CN114643594A - Novel robot integrated joint and control method thereof - Google Patents
Novel robot integrated joint and control method thereof Download PDFInfo
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- CN114643594A CN114643594A CN202011508518.8A CN202011508518A CN114643594A CN 114643594 A CN114643594 A CN 114643594A CN 202011508518 A CN202011508518 A CN 202011508518A CN 114643594 A CN114643594 A CN 114643594A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000010354 integration Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 abstract description 10
- 238000013461 design Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 108090000565 Capsid Proteins Proteins 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of robots, in particular to a novel robot integrated joint and a control method thereof. The invention solves the problem of load inertia limitation from the control angle, saves the traditional harmonic reducer structure, has more compact joint structure and reduces the joint cost.
Description
Technical Field
The invention relates to the field of robots, in particular to a novel robot integrated joint and a control method thereof.
Background
The development of modular robots/robotic arms was originally one of the technological solutions for space applications of robots. The concept of "modular design" of robots is proposed for the design approach of conventional industrial robots. According to the modularization idea, the robot system is composed of a plurality of functional modules, and each module has complete and single function, and has the advantages of good reconstruction, high redundancy, convenient assembly, flexibility, convenient maintenance and the like. The system designed according to the modularization has the advantages of excellent performance, short development period and low cost, so the concept of the modularized robot and the related technical research are always favored in the field of space robots. The integrated robot joint is a key component for ensuring the motion capability, motion precision, motion stability and motion safety of the robot. The integrated robot joint has the characteristics of high integration level, high reliability, universality, intellectualization and the like in design.
The motion capability, motion precision and motion stability of the joint of the integrated robot are mainly reflected in the aspects of low torque pulsation, excellent steady-state and dynamic response performance of a motor, high efficiency of a controller, reliability of a control algorithm and the like, and the high integration level is mainly reflected in the aspects of small size of the integrated joint, high integration of the motor, the controller, an encoder and the like, wherein the motor with high torque and high power density is a key breakthrough point.
At present, the integrated joint and servo motor of the robot at home and abroad have the following defects:
(1) at present, the integrated joint of the robot at home and abroad mainly comprises a harmonic reducer, a motor, a torque sensor, an encoder, a motor driver and the like, wherein the harmonic reducer has large rotational inertia and starting torque, and is not suitable for low-power tracking transmission.
(2) For the occasions with frequent starting and stopping, an additional heat dissipation system needs to be added to the existing robot integrated joint to improve the performance of a torque motor in the joint.
(3) The problem of load inertia limitation can not be solved to current servo motor, lacks the discernment to load inertia etc. needs the harmonic speed reducer ware to increase the moment of torsion, solves load limitation through control moment of torsion.
(4) The adoption of a transmission system of the harmonic reducer and the motor has higher requirements on the dynamic performance and respective vibration of the motor and the harmonic reducer, and the motion precision of the robot can be influenced by the torque pulsation of the motor or the abrasion of the gear of the harmonic reducer.
(5) The existing robot integrated joint has higher cost.
Disclosure of Invention
The invention aims to provide a novel robot integrated joint and a control method thereof, which solve the problem of load inertia limitation from the control angle, save the traditional harmonic reducer structure, have more compact joint structure and reduce the joint cost.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a novel robot integration joint, includes output flange axle, shell body, rotor, stator, rotary encoder, braking holder, torque sensor and motor drive, the output flange axle rotationally locates in the shell body, rotor, rotary encoder and braking holder suit in proper order in the output flange is epaxial, the shell body includes procapsid, support housing and back casing, just be equipped with torque sensor and motor drive in the procapsid.
The front shell is internally provided with a first connecting plate, the middle of the first connecting plate is provided with a first bearing seat, a first bearing is arranged in the first bearing seat and sleeved on the output flange shaft, the support shell is internally provided with a second connecting plate, the middle of the second connecting plate is provided with a second bearing seat, and a second bearing is arranged in the second bearing seat and sleeved on the output flange shaft.
The inner wall of the front shell is provided with a spigot which is matched with the support shell to position the stator.
And a rotary encoder and a brake retainer are sequentially sleeved on the output flange shaft between the second connecting plate and the rear shell.
Stator insulation frameworks are arranged on two sides of the stator.
The control method of the novel robot integrated joint is characterized by comprising the following steps: the method comprises the following steps:
step one, checking a joint corner in the motion of the mechanical arm, and solving a target torque tau in real timed；
Step two: the motor driver calculates the real-time compensation amount according to the following formula (1),
step three: the target torque tau obtained in the step onedAnd substituting the real-time compensation obtained in the step two into the following formula (2) to obtain a mechanical arm inertia term M (theta)d)；
Step four: the mechanical arm inertia term M (theta) obtained in the third stepd) As a signal input to the motor drive as a servomotor current control term, controlling the current loop to give an output torque τmotor。
The invention has the advantages and positive effects that:
1. the invention solves the problem of load inertia limitation from the control angle, omits the traditional harmonic reducer structure, and has low cost, compact structure and high integration degree.
2. The invention optimizes the design of the robot system and can provide a new idea for the integrated design and the modularized production of the robot.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a schematic view of the front case of figure 1,
figure 3 is a schematic view of the support housing of figure 1,
figure 4 is a schematic view of the rotor of figure 1,
figure 5 is a schematic view of the stator insulating skeleton of figure 1,
figure 6 is a schematic view of the stator of figure 1,
fig. 7 is a schematic diagram of the control principle of the present invention.
1001-output flange shaft, 10011-flange plate; 1002-front housing, 10021-first bearing housing, 10022 first tie plate; 1003 — a first bearing; 1004-motor drive; 1005-a rotor; 1006-a stator; 1007-a support housing, 10071-a second bearing housing, 10072-a second tie plate; 1008-rotary encoder; 1009-brake retainer; 1010-rear housing; 1011-socket head cap screw; 1012-torque sensor; 1013 is stator insulation frame; 1014 is a second bearing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the present invention includes an output flange shaft 1001, an outer housing, a rotor 1005, a stator 1006, a rotary encoder 1008, a brake holder 1009, a torque sensor 1012 and a motor driver 1004, wherein the output flange shaft 1001 is disposed in the outer housing, and the outer housing includes a front housing 1002, a support housing 1007 and a rear housing 1010 which are sequentially connected by a hexagon socket screw 1011, as shown in fig. 2, a first connecting plate 10022 is disposed in the front housing 1002, a first bearing seat 10021 is disposed in the middle of the first connecting plate 10022, as shown in fig. 1, a first bearing 1003 is disposed in the first bearing seat 10021 and sleeved on the output flange shaft 1001, the rotor 1005 is fixedly mounted in the middle of the output flange shaft 1001, the stator 1006 is fixedly mounted on the inner wall 1002 of the front housing and sleeved outside the rotor 1005, a stop is disposed on the inner wall of the front housing 1002 and cooperates with the support housing 1007 to position the stator 1006, the torque sensor 1012 and the motor driver 1004 are disposed in the front housing 1002, as shown in fig. 3, a second connecting plate 10072 is disposed in the support housing 1007, a second bearing seat 10071 is disposed in the middle of the second connecting plate 10072, as shown in fig. 1, a second bearing 1014 is disposed in the second bearing seat 10071 and sleeved on the output flange shaft 1001, and a rotary encoder 1008 and a brake holder 1009 are sequentially sleeved on the output flange shaft 1001 between the second connecting plate 10072 and the rear housing 1010. The torque sensor 1012, rotary encoder 1008 and brake holder 1009 are all well known in the art and are commercially available.
