High-speed grabbing and releasing robot residual vibration suppression method and system based on space grid

Abstract

The invention relates to a high-speed grabbing and releasing robot residual vibration suppression method and system based on a space grid. The method comprises the steps of obtaining a preset working space of the high-speed grabbing and releasing robot and a preset load range in a preset working task; dividing space grids according to the preset work space of the high-speed grabbing and releasing robot, dividing load grades according to a preset load range in the preset work task, and establishing modal parameter query grids of the high-speed grabbing and releasing robot at different positions and under different loads based on the space grids and the load grades; according to the track and the load of the high-speed grabbing and releasing robot in a given work task, querying a modal parameter query grid of the high-speed grabbing and releasing robot at different positions and under different loads in a work space to obtain parameters required for establishing a shaper; and generating a reshaped track of the high-speed grabbing and releasing robot by using the parameters required by the reshaper, and realizing residual vibration suppression under a given work task.

Description

Technical Field

[0001] The present application relates to the technical field related to industrial robots, and in particular to a method and system for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid. Background Art

[0002] In recent years, high-speed pick-and-place robots have been widely used in high-precision and high-speed industrial scenarios such as precision instrument assembly, electronic equipment painting, battery sorting, and parts sorting. Typical high-speed pick-and-place robots include: delta-type high-speed parallel robots and scara-type serial robots. This type of high-speed industrial robot is one of the important technologies to promote the development of new quality productivity in the manufacturing industry, and is of great significance for promoting the transformation and upgrading of the manufacturing industry and accelerating the intelligentization of the manufacturing process.

[0003] In order to improve the response speed or achieve a higher movement rhythm, the mechanical arms of these robots usually use lightweight materials, such as carbon fiber, to reduce the mass of moving parts and expand the working space. As a result, during the high-speed movement of the robot, under the multiple excitations of the motor driving force, load and the interaction force between the rods, it is very easy to cause residual vibration, which reduces the positioning accuracy of the robot at high speed, thus affecting the stability and work efficiency of the robot, and even affecting the life and safety of the equipment. Therefore, suppressing residual vibration has become an important direction in the research and application of industrial robots.

[0004] At present, there are two main ways to suppress the residual vibration of robots: one is to ensure that the robot body has excellent dynamic performance through integrated design considering comprehensive performance; the second is to improve the input quality of the robot system through active vibration suppression technology, thereby improving the dynamic performance of the robot. Input shaping is a typical active vibration suppression technology. It uses the zero-pole cancellation principle. It only needs to identify the modal frequency and damping ratio of the robot to design an input shaper that matches it. Its principle is simple and can effectively suppress the residual vibration of the point-to-point motion of the flexible mechanical system.

[0005] However, the trajectory and load of a high-speed pick-and-place robot will vary with the different pick-and-place tasks. Correspondingly, the main modal frequency and damping that have the main influence on the residual vibration will also change. Therefore, using the robot modal parameters under a single position and a single load to design a shaper cannot cope with the ever-changing work tasks of a high-speed pick-and-place robot. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a method and system for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid, so as to solve the problem in the prior art that the robot modal parameters designed under a single position and a single load cannot cope with the ever-changing work tasks of the high-speed pick-and-place robot.

[0007] According to a first aspect of an embodiment of the present invention, a method for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid is provided, comprising:

[0008] Obtaining a preset working space of a high-speed pick-and-place robot and a preset load range in a preset work task;

[0009] Divide the spatial grid according to the preset working space of the high-speed pick-and-place robot, divide the load level according to the preset load range in the preset working task, and establish the modal parameter query grid at different positions and different loads in the working space of the high-speed pick-and-place robot based on the spatial grid and the load level;

[0010] According to the trajectory and load of the high-speed pick-and-place robot in a given work task, the modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot is queried to obtain the parameters required for establishing a shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of hysteresis cycles of the shaping pulse sequence;

[0011] The parameters required by the shaper are used to generate the trajectory of the high-speed pick-and-place robot after shaping, so as to achieve residual vibration suppression under a given work task.

