A robot capable of suppressing longitudinal vibration and a control method thereof

Abstract

The application provides a robot capable of inhibiting longitudinal vibration and a control method thereof. The robot comprises a robot base, a robot large arm, a robot small arm, a screw shaft, a robot application contact surface, a pressure sensor and a large arm motor. The robot base, the robot large arm, the robot small arm and the screw shaft are sequentially connected. An axial end of the screw shaft can be in contact with the robot application contact surface to act on the robot application contact surface. The pressure sensor is arranged on the screw shaft to detect the pressure between the screw shaft and the robot application contact surface. Whether the pressure borne by the robot large arm is overpressure can be determined by the pressure and the current of the large arm motor. If the pressure is overpressure, the screw shaft is controlled to be lifted to a preset height away from the robot application contact surface. According to the application, the risk of deformation of the robot body due to upward bending can be reduced, and the longitudinal vibration of the robot can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a robot capable of inhibiting longitudinal vibration and a control method thereof. BACKGROUND

[0002] In the application process, robots are often affected by vibration, which has a great impact on the performance and service life of the robot. When the end screw shaft runs excessively downward and is pressed against the application surface, the robot body will be subjected to an upward force. When the screw shaft moves upward rapidly, the sudden release of the force will cause longitudinal vibration of the robot body. Longitudinal vibration has a significant impact on the rigidity of the robot body. At present, it is difficult to control the longitudinal vibration caused by the pressing force after the vibration occurs, and only the vibration can be inhibited before it occurs.

[0003] Due to the technical problems of the robot in the prior art, such as the end screw shaft running excessively downward and causing the robot body to form longitudinal vibration, the present application researches and designs a robot capable of inhibiting longitudinal vibration and a control method thereof. SUMMARY

[0004] Therefore, the present application aims to overcome the defects of the robot in the prior art, such as the end screw shaft running excessively downward and causing the robot body to form longitudinal vibration, and to provide a robot capable of inhibiting longitudinal vibration and a control method thereof.

[0005] To solve the above problems, the present application provides a robot capable of inhibiting longitudinal vibration, which comprises:

[0006] A robot base, a robot arm, a robot forearm, a screw shaft, a robot application contact surface, a pressure sensor and an arm motor, the robot base, the robot arm, the robot forearm and the screw shaft are connected in sequence, one end of the screw shaft can be in contact with the robot application contact surface to act on it, the pressure sensor is arranged on the screw shaft to detect the pressure between the screw shaft and the robot application contact surface, the pressure of the robot arm can be determined by the pressure and the current of the arm motor, and if the pressure is excessive, the screw shaft is lifted to a preset height away from the robot application contact surface.

[0007] In some embodiments,

[0008] Further comprising a controller, the arm motor comprises the current loop, and the arm motor is arranged between the robot base and the robot arm to drive the robot arm to rotate; the controller can collect the current of the current loop, i.e. the current of the arm motor.

[0009] In some embodiments,

[0010] Further comprising an angle measuring sensor disposed between the robot base and the robot arm, the angle measuring sensor being capable of measuring the tilt angle A between the robot base and the robot arm.

[0011] The controller is further capable of controlling the height h1 of the movement of the screw shaft in the axial direction according to the tilt angle A between the robot base and the robot arm.

[0012] In some embodiments,

[0013] Further comprising a screw motor, the screw motor being capable of keeping the original state unchanged or driving the screw shaft to rotate forward to move the screw shaft downward towards the direction of the robot application contact surface when the robot arm is not over-pressured, and the screw motor being further capable of driving the screw shaft to rotate reversely to move the screw shaft upward away from the direction of the robot application contact surface when the robot arm is over-pressured.

[0014] In some embodiments,

[0015] Further comprising a brake, when both the pressure and the current exceed the normal range, the brake is first controlled to be released to release the lock, and then the screw motor is controlled to rotate reversely to drive the screw shaft to move upward.

[0016] In some embodiments,

[0017] The pressure sensor is a terminal pressure sensor, the terminal pressure sensor being disposed at the axial terminal end of the screw shaft and being in contact with the robot application contact surface.

[0018] The present application further provides a control method of the robot capable of inhibiting longitudinal vibration as described above, which comprises:

[0019] A detecting step of detecting the pressure value F between the screw shaft and the robot application contact surface by the pressure sensor, and detecting the current value I of the arm motor;

[0020] A judging step of judging the relationship between the pressure value F and the set pressure value F A , and judging the relationship between the current value I and the normal current range [i1, i2];

[0021] A controlling step of controlling the screw shaft to move away from the robot application contact surface by a preset height when F≥F A and I>i2, and controlling the screw shaft to move towards the robot application contact surface by a preset height when F AOr i1≤I≤i2, control the spindle shaft to keep the original state.

[0022] In some embodiments,

[0023] The detection step, when F≥F A , and I>i2, in the vertical projection plane, also detect the distance x1 between the center axis of the robot base and the center axis of the spindle shaft; when also including an angle measuring sensor, also detect the inclination angle A between the upper end surface of the robot base and the bottom surface of the robot arm through the angle measuring sensor;

[0024] The control step, through the right triangle function tanA°=h1 / x1, h1=tanA°·x1 can be obtained, then control the spindle shaft to lift the height h1 upward.

[0025] In some embodiments,

[0026] When also including a spindle motor, in the control step, the action of controlling the spindle shaft to lift the height h1 upward is realized through the reverse rotation of the spindle motor.

[0027] In some embodiments,

[0028] When also including a brake, in the control step, before controlling the spindle shaft to lift upward, the brake is controlled to be released first, the lock is released, and then the reverse rotation of the spindle motor is controlled.

[0029] The robot capable of inhibiting longitudinal vibration and the control method thereof provided by the present application have the following beneficial effects:

[0030] 1. This invention designs a pressure sensor at the robot's end effector axis position to simultaneously detect the current of the arm motor. Based on the detection results, it interacts with the servo motor connected to the end effector axis. When the detected pressure value exceeds a set value and the detected current loop exceeds the normal range, the lead screw axis is controlled by the robot controller to rise slightly, reducing the squeezing effect of the application surface. Without squeezing force, when the lead screw axis quickly releases and rises again, no longitudinal vibration occurs. When the robot is subjected to squeezing from the application surface, according to the lever principle, the force is greatest at the position farthest from the force. Therefore, the force on the robot arm motor is the greatest, and the axial torque is also the greatest. When suddenly subjected to squeezing from the application surface, the axial torque on the arm will change abruptly. At this time, the servo motor output current loop will also experience a sudden change. The robot controller collects the change value of the current loop and determines whether the pressure on the extrusion surface is too large by judging the range of the change value. Therefore, this invention collects the current loop detection of the boom motor and the pressure value detection of the external sensor through the controller. If both detections are abnormal, it can be determined that the robot end is under excessive pressure on the application surface, thus improving the accuracy of overpressure detection. This invention controls whether the lead screw shaft rises by detecting the pressure value between the robot end and the application surface and the magnitude of the boom motor current. When both exceed the safe value range, the lead screw shaft is controlled to rise, which can reduce the risk of the robot body tilting upward and deforming, and reduce the longitudinal vibration of the robot. It has high applicability and can currently be applied to the development of all types of robots.

[0031] 2. This invention also utilizes an angle measurement sensor installed between the robot base and the robot arm to effectively detect the deformation angle (upward tilt angle) of the robot arm. Combined with the distance x1 between the central axis of the robot base and the central axis of the lead screw shaft, the required upward movement height h1 of the lead screw shaft can be effectively calculated to reduce the deformation of the robot arm to zero. This allows for precise calculation of the required upward movement height of the lead screw shaft, thereby accurately controlling the range of reverse rotation of the lead screw motor to reduce the longitudinal vibration of the robot and achieving higher precision in controlling the robot to prevent longitudinal vibration. Attached Figure Description

[0032] Figure 1 This is a structural diagram of the industrial robot of the present invention under normal application;

[0033] Figure 2 This is a structural diagram of the industrial robot of the present invention under overpressure (when longitudinal vibration exists);

[0034] Figure 3 yes Figure 2 A magnified view of part A;

[0035] Figure 4 yes Figure 2 A magnified view of part B;

[0036] Figure 5 is Figure 4 a simplified triangular relationship structure diagram of the robot large arm after deformation;

[0037] Figure 6 is a method flowchart of the industrial robot of the present application for suppressing longitudinal vibration.

[0038] The reference signs are:

[0039] 1, robot application contact surface; 2, pressure sensor; 3, screw shaft; 4, robot small arm; 5, robot base; 6, robot large arm; 7, horizontal auxiliary line; 8, large arm motor; 9, angle measurement sensor. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0041] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a reference to the presence of a feature, step, operation, device, component and / or combinations thereof.

[0042] Unless specifically stated otherwise, the relative arrangements of the components and steps illustrated in these embodiments and the numerical expressions and values set forth herein are not limiting. It should be understood that the various parts shown in the drawings are not necessarily drawn to scale in proportion. The techniques, methods and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as part of the authorized description. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference signs and letters represent similar items in the following drawings, so that once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0043] In the description of the present application, it needs to be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component itself.

[0044] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0045] In addition, it needs to be noted that the use of "first", "second" and the like to define parts is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore cannot be understood as a limitation on the scope of protection of the present application.

[0046] As Figures 1-5 shown, the present application provides a robot capable of inhibiting longitudinal vibration, which comprises:

[0047] A robot base 5, a robot large arm 6, a robot small arm 4, a lead screw shaft 3, a robot application contact surface 1, a pressure sensor 2 and a large arm motor 8, the robot base 5, the robot large arm 6, the robot small arm 4 and the lead screw shaft 3 are connected in sequence, one end of the lead screw shaft 3 in the axial direction can be in contact with the robot application contact surface 1 to act on it, the pressure sensor 2 is arranged on the lead screw shaft 3 to be able to detect the pressure between the lead screw shaft 3 and the robot application contact surface 1, the pressure borne by the robot large arm 6 can be judged together through the pressure and the current of the large arm motor 8 two parameters, if overpressure, control the lead screw shaft 3 to lift a preset height away from the robot application contact surface 1.

[0048] This invention designs a pressure sensor at the robot's end effector axis to simultaneously detect the current of the arm motor. Based on the detection results, it interacts with the servo motor connected to the end effector axis. When the detected pressure exceeds a set value and the detected current loop exceeds the normal range, the lead screw axis, controlled by the robot controller, rises slightly to reduce the squeezing effect from the application surface. Without squeezing force, the lead screw axis quickly releases and rises again, thus preventing longitudinal vibration. When the robot is subjected to squeezing from the application surface, according to the lever principle, the force is greatest at the position farthest from the force. Therefore, the force on the robot arm motor is greatest, and the axial torque is also greatest. When suddenly subjected to squeezing from the application surface, the axial torque on the arm changes abruptly. At this time, the servo motor output current loop will also experience a sudden change. The robot controller collects the change value of the current loop and determines whether the pressure on the extrusion surface is too large by judging the range of the change value. Therefore, this invention collects the current loop detection of the boom motor and the pressure value detection of the external sensor through the controller. If both detections are abnormal, it can be determined that the robot end is under excessive pressure on the application surface, thus improving the accuracy of overpressure detection. This invention controls whether the lead screw shaft rises by detecting the pressure value between the robot end and the application surface and the magnitude of the boom motor current. When both exceed the safe value range, the lead screw shaft is controlled to rise, which can reduce the risk of the robot body tilting upward and deforming, and reduce the longitudinal vibration of the robot. It has high applicability and can currently be applied to the development of all types of robots.

[0049] This invention relates to a robot capable of suppressing longitudinal vibrations. For example... Figure 1 This is a schematic diagram of the normal application of the industrial robot of the present invention. A pressure sensor 2 is designed and installed at the end of the robot's lead screw 3. The pressure sensor 2 interacts with the motor connected to the lead screw. When the pressure condition is reached, the motor can be controlled to release the braking system. During normal application of the robot, when there is no overpressure between the lead screw 3 and the robot's application contact surface 1, the pressure value detected by the pressure sensor 2 at the end is 0 or a very small value. The robot operates normally, the arm does not deform, and the current loop value collected by the arm motor 8 is within the normal range. Under this state, the robot body will not experience longitudinal vibration.

[0050] like Figure 2 The diagram shows the overpressure situation of the industrial robot of the present invention. In this state, the lead screw 3 moves downward excessively, and the pressure sensor 2 at the end is squeezed with the robot application contact surface 1. At this time, the pressure sensor 2 at the end detects a pressure value of F, which is equivalent to the robot body being subjected to an upward force F. This force causes the robot body to undergo a large deformation, that is, the robot arm 6 tilts upward and forms an angle A° with the horizontal auxiliary line 7. Since the robot base 5 is fixed, when the end of the lead screw is at the end of the application and rises rapidly, the force F will cause the robot body to undergo a phenomenon similar to "ruler vibration", forming longitudinal vibration.

[0051] The robot of the present application can inhibit longitudinal vibration, when in Figure 2 When the industrial robot is over-pressured, the pressure sensor 2 at the end detects a pressure value F, when the pressure value F is greater than the set pressure value F A (critical pressure value at which the robot will appear longitudinal vibration), and the robot controller collects the current loop parameter value I of the large arm motor 8, when the fluctuation of the value exceeds the normal operating range (i1≤I≤i2), when the collected F, I values all exceed the normal range, the high-precision angle measuring sensor 9 embedded in the large arm detects the deformation angle A° value occurring at the robot large arm, and at the same time the robot controller can read the robot end point coordinate value (x1, y1) (x1 is the distance from the base center to the screw shaft center, and y1 is the height value of the screw shaft axial end), from which Figure 5 It can be obtained from the right triangle function that tanA°=h1 / x1, and h1=tanA°·x1, h1 is the height of the deformation of the robot end point, and the robot controller controls the screw to rise by h1 height. At this time, the body returns to the horizontal state and no longer tilts up, and after returning to Figure 1 the normal application state, after this process, there is no pressure acting on the robot body, and the screw shaft 3 does not appear longitudinal vibration when rising quickly, achieving the effect of inhibiting longitudinal vibration.

[0052] In some embodiments,

[0053] It also includes a controller, the large arm motor 8 includes the current loop, the large arm motor 8 is arranged between the robot base 5 and the robot large arm 6 to drive the robot large arm 6 to rotate; the controller can collect the current of the current loop, i.e. the current of the large arm motor 8. This is a further preferred structure of the robot of the present application which can inhibit longitudinal vibration, through the controller and the current loop of the large arm motor, the current of the large arm motor can be collected. Since the robot is subjected to the extrusion of the application surface, the farthest position from the force will bear the greatest force by the principle of lever, and thus the motor of the robot large arm will bear the greatest force, and the axial torque will also be the greatest. When suddenly subjected to the extrusion of the application surface, the torque of the large arm will suddenly change, and at this time the output current loop of the servo motor will also suddenly change. The robot controller collects the current loop change value, and determines whether the force of the extrusion surface is too large by judging the change value range; therefore, the present application determines the over-pressing force of the robot end and the application surface by two detections of the controller collecting the motor current loop detection and the external sensor pressure value detection, and the accuracy and precision of detecting the over-pressing deformation of the robot large arm can be improved.

[0054] In some embodiments,

[0055] An angle measuring sensor 9 is further arranged between the robot base 5 and the robot arm 6, which is capable of measuring the tilt angle A between the robot base 5 and the robot arm 6.

[0056] The controller is further capable of controlling the height h1 of the upward movement of the lead screw shaft 3 according to the tilt angle A between the robot base 5 and the robot arm 6.