As shown in fig. 1, stator insulating frames 1013 are disposed on two sides of the stator 1006 for insulating armature windings, as shown in fig. 5 to 6, a plurality of stator slots are uniformly distributed on the stator 1006 along the circumferential direction, and the shape of the stator insulating frames 1013 matches the shape of the stator 1006 to realize slot insulation and slot sealing in the stator slots. An air gap is formed between the stator 1006 and the rotor 1005 to constitute a power system of the whole joint, wherein as shown in fig. 4, a permanent magnet is embedded in the rotor 1005, and the permanent magnet is fixed by an end plate and a screw in this embodiment.
As shown in fig. 1, a motor driver 1004 is provided in the front housing 1002 for writing an inertia recognition algorithm and a load inertia control algorithm to perform closed-loop control of a load.
The working principle of the invention is as follows:
a coil of the stator 1006 is electrified to generate a rotating magnetic field, the rotating magnetic field and an excitation magnetic field of the rotor 1005 act together to drive the output flange 1001 to rotate to generate torque, and closed-loop control is performed on a load through an inertia recognition algorithm and a load inertia control algorithm written in the motor driver 1004; the torque sensor 1012 feeds back the magnitude of the output torque at any time, and the rotary encoder 1008 feeds back the magnetic pole position and the rotor speed in real time. The friction brake retainer 1009 brakes the output flange shaft 1001 in an emergency. At this moment, the robot integrated joint forms a closed-loop control system with real-time induction and real-time feedback, and can effectively monitor and control the load, wherein the inertia identification and large-load inertia control algorithm of the motor driver 1004 can get rid of the constraint of the traditional servo motor on the load inertia requirement, and the method specifically comprises the following steps:
the invention realizes the effective control of the direct drive motor and the mechanical arm under the condition of large inertia dynamic change by calculating the inertia item and the dynamic items such as friction, gravity, centrifugal force and the like in the motion process of the mechanical arm in real time and compensating the inertia item and the dynamic items into a control loop of the direct drive motor, and the control principle is shown in figure 7, wherein the dynamic items generated by the real-time calculation motion in the motion of the mechanical arm are as follows:
in the above formula, M (theta)d) Is the arm inertia term, B (Θ)d) Is the Coriolis force term, C (Θ)d) As the centrifugal force term, G (theta)d) As gravity term, F (Θ)d) Is a frictional force term, ΘdIs the joint angle. The mechanical arm dynamics term can be calculated by a Lagrange method, and taumotorGiving the current loop an output torque, τdIs the target torque.
The control method comprises the following steps:
step one, the system checks joint corners in the motion of the mechanical arm to solve a target torque tau in real timedTarget torque τdCalculations are well known in the art.
Step two: the motor driver 1004 calculates the real-time compensation amount according to the following equation (1),
step three: the target torque tau obtained in the step onedAnd substituting the real-time compensation obtained in the step two into the following formula (2) to obtain a mechanical arm inertia term M (theta)d)；
Step four: the mechanical arm inertia term M (theta) obtained in the third stepd) As a signal input to the motor driver 1004 as a servomotor current control term, controls the current loop to give the output torque τmotorThereby forming a closed loop control system
Inertia M (theta) in the motion process of the mechanical armd) Following the attitude of the robotThe M (theta) is obtained by calculating the kinetic term continuouslyd) The dynamic compensation is carried out in a control loop of the direct drive motor, and dynamic items such as friction, gravity, centrifugal force and the like are also compensated to the motor torque, so that the direct drive motor can quickly respond to given position and speed, the effective control of the mechanical arm is realized, and a harmonic reducer is omitted.
Claims (6)
1. The utility model provides a novel robot integration joint which characterized in that: the brake device comprises an output flange shaft (1001), an outer shell, a rotor (1005), a stator (1006), a rotary encoder (1008), a brake holder (1009), a torque sensor (1012) and a motor driver (1004), wherein the output flange shaft (1001) is rotatably arranged in the outer shell, the rotor (1005), the rotary encoder (1008) and the brake holder (1009) are sequentially sleeved on the output flange shaft (1001), the outer shell comprises a front shell (1002), a support shell (1007) and a rear shell (1010), and the front shell (1002) is internally provided with the torque sensor (1012) and the motor driver (1004).