[0012] Furthermore, the working space of the preset high-speed pick-and-place robot is divided into spatial grids, the load levels are divided according to the preset load range in the preset work task, and the modal parameter query grids at different positions and different loads of the working space of the high-speed pick-and-place robot are established based on the spatial grids and the load levels, including:

[0013] S1: dividing the spatial grid according to the preset working space of the high-speed pick-and-place robot, marking the position of the end effector of the high-speed pick-and-place robot when it is at the center of the grid, dividing different load levels according to the preset load range, and marking different levels of load values;

[0014] S2: Using the different load levels, at a specific load level, the position of the high-speed pick-and-place robot is adjusted to the position where the end effector of the high-speed pick-and-place robot marked in S1 is at the center of the grid, and a hammering test is performed to record the frequency and damping coefficient of the first-order main mode;

[0015] S3: using the spatial grid, repeating step S2 at different positions of the spatial grid, recording the first-order main modal parameters of the high-speed pick-and-place robot at all positions in the spatial grid in S1, and establishing a modal parameter query grid for the high-speed pick-and-place robot under the specific load level in S2;

[0016] S4: Adjust the preset load level of the high-speed pick-and-place robot, repeat step S3, and establish a modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot.

[0017] Furthermore, the step S1 divides the spatial grid according to the preset working space of the high-speed pick-and-place robot, marks the position of the high-speed pick-and-place robot end effector when it is at the center of the grid, divides the load into different levels according to the preset load range, and marks the load values ​​of different levels, including:

[0018] According to the shape, size and symmetry of the working space of the preset high-speed pick-and-place robot, the working space is divided into n grids, with the center point position P of the grid as the center point. i Mark the position of the high-speed pick-and-place robot end effector at the center of the grid; where i = (1, 2, ..., n);

[0019] Different load levels are divided according to the preset load range in the preset work task, where each load level specifies a specific load range, and the mean value within the load range is recorded as L j To mark the load level; where j = (1, 2, ..., m);

[0020] Further, the step S2 uses the load level to adjust the position of the high-speed pick-and-place robot to the position where the end effector of the high-speed pick-and-place robot marked in S1 is at the center of the grid under a specific load level, and conducts a hammering experiment to record the frequency and damping coefficient of the first-order main mode, including:

[0021] Using the load level, set the robot's load level to L j , adjust the high-speed pick-and-place robot end effector to the grid center position p i (x i ,y i ,z i ), using a hammer excitation method to apply an excitation force to the load of a preset high-speed pick-and-place robot to obtain a vibration response signal;

[0022] The vibration response signal is picked up by a preset acceleration sensor, and the data acquisition and post-processing of the excitation and the vibration response signal are completed by a preset LMS dynamic tester to obtain the robot at position P. i and load L j The first-order main mode frequency and damping coefficient under .

[0023] Further, according to the trajectory and load of the high-speed pick-and-place robot in a given work task, the modal parameter query grid of the high-speed pick-and-place robot at different positions and different loads in the robot workspace is queried to obtain the parameters required for establishing the shaper, including:

[0024] Determine the load level L using the preset high-speed pick-and-place robot task load j ;

[0025] Using the preset high-speed pick-and-place robot task trajectory, the center point position of the task trajectory is obtained;

[0026] According to the load level L j , the center point position of the task trajectory, querying the modal parameter query grid at different positions and different loads in the workspace of the high-speed grasping and releasing robot, and determining a set of modal parameters; wherein the modal parameters include: main modal frequency and damping coefficient;

[0027] The modal parameters and the preset ZVD input shaper design method are used to obtain the parameters required for establishing the shaper; wherein the modal parameters include: main modal frequency and damping coefficient.

[0028] Furthermore, the modal parameters and the preset ZVD input shaper design method are used to obtain the parameters required for establishing the shaper, including:

[0029] By using the modal parameters and the preset ZVD input shaper design method, the amplitude parameter of the shaped pulse sequence is obtained; the expression of the amplitude parameter of the shaped pulse sequence is as follows:

[0030]

[0031] Where K represents the amplitude parameter of the shaping pulse sequence, ζ i,j represents the damping coefficient;

[0032] Using the shaping pulse sequence amplitude parameter, obtaining the shaping pulse sequence amplitude;

[0033] The expression of the amplitude of the shaped pulse sequence is as follows:

[0034]

[0035] The modal parameters are used to obtain the number of hysteresis cycles of the shaped pulse sequence; wherein the expression of the number of hysteresis cycles of the shaped pulse sequence is as follows:

[0036]

[0037] Among them, K q Indicates the number of hysteresis cycles of the shaped pulse sequence, ω i,j represents the main mode frequency.

[0038] Furthermore, the parameters required by the shaper are used to generate the trajectory of the high-speed pick-and-place robot after shaping, so as to achieve residual vibration suppression under specific loads and trajectories, including:

[0039] Using the parameters required by the shaper, a discretized trajectory of the high-speed pick-and-place robot after shaping is obtained;

[0040] The expression of the discretized trajectory of the high-speed pick-and-place robot after shaping is as follows:

[0041]

[0042] In the formula, r s represents the discretized trajectory of the robot after shaping; r s (k) represents the reshaped kT s The command of the moment; r(kk q ) indicates before shaping (kk q )T s Time instruction; T s Represents the segmented cycle of the robot's discrete form trajectory instructions in the CNC system;

[0043] The discretized trajectory of the high-speed pick-and-place robot is used to suppress residual vibration under a given task.

[0044] According to a second aspect of an embodiment of the present invention, a system for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid is provided, which is applied to any of the above-mentioned methods for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid, comprising:

[0045] An acquisition module is used to obtain a preset working space of the high-speed pick-and-place robot and a preset load range in a preset working task;

[0046] A first processing module is used to divide the spatial grid according to the preset working space of the high-speed pick-and-place robot, divide the load level according to the preset load range in the preset working task, and establish a modal parameter query grid at different positions and different loads in the working space of the high-speed pick-and-place robot based on the spatial grid and the load level;

[0047] The second processing module is used to query the modal parameter query grid at different positions and loads in the working space of the high-speed pick-and-place robot according to the trajectory and load of the high-speed pick-and-place robot in a given work task, and obtain the parameters required for establishing the shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of hysteresis cycles of the shaping pulse sequence;

[0048] The third processing module is used to generate the trajectory of the high-speed pick-and-place robot after shaping by using the parameters required by the shaper, so as to achieve residual vibration suppression under a given work task.

[0049] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0050] It can be understood that the technical solution provided by the present invention is to obtain a preset working space of a high-speed grasping and releasing robot and a preset load range in a preset work task; then, divide the spatial grid according to the preset working space of the high-speed grasping and releasing robot, divide the load level according to the preset load range in the preset work task, and establish a modal parameter query grid at different positions and under different loads in the working space of the high-speed grasping and releasing robot based on the spatial grid and the load level; query the modal parameter query grid at different positions and under different loads in the working space of the high-speed grasping and releasing robot according to the trajectory and load of the high-speed grasping and releasing robot in a given work task, and obtain the parameters required for establishing a shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of lag cycles of the shaping pulse sequence; finally, the parameters required by the shaper are used to generate the trajectory of the high-speed grasping and releasing robot after shaping, so as to achieve residual vibration suppression under the given work task. The technical solution provided by the present invention establishes a modal parameter query grid at different positions and under different loads in the robot's workspace, so that suitable modal parameters can be identified according to the trajectory and load of the work task to design an input shaper, so that the robot has better vibration suppression ability when dealing with different work tasks, and residual vibration suppression under different trajectories and different load conditions in the entire workspace of the high-speed grasping and releasing robot is achieved, thereby improving the stability of the robot during high-speed grasping and releasing.

[0051] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0053] Figure 1 is a schematic diagram of steps of a method for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid according to an exemplary embodiment;

[0054] Figure 2 The figure is a schematic diagram showing the composition of a residual vibration suppression system of a high-speed pick-and-place robot based on a spatial grid according to an exemplary embodiment. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0056] Embodiment 1

[0057] See also Figure 1 , Figure 1 The present invention is a schematic diagram of steps of a method for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid according to an exemplary embodiment, the method comprising:

[0058] S1: Obtaining a preset working space of a high-speed pick-and-place robot and a preset load range in a preset working task;

[0059] S2: dividing the spatial grid according to the preset working space of the high-speed pick-and-place robot, dividing the load level according to the preset load range in the preset working task, and establishing the modal parameter query grid at different positions and different loads of the working space of the high-speed pick-and-place robot based on the spatial grid and the load level;

[0060] S3: According to the trajectory and load of the high-speed pick-and-place robot in a given work task, query the modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot to obtain the parameters required for establishing a shaper; wherein the parameters required for establishing a shaper include: shaping pulse sequence amplitude and shaping pulse sequence hysteresis period number;

[0061] S4: Using the parameters required by the shaper, the trajectory of the high-speed pick-and-place robot after shaping is generated to achieve residual vibration suppression under a given work task.

[0062] In a specific implementation, as described in step S2, the spatial grid is divided according to the preset working space of the high-speed pick-and-place robot, the load level is divided according to the preset load range in the preset working task, and a modal parameter query grid at different positions and different loads of the working space of the high-speed pick-and-place robot is established based on the spatial grid and the load level, including:

[0063] S21: dividing the spatial grid according to the preset working space of the high-speed pick-and-place robot, marking the position of the end effector of the high-speed pick-and-place robot when it is at the center of the grid, dividing different load levels according to the preset load range, and marking different levels of load values;

[0064] S22. Using the load level, at a specific load level, adjust the position of the high-speed pick-and-place robot to the position where the end effector of the high-speed pick-and-place robot marked in S21 is at the center of the grid, conduct a hammering experiment, and record the frequency and damping coefficient of the first-order main mode;

[0065] S23: using the spatial grid, repeating step S22 at different positions of the spatial grid, recording the first-order main modal parameters of the high-speed pick-and-place robot at all positions in the spatial grid in S22, and establishing a modal parameter query grid for the high-speed pick-and-place robot under the specific load level;

[0066] S24: adjusting the preset load level of the high-speed pick-and-place robot, repeating step S23, and establishing a modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot.

[0067] In one embodiment, the step S21 divides the spatial grid according to the working space of the preset high-speed pick-and-place robot, marks the position of the preset high-speed pick-and-place robot end effector when it is at the center of the grid, divides different load levels according to the preset load range, and marks different levels of load values, including:

[0068] According to the shape, size and symmetry of the working space of the preset high-speed pick-and-place robot, the working space is divided into n grids, with the center point position P of the grid as the center point. i Mark the position of the high-speed pick-and-place robot end effector when it is at the center of the grid; where i = (1, 2, ..., n).

[0069] Different load levels are divided according to the preset load range in the preset work task, where each load level specifies a specific load range, and the mean value within the load range is recorded as L j To mark the load level; where j = (1, 2,…, m).

[0070] In one embodiment, the step S22 uses the load level to adjust the position of the preset high-speed pick-and-place robot to the position marked in S21 when the end effector of the preset high-speed pick-and-place robot is at the center of the grid under a specific load level, and then conducts a hammer test to record the frequency and damping coefficient of the first-order main mode, including:

[0071] Using the load level, set the robot's load level to L j , adjust the high-speed pick-and-place robot end effector to the grid center position p i (x i ,y i ,z i), using a hammer excitation method to apply an excitation force to the load of a preset high-speed pick-and-place robot to obtain a vibration response signal;

[0072] The vibration response signal is picked up by a preset acceleration sensor, and the data acquisition and post-processing of the excitation and the vibration response signal are completed by a preset LMS dynamic tester to obtain the robot at position P. i and load L j The first-order main mode frequency and damping coefficient under .

[0073] In one embodiment, as described in step S3, according to the trajectory and load of the high-speed pick-and-place robot in a given work task, the modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot is queried to obtain the parameters required for establishing the shaper, including:

[0074] Determine the load level L using the preset high-speed pick-and-place robot task load j ;

[0075] Using the preset high-speed pick-and-place robot task trajectory, the center point position of the task trajectory is obtained;

[0076] According to the load level L j , the center point position of the task trajectory, querying the modal parameter query grid at different positions and different loads in the workspace of the high-speed grasping and releasing robot, and determining a set of modal parameters; wherein the modal parameters include: main modal frequency and damping coefficient;

[0077] The modal parameters and the preset ZVD input shaper design method are used to obtain the parameters required for establishing the shaper; wherein the modal parameters include: main modal frequency and damping coefficient.

[0078] In one embodiment, the modal parameters and the preset ZVD input shaper design method are used to obtain the parameters required to establish the shaper, including:

[0079] The modal parameters and the preset ZVD input shaper design method are used to obtain the shaped pulse sequence amplitude parameter; wherein the expression of the shaped pulse sequence amplitude parameter is as follows:

[0080]

[0081] Where K represents the amplitude parameter of the shaping pulse sequence, ζ i,j represents the damping coefficient;

[0082] Using the shaping pulse sequence amplitude parameter, obtaining the shaping pulse sequence amplitude;

[0083] The expression of the amplitude of the shaped pulse sequence is as follows:

[0084]

[0085] The modal parameters are used to obtain the number of hysteresis cycles of the shaped pulse sequence; wherein the expression of the number of hysteresis cycles of the shaped pulse sequence is as follows:

[0086]

[0087] Among them, K q Indicates the number of hysteresis cycles of the shaped pulse sequence, ω i,j represents the main mode frequency.

[0088] In one embodiment, as described in step S4, the use of the parameters required by the shaper to generate the trajectory of the high-speed pick-and-place robot after shaping to achieve residual vibration suppression under a specific load and trajectory includes:

[0089] Using the parameters required by the shaper, a discretized trajectory of the high-speed pick-and-place robot after shaping is obtained;

[0090] The expression of the discretized trajectory of the high-speed pick-and-place robot after shaping is as follows:

[0091]

[0092] In the formula, r s represents the discretized trajectory of the robot after shaping; r s (k) represents the reshaped kT s The command of the moment; r(kk q ) indicates before shaping (kk q )T s Time instruction; T s Represents the segmented cycle of the discrete form trajectory instructions of the robot in the CNC system.

[0093] In specific implementation, 1<kk q >Obtained by the following formula:

[0094]

[0095] Compared with the trajectory before shaping, the robot discretized trajectory r after shaping s (k), so that the robot reaches the same target position and effectively suppresses the residual vibration dominated by the first-order mode of the robot.

[0096] The discretized trajectory of the high-speed pick-and-place robot is used to suppress residual vibration under a given task.

[0097] In specific implementation, the application is beneficial in that the robot workspace is divided based on the spatial grid, and the load level is divided based on the load value, so as to establish a modal parameter query grid at different positions and different loads in the robot workspace. By querying the modal parameter grid, the shaper parameters that adapt to the robot's various work tasks are obtained. Applying the steps proposed in the present invention can enable the robot to have better vibration suppression capabilities when dealing with different work tasks, realize the residual vibration suppression of the high-speed grasping and releasing robot in different trajectories and different load states in the entire workspace, and improve the stability of the robot during high-speed grasping and releasing.

[0098] See also Figure 2 , Figure 2 The present invention is a schematic diagram showing a residual vibration suppression system of a high-speed pick-and-place robot based on a spatial grid according to an exemplary embodiment, wherein the system comprises:

[0099] An acquisition module 10 is used to obtain a preset working space of the high-speed pick-and-place robot and a preset load range in a preset working task;

[0100] A first processing module 20 is used to divide the spatial grid according to the preset working space of the high-speed pick-and-place robot, divide the load level according to the preset load range in the preset working task, and establish a modal parameter query grid at different positions and different loads in the working space of the high-speed pick-and-place robot based on the spatial grid and the load level;

[0101] The second processing module 30 is used to query the modal parameter query grid at different positions and loads in the working space of the high-speed pick-and-place robot according to the trajectory and load of the high-speed pick-and-place robot in a given work task, and obtain the parameters required for establishing the shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of hysteresis cycles of the shaping pulse sequence;

[0102] The third processing module 40 is used to generate the trajectory after shaping by the high-speed pick-and-place robot using the parameters required by the shaper, so as to achieve residual vibration suppression under specific loads and trajectories.