[0057] The present application further comprises an angle measuring sensor arranged between the robot base and the robot arm, which is capable of effectively detecting the deformation angle (tilt angle) of the robot arm, and in combination with the distance x1 between the center axis of the robot base and the center axis of the lead screw shaft, the height h1 of the upward movement of the lead screw shaft can be effectively calculated, so as to reduce the deformation of the robot arm to 0, thereby accurately calculating the height of the upward movement of the lead screw shaft, and further accurately controlling the range of the reverse rotation of the lead screw motor, so as to reduce the longitudinal vibration of the robot, and the robot is more accurate in preventing longitudinal vibration.

[0058] In some embodiments,

[0059] A lead screw motor is further arranged, which is capable of driving the lead screw shaft 3 to rotate forward when the robot arm 6 is not over-pressured, so as to move the lead screw shaft 3 downward towards the robot application contact surface 1, and is further capable of driving the lead screw shaft 3 to rotate reversely when the robot arm 6 is over-pressured, so as to move the lead screw shaft 3 upward away from the robot application contact surface 1.

[0060] This is a further preferred structure of the industrial robot of the present application, which is capable of achieving the effects of rotation and upward and downward movement by driving the lead screw to rotate through the lead screw motor, and when the robot arm is not over-pressured, the lead screw shaft can be kept in the original state or continuously driven to rotate forward to enhance the contact and pressure between the robot application contact surface, and when the robot arm is over-pressured, the lead screw shaft needs to be controlled to rotate reversely, so as to move the lead screw shaft away from the robot application contact surface, thereby reducing the over-pressured deformation of the robot arm and the longitudinal vibration of the robot.

[0061] In some embodiments,

[0062] Further comprising a brake, when the pressure and the current are both beyond the normal range, the brake is first controlled to be released to release the lock, and then the lead screw motor is controlled to be reversed to drive the lead screw shaft 3 to move upward. The application further comprises a brake, when the pressure and the current are both beyond the normal range, and before the lead screw motor is controlled to be reversed, the brake is first controlled to be released to contact the lock, so that the lead screw motor can be effectively controlled to be reversed to drive the lead screw shaft to move upward, thereby reducing the deformation of the robot arm caused by overpressure and solving the problem of longitudinal vibration of the robot.

[0063] In some embodiments,

[0064] The pressure sensor 2 is a terminal pressure sensor arranged at the axial end of the lead screw shaft 3 and in contact with the robot application contact surface 1. This is the preferred structure of the pressure sensor of the application. By arranging the terminal pressure sensor at the axial end of the lead screw shaft, the pressure value between the lead screw shaft and the application contact surface can be accurately detected when the two are in contact, thereby providing detection conditions for reducing or eliminating the overpressure deformation of the robot arm, accurately judging the overpressure deformation, and reducing the overpressure deformation and eliminating the longitudinal vibration of the robot.

[0065] As shown in Figure 6 The application also provides a control method for the robot capable of inhibiting longitudinal vibration, comprising:

[0066] A detection step for detecting the pressure value F between the lead screw shaft 3 and the robot application contact surface 1 by the pressure sensor 2, and detecting the current value I of the arm motor 8;

[0067] A judgment step for judging the relationship between the pressure value F and the set pressure value F A , and the relationship between the current value I and the normal current range [i1, i2];

[0068] A control step for controlling the lead screw shaft 3 to move a preset height away from the robot application contact surface 1 when F≥F A and I>i2; and controlling the lead screw shaft 3 to remain in the original state when F A or i1≤I≤i2.

[0069] The application is characterized in that a pressure sensor is installed at the end shaft position of the industrial robot, and the current of the large arm motor is detected, when the end of the screw shaft is detected to be subjected to pressure, and the current loop is detected to exceed the normal range, the motor releases the brake, the screw shaft is controlled by the robot controller to slightly rise, the deformation of A° is eliminated, the pressure is released, the extrusion effect of the application surface is reduced, the force acting on the shaft is reduced, there is no extrusion force, and the screw shaft is quickly released again, so that longitudinal vibration is not generated, the effect of inhibiting longitudinal vibration of the robot is achieved, the risk of deformation of the upward bending of the robot body is reduced, the service life of the robot body is increased, and high applicability is achieved.

[0070] In some embodiments,

[0071] The detection step detects the distance x1 between the center axis of the robot base 5 and the center axis of the screw shaft 3 in the vertical projection plane when F≥F A , and I>i2; when the angle measurement sensor 9 is further included, the inclination angle A between the upper end surface of the robot base 5 and the bottom surface of the robot large arm 6 is further detected by the angle measurement sensor 9.

[0072] The control step controls the screw shaft 3 to be lifted by a height h1 through a right triangle function tan A°=h1 / x1, and h1=tan A°·x1 is obtained.

[0073] This is a specific control form of the application when the pressure value exceeds the safe range and the current of the large arm motor exceeds the safe range, the height h1 by which the screw shaft needs to be moved upward can be effectively calculated, the deformation of the robot large arm can be reduced to 0, the height by which the screw shaft needs to be moved upward can be accurately calculated, the range by which the screw motor needs to be reversely rotated can be accurately controlled, the longitudinal vibration of the robot can be reduced, and the accuracy of preventing longitudinal vibration of the robot is higher.

[0074] In some embodiments,

[0075] When the screw motor is further included, the control step controls the screw shaft 3 to be lifted by a height h1 through reverse rotation of the screw motor.

[0076] The application can drive the screw to rotate through the screw motor to achieve the effects of rotation and up-down movement, and when the robot large arm is subjected to excessive pressure, the screw shaft needs to be controlled to be reversely rotated, so that the screw shaft moves away from the contact surface of the robot, the excessive deformation of the robot large arm is reduced, and the longitudinal vibration of the robot is reduced.

[0077] In some embodiments,

[0078] When the brake is also included, in the control step, before controlling the screw shaft 3 to lift up, the brake is controlled to release and the screw motor is controlled to reverse.

[0079] The application controls the brake to release and contact to lock before the pressure and the current exceed the normal range and the screw motor controls its reverse, so that the screw motor is effectively controlled to reverse and drive the screw shaft to move upward, the degree of deformation of the robot arm is reduced, and the problem of longitudinal vibration of the robot is solved.

[0080] The application installs a pressure sensor at the end shaft of the industrial robot, when the pressure value exceeds the set value and the current loop exceeds the normal range, and the end shaft is connected to the servo motor, the screw shaft is controlled by the robot controller to rise slightly, the deformation of A° is eliminated, the application surface is reduced, and there is no extrusion force, so that the screw shaft is quickly released and rises again, longitudinal vibration is not generated, and the effect of suppressing longitudinal vibration of the robot is achieved.

[0081] The above description is only the preferred embodiment of the application and is not used to limit the application, any modification, equivalent replacement and improvement within the spirit and principle of the application should be included in the protection scope of the application. The above description is only the preferred embodiment of the application, it should be pointed out that, for ordinary skilled in the art, without departing from the technical principle of the application, a number of improvements and modifications can be made, these improvements and modifications should be regarded as the protection scope of the application.

Claims

1. A robot capable of suppressing longitudinal vibration, characterized in that: It comprises a robot base (5), a robot large arm (6), a robot small arm (4), a screw shaft (3), a robot application contact surface (1), a pressure sensor (2) and a large arm motor (8), the robot base (5), the robot large arm (6), the robot small arm (4) and the screw shaft (3) are sequentially connected, the axial end of the screw shaft (3) can be in contact with the robot application contact surface (1) to act on it, the pressure sensor (2) is arranged on the screw shaft (3) to detect the pressure between the screw shaft (3) and the robot application contact surface (1), the pressure borne by the robot large arm (6) can be judged by the pressure and the current of the large arm motor (8), if the pressure is overpressure, the screw shaft (3) is controlled to lift a preset height away from the robot application contact surface (1); The detection step detects the pressure value F between the screw shaft (3) and the robot application contact surface (1) by the pressure sensor (2), and detects the current value I of the large arm motor (8); The control step can obtain h1=tanA°·x1 by the tangent function tanA°=h1 / x1, and control the screw shaft (3) to lift the height h1 upward. a judging step of judging the relationship between the pressure value F and the set pressure value F A and the relationship between the current value I and the normal current range [i1, i2]; controlling the screw shaft (3) to move a preset height away from the robot application contact surface (1) when F≥F A , and I>i2; controlling the screw shaft (3) to remain in the original state when F A < i1 or i1≤I≤i2. said detection step, when F≥F A , and I>i2, also detects the distance x1 between the center axis of the robot base (5) and the center axis of the lead screw shaft (3) in the vertical projection plane; when the angle measuring sensor (9) is also included, also detects the inclination angle A between the upper end surface of the robot base (5) and the bottom surface of the robot arm (6) by the angle measuring sensor (9); 2. The robot capable of inhibiting longitudinal vibration according to claim 1, further comprising a controller, the large arm motor (8) comprises a current loop, the large arm motor (8) is arranged between the robot base (5) and the robot large arm (6) to drive the robot large arm (6) to rotate, and the controller can collect the current of the current loop, that is, the current of the large arm motor (8).

3. The robot capable of inhibiting longitudinal vibration according to claim 2, further comprising an angle measurement sensor (9), the angle measurement sensor (9) is arranged between the robot base (5) and the robot large arm (6), and the angle measurement sensor (9) can measure the inclination angle A between the robot base (5) and the robot large arm (6); The controller can also control the height h1 of the upward movement of the screw shaft (3) according to the inclination angle A between the robot base (5) and the robot large arm (6).

4. The robot capable of inhibiting longitudinal vibration according to claim 1, further comprising a screw motor, the screw motor can keep the original state unchanged or drive the screw shaft (3) to rotate forward to make the screw shaft (3) move downward in the direction of the robot application contact surface (1) when the robot large arm (6) is not overpressure, and the screw motor can also drive the screw shaft (3) to rotate reversely to make the screw shaft (3) move upward in the direction away from the robot application contact surface (1) when the robot large arm (6) is overpressure.

5. The robot capable of inhibiting longitudinal vibration according to claim 4, ​ ​ ​ ​ Further comprising a brake, when both the pressure and the current exceed the normal range, first control the brake to release and remove the lock, and then control the screw motor to reverse to drive the screw shaft (3) to move upward. 6.The robot capable of suppressing longitudinal vibration according to any one of claims 1-5, characterized in that: The pressure sensor (2) is a terminal pressure sensor, which is arranged at the axial end of the screw shaft (3) and contacts the robot application contact surface (1).

7. A control method of a robot capable of suppressing longitudinal vibration as claimed in any one of claims 1 to 6, characterized by: Further comprising: A detection step, detecting the pressure value F between the screw shaft (3) and the robot application contact surface (1) through the pressure sensor (2), and detecting the current value I of the large arm motor (8); determining the relationship between the pressure value F and the set pressure value F A and the relationship between the current value I and the normal current range [i1, i2] controlling the screw shaft (3) to move a preset height away from the robot application contact surface (1) when F≥F A , and I>i2; controlling the screw shaft (3) to remain in the original state when F A < i2. said detection step, when F≥F A , and I>i2, also detects the distance x1 between the center axis of the robot base (5) and the center axis of the lead screw shaft (3) in the vertical projection plane; when the angle measuring sensor (9) is also included, also detects the inclination angle A between the upper end surface of the robot base (5) and the bottom surface of the robot arm (6) by the angle measuring sensor (9); In the control step, h1=tanA°·x1 can be obtained by the tangent function tanA°=h1 / x1, and then the screw shaft (3) is controlled to lift the height h1 upward. 8.The control method according to claim 7, characterized in that: When further comprising a screw motor, in the control step, the action of controlling the screw shaft (3) to lift the height h1 upward is realized by reversing the screw motor. 9.The control method according to claim 8, characterized in that: When further comprising a brake, in the control step, before controlling the screw shaft (3) to lift the height, the brake is first controlled to release and remove the lock, and then the screw motor is controlled to reverse.

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