Anti-machine-impacting method and device for sixth-shaft movement gripper of robot

Abstract

The invention discloses an anti-machine-impacting method and device for a sixth-shaft movement gripper of a robot. According to the method, a current sensor is used for monitoring the current changing relations when various shaft motors normally work, sparse learning is performed, the current information of the shaft motors at the maximum load and at the work extreme position is obtained, and the current information is recorded as a robot current analysis expert database; meanwhile, a precision position sensor is adopted for detecting the gripper position information; finally, a field measuring and control computer is combined with the information of the current sensor and the precision position sensor to perform fuzzy logic control, and the action safety control pre-warning information is output; and rigid supporting columns capable of achieving strain are added at the mechanical action position of the gripper. The device comprises a base (1); the sixth-shaft movement gripper (2) of the robot is connected to the position above the base (1) through springs (3) and the supporting columns (4); and a weak point (5) is arranged on the middle portion of each supporting column (4). By means of the anti-machine-impacting method and device for the sixth-shaft movement gripper of the robot, machine impacting of the sixth-shaft movement gripper of the robot can be prevented, and the maintaining cost can also be reduced.

Description

technical field [0001] The invention relates to a 6-axis robot movement safety control method and device, in particular to a 6-axis movement hand grip anti-collision machine method and device for a robot. Background technique [0002] Usually, when a 6-axis robot completes precision clamping in its motion space, the hydraulic / pneumatic clamps have different shapes of processed products, resulting in different clamping positions, positioning pins and air-tightness detection positions of the clamps. When clamping, the accuracy of the action position and the accuracy of the clamping force must be well controlled; once the accuracy is lost and the return error occurs, the robot will scrape and collide with the working object. There is a certain error in the existing control method, and the error will accumulate and increase with time and the return trip, resulting in a large error in the control information, resulting in a scrape and collision between the robot's 6th axis motion...

AI Technical Summary

Problems solved by technology

[0002] Usually, when a 6-axis robot completes precision clamping in its motion space, the hydraulic / pneumatic clamps have different shapes of processed products, resulting in different clamping positions, positioning pins and air-tightness detection positions of the clamps. When clamping, the action position accuracy and clamping force accuracy must be well controlled; once the accuracy is lost and the return error occurs, the robot will scrape and collide with the working object.

There is a certain error in the existing control method, and the error will accumulate and increase with time and the return trip, resulting in a large error in the control information, resulting in scratches and collisions between the robot's 6th axis motion grip and the work object

Moreover, scratching the collider will cause serious deformation of the robot's 6th axis movement grip, resulting in high maintenance costs

[0003] Therefore, the existing 6-axis robot work has the problems of the robot's 6th-axis motion hand grasping the easy-to-collision machine and relatively high maintenance costs.

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