[0103] In specific implementation, the present application divides the robot workspace based on the spatial grid, and divides the load level based on the load value, thereby establishing a modal parameter query grid at different positions and under different loads in the robot workspace. By querying the modal parameter grid, the shaper parameters that adapt to the robot's various work tasks are obtained. By applying the steps proposed in the present invention, the robot can have better vibration suppression capabilities when dealing with different work tasks, and achieve residual vibration suppression under different trajectories and different load conditions in the entire workspace of the high-speed grasping and releasing robot, thereby improving the stability of the robot during high-speed grasping and releasing.

[0104] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0105] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0106] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0107] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0110] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0112] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for suppressing residual vibration of a high-speed pick-and-place robot based on a spatial grid, characterized in that: The method comprises: Obtaining a preset working space of a high-speed pick-and-place robot and a preset load range in a preset work task; Divide the spatial grid according to the preset working space of the high-speed pick-and-place robot, divide the load level according to the preset load range in the preset working task, and establish the modal parameter query grid under different positions and different loads of the working space of the high-speed pick-and-place robot based on the spatial grid and the load level; According to the trajectory and load of the high-speed pick-and-place robot in a given work task, the modal parameter query grid at different positions and different loads in the workspace of the high-speed pick-and-place robot is queried to obtain the parameters required for establishing a shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of hysteresis cycles of the shaping pulse sequence; The parameters required by the shaper are used to generate the trajectory of the high-speed pick-and-place robot after shaping, so as to achieve residual vibration suppression under a given work task.

2. The method according to claim 1, characterized in that The method divides the working space of the preset high-speed pick-and-place robot into spatial grids, divides the load levels according to the preset load range in the preset working task, and establishes modal parameter query grids at different positions and different loads in the working space of the high-speed pick-and-place robot based on the spatial grids and the load levels, including: S1: dividing the spatial grid according to the preset working space of the high-speed pick-and-place robot, marking the position of the end effector of the high-speed pick-and-place robot when it is at the center of the grid, dividing different load levels according to the preset load range, and marking different levels of load values; S2: Using the different load levels, at a specific load level, the position of the high-speed pick-and-place robot is adjusted to the position where the end effector of the high-speed pick-and-place robot marked in S1 is at the center of the grid, and a hammering test is performed to record the frequency and damping coefficient of the first-order main mode; S3: using the spatial grid, repeating step S2 at different positions of the spatial grid, recording the first-order main modal parameters of the high-speed pick-and-place robot at all positions in the spatial grid in S2, and establishing a modal parameter query grid for the high-speed pick-and-place robot under the specific load level; S4: Adjust the preset load level of the high-speed pick-and-place robot, repeat step S3, and establish a modal parameter query grid of the high-speed pick-and-place robot at different positions and different loads in the workspace.

3. The method according to claim 2, characterized in that The step S1 divides the spatial grid according to the preset working space of the high-speed pick-and-place robot, marks the position of the high-speed pick-and-place robot end effector at the center of the grid, divides the load into different levels according to the preset load range, and marks the load values ​​of different levels, including: According to the shape, size and symmetry of the working space of the preset high-speed pick-and-place robot, the working space is divided into n grids, with the center point position P of the grid as the center point. i Mark the position of the high-speed pick-and-place robot end effector at the center of the grid; where i = (1, 2, ..., n); Different load levels are divided according to the preset load range in the preset work task, where each load level specifies a specific load range, and the mean value within the load range is recorded as L j To mark the load level; where j = (1, 2,…, m).

4. The method according to claim 2, characterized in that: The step S2 uses the load level to adjust the position of the high-speed pick-and-place robot to the position marked in S1 when the end effector of the high-speed pick-and-place robot is at the center of the grid under a specific load level, and conducts a hammer test to record the frequency and damping coefficient of the first-order main mode, including: Using the load level, set the robot's load level to L j , adjust the high-speed pick-and-place robot end effector to the grid center position p i (x i ,y i ,z i ), using a hammer excitation method to apply an excitation force to the load of a preset high-speed pick-and-place robot to obtain a vibration response signal; The vibration response signal is picked up by a preset acceleration sensor, and the data acquisition and post-processing of the excitation and the vibration response signal are completed by a preset LMS dynamic tester to obtain the robot at position P. i and load L j The first-order main mode frequency and damping coefficient under .

5. The method according to claim 1, characterized in that According to the trajectory and load of the high-speed pick-and-place robot in a given work task, the modal parameter query grid under different positions and different loads in the workspace of the high-speed pick-and-place robot is queried to obtain the parameters required for establishing the shaper, including: Determine the load level L using the preset high-speed pick-and-place robot task load j ; Using the preset high-speed pick-and-place robot task trajectory, the center point position of the task trajectory is obtained; According to the load level L j , the center point position of the task trajectory, querying the modal parameter query grid at different positions and different loads in the workspace of the high-speed grasping and releasing robot, and determining a set of modal parameters; wherein the modal parameters include: main modal frequency and damping coefficient; The modal parameters and the preset ZVD input shaper design method are used to obtain the parameters required for establishing the shaper; wherein the modal parameters include: main modal frequency and damping coefficient.

6. The method according to claim 5, characterized in that The method of designing a shaper using the modal parameters and the preset ZVD input shaper to obtain the parameters required for establishing the shaper includes: The modal parameters and the preset ZVD input shaper design method are used to obtain the shaped pulse sequence amplitude parameter; wherein the expression of the shaped pulse sequence amplitude parameter is as follows: Where K represents the amplitude parameter of the shaping pulse sequence, ζ i,j represents the damping coefficient; Using the shaping pulse sequence amplitude parameter, obtaining the shaping pulse sequence amplitude; The expression of the amplitude of the shaped pulse sequence is as follows: The modal parameters are used to obtain the number of hysteresis cycles of the shaped pulse sequence; wherein the expression of the number of hysteresis cycles of the shaped pulse sequence is as follows: Among them, K q Indicates the number of hysteresis cycles of the shaped pulse sequence, ω i,j represents the main mode frequency.

7. The method according to claim 1, characterized in that The method utilizes the parameters required by the shaper to generate the trajectory of the high-speed pick-and-place robot after shaping, and realizes the residual vibration suppression under the specific load and trajectory, including: Using the parameters required by the shaper, a discretized trajectory of the high-speed pick-and-place robot after shaping is obtained; The expression of the discretized trajectory of the high-speed pick-and-place robot after shaping is as follows: In the formula, r s represents the discretized trajectory of the robot after shaping; r s (k) represents the reshaped kT s The command of the moment; r(kk q ) indicates before shaping (kk q )T s Time instruction; T s Represents the segmented cycle of the robot's discrete form trajectory instructions in the CNC system; The discretized trajectory of the high-speed pick-and-place robot is used to suppress residual vibration under a given task.

8. A high-speed pick-and-place robot residual vibration suppression system based on a spatial grid, applied to a high-speed pick-and-place robot residual vibration suppression method based on a spatial grid as claimed in any one of claims 1 to 7, characterized in that: The system comprises: An acquisition module is used to obtain a preset working space of the high-speed pick-and-place robot and a preset load range in a preset working task; A first processing module is used to divide the spatial grid according to the preset working space of the high-speed pick-and-place robot, divide the load level according to the preset load range in the preset working task, and establish a modal parameter query grid at different positions and different loads in the working space of the high-speed pick-and-place robot based on the spatial grid and the load level; The second processing module is used to query the modal parameter query grid at different positions and loads in the working space of the high-speed pick-and-place robot according to the trajectory and load of the high-speed pick-and-place robot in a given work task, and obtain the parameters required for establishing the shaper; wherein the parameters required for establishing the shaper include: the amplitude of the shaping pulse sequence and the number of hysteresis cycles of the shaping pulse sequence; The third processing module is used to generate the trajectory of the high-speed pick-and-place robot after shaping by using the parameters required by the shaper, so as to achieve residual vibration suppression under a given work task.

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