2. The novel robotic integrated joint of claim 1, wherein: the improved structure of the flange shaft is characterized in that a first connecting plate (10022) is arranged in the front shell (1002), a first bearing seat (10021) is arranged in the middle of the first connecting plate (10022), a first bearing (1003) is arranged in the first bearing seat (10021) and sleeved on the output flange shaft (1001), a second connecting plate (10072) is arranged in the support shell (1007), a second bearing seat (10071) is arranged in the middle of the second connecting plate (10072), and a second bearing (1014) is arranged in the second bearing seat (10071) and sleeved on the output flange shaft (1001).
3. The novel robotic integrated joint of claim 2, wherein: the inner wall of the front shell (1002) is provided with a spigot which is matched with the supporting shell (1007) together to position the stator (1006).
4. The novel robotic integrated joint of claim 2, wherein: a rotary encoder (1008) and a brake holder (1009) are sequentially sleeved on an output flange shaft (1001) between the second connecting plate (10072) and the rear shell (1010).
5. The novel robotic integrated joint of claim 1, wherein: stator insulating frameworks (1013) are arranged on two sides of the stator (1006).
6. The method for controlling the integrated joint of the robot according to claim 1, wherein: the method comprises the following steps:
step one, checking a joint corner in the motion of the mechanical arm, and solving a target torque tau in real timed；
Step two: the motor driver (1004) calculates the real-time compensation amount according to the following equation (1),
step three: the target torque tau obtained in the step onedAnd substituting the real-time compensation obtained in the step two into the following formula (2) to obtain a mechanical arm inertia term M (theta)d)；
Step four: the mechanical arm inertia term M (theta) obtained in the third stepd) As a signal input to a motor driver (1004) as a servomotor current control term, controlling a current loop to give an output torque τmotor。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011508518.8A CN114643594A (en) | 2020-12-18 | 2020-12-18 | Novel robot integrated joint and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011508518.8A CN114643594A (en) | 2020-12-18 | 2020-12-18 | Novel robot integrated joint and control method thereof |
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| Publication Number | Publication Date |
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| CN114643594A true CN114643594A (en) | 2022-06-21 |
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| CN202011508518.8A Pending CN114643594A (en) | 2020-12-18 | 2020-12-18 | Novel robot integrated joint and control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014156A (en) * | 2003-06-26 | 2005-01-20 | National Aerospace Laboratory Of Japan | Modularization system multi-articulated robot and its electric actuator |
| CN105479459A (en) * | 2015-12-29 | 2016-04-13 | 深圳市汇川技术股份有限公司 | Zero-force control method and system for robot |
| CN206154309U (en) * | 2016-11-08 | 2017-05-10 | 苏州元谋智能机器人***有限公司 | Variable -freedom -degree modularization cooperation robot |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN111890410A (en) * | 2020-07-01 | 2020-11-06 | 北京工业大学 | Drive and control integrated cooperative robot joint with running state monitoring function |
| CN214136100U (en) * | 2020-12-18 | 2021-09-07 | 山东新松工业软件研究院股份有限公司 | Novel robot integration joint |
-
2020
- 2020-12-18 CN CN202011508518.8A patent/CN114643594A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005014156A (en) * | 2003-06-26 | 2005-01-20 | National Aerospace Laboratory Of Japan | Modularization system multi-articulated robot and its electric actuator |
| CN105479459A (en) * | 2015-12-29 | 2016-04-13 | 深圳市汇川技术股份有限公司 | Zero-force control method and system for robot |
| CN206154309U (en) * | 2016-11-08 | 2017-05-10 | 苏州元谋智能机器人***有限公司 | Variable -freedom -degree modularization cooperation robot |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN111890410A (en) * | 2020-07-01 | 2020-11-06 | 北京工业大学 | Drive and control integrated cooperative robot joint with running state monitoring function |
| CN214136100U (en) * | 2020-12-18 | 2021-09-07 | 山东新松工业软件研究院股份有限公司 | Novel robot integration joint |
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