patent/CN111098310A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689302A (en) * | 2012-05-31 | 2012-09-26 | 上海发那科机器人有限公司 | Flexible robot system |
| CN107813308A (en) * | 2017-10-20 | 2018-03-20 | 高井云 | A kind of human computer cooperation system of robot |
| CN109986557A (en) * | 2019-02-22 | 2019-07-09 | 浙江树人学院（浙江树人大学） | Industrial robot flexibility method of servo-controlling |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022183372A1 (en) * | 2021-03-02 | 2022-09-09 | 中国科学院深圳先进技术研究院 | Control method, control apparatus, and terminal device |
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Application publication date: 20200505 |