Electric control locking control method for spherical hinge structure

Abstract

The invention relates to the technical field of mechanical equipment, in particular to a spherical hinge structure electric control locking control method. According to the technical scheme, the following locking device is used, a stepping motor is used for being in driving connection with a pressing nut through a locking bolt, and the pressing nut is controlled to press down or rise by controlling forward and reverse rotation of the stepping motor so as to press or loosen a spherical hinge connector of a spherical hinge structure; meanwhile, an encoder is used for collecting the actual rotating angle of the rotating shaft of the stepping motor to obtain a feedback value, and control over the stepping motor comprises locking control and unlocking control. The locking device has the beneficial effects that the actual rotation angle of the stepping motor for controlling the locking bolt to rotate during execution of a certain number of steps is collected through the relative encoder to obtain a feedback value, and the locking or unlocking state can be determined by comparing the feedback value with a corresponding preset value; the locking process and the unlocking process are controlled in a segmented mode, self-checking control is matched, and effective control over the spherical hinge structure joint is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to an electric control locking method for a ball joint structure. Background Art

[0002] The human-machine cooperative robot arm is a robot arm that does not have the ability of active movement. The joints of the robot arm do not have drivers. Its movement posture and position are determined by the operator. When the required posture or position is reached, it can be locked and maintained according to the operator's instructions and can withstand certain external forces. The ball-joint joint has three degrees of freedom and good flexibility, so it is suitable for joint connectors of human-machine cooperative robots with high flexibility requirements. However, due to the particularity of the ball-joint joint structure, there are currently two main locking structures for ball-joint joints. One is to use force sensors or absolute encoders to achieve closed-loop control, which has complex structure, high requirements for device accuracy, and high overall cost. The other is to use open control to directly lock the ball-joint connector. Although its cost is relatively low, because closed-loop control is not used, there is a problem that the joint cannot be adjusted accordingly after wear, resulting in unstable locking performance and low life. Summary of the invention

[0003] The purpose of the present invention is to provide an electric locking control method for a ball joint structure, and more specifically to provide a locking control method which has a simple control structure and can achieve stable and rapid locking of the ball joint structure.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an electric locking control method for a ball joint structure, using the following locking device: a stepper motor is used to drive and connect with a clamping nut through a locking bolt, and the clamping nut is controlled to press down or rise by controlling the forward and reverse rotation of the stepper motor to tighten or loosen the ball joint connection of the ball joint structure, and at the same time, an encoder is used to collect the actual rotation angle of the shaft of the stepper motor to obtain a feedback value, and the control of the stepper motor includes locking control and unlocking control.

[0005] Locking control includes the following steps: S11, startup phase, control the stepper motor to execute the locking step number N at the speed A1 A1 After the execution is completed, the feedback value B1 collected by the encoder is compared with the preset value N B1 For comparison, when B1>N B1 , go to the next step.

[0006] S12, acceleration stage, control the stepper motor to execute locking steps N at speed A2 A2 After the execution is completed, the feedback value B2 collected by the encoder is compared with the preset value N B2 For comparison, when B2>N B2, go to the next step.

[0007] S13, locking stage, control the stepper motor to execute the locking steps N at the speed A3 A3 , every time the stepper motor executes n steps, the feedback value B3 collected by the encoder during the execution of n steps is compared with the preset value N B3 Compare until B3<N B3 , it is considered that the locking control has been completed.

[0008] Among them, the speed A1 is a low speed with a large torque, A2 is a high speed with a small torque, and A3 is a low speed with a large torque that is lower than the speed A1.

[0009] Unlock control includes the following steps: S21, loosening stage, control the stepper motor to execute unlocking steps N at speed A4 A4 After the execution is completed, the feedback value B4 collected by the encoder is compared with the preset value N B4 For comparison, when B4>N B4 , go to the next step.

[0010] S22, acceleration unlocking stage, control the stepper motor to execute unlocking steps N at speed A5 A5 After the execution is completed, the feedback value B5 collected by the encoder is compared with the preset value N B5 For comparison, when B5>N B5 , it is considered that the unlocking control has been completed.

[0011] Among them, the speed A4 is a low speed with a large torque, and A5 is a high speed with a small torque.

[0012] Furthermore, the control of the stepper motor also includes self-check control: S31, loosening and unlocking stage, control the stepper motor to execute unlocking steps N at speed A6 A6 After the execution is completed, the feedback value B6 collected by the encoder is compared with the preset value N B6 For comparison, when B6>N B6 , go to the next step.

[0013] S32, small unlocking stage, control the stepper motor to execute unlocking steps N at speed A7 A7 After the execution is completed, the feedback value B7 collected by the encoder is compared with the preset value N B7 For comparison, when B7>N B7 , go to the next step.

[0014] S33, locking start phase, control the stepper motor to execute locking steps N at speed A8 A8 After the execution is completed, the feedback value B8 collected by the encoder is compared with the preset value N B8For comparison, when B8>N B8 , go to the next step.

[0015] S34, small locking stage, control the stepper motor to execute unlocking steps N at speed A9 A9 After the execution is completed, the feedback value B9 collected by the encoder is compared with the preset value N B9 For comparison, when B9>N B9 , go to the next step.

[0016] S35, locking confirmation stage, control the stepper motor to execute locking steps N at speed A10 A10 , every time the stepper motor executes n steps, the feedback value B10 collected by the encoder during the execution of n steps is compared with the preset value N B10 Compare until B10<N B10 , complete the self-check control process.

[0017] Among them, the speed A6 is a low speed with a large torque, A7 is a high speed with a small torque, A8 is a low speed with a large torque, A9 is a high speed with a small torque, and A10 is a low speed with a larger torque than A6 and A8.

[0018] The beneficial effects of the present invention are as follows: by using a relative encoder to collect the actual rotation angle of the stepping motor that controls the rotation of the locking bolt during a certain number of steps to obtain a feedback value, the locking or unlocking state can be determined by comparing the feedback value with the corresponding preset value; by performing segmented control on the locking and unlocking process and coordinating with self-check control, effective control of the ball joint structure joint can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Attached Figure 1 It is a specific structural diagram of the locking device in the electric control locking control method of the ball joint structure in the embodiment. DETAILED DESCRIPTION

[0020] Example 1, reference Figure 1 A method for electrically controlling the locking of a ball joint structure uses the following locking device: a stepper motor is connected to a clamping nut through a locking bolt, and the clamping nut is pressed down or raised by controlling the forward and reverse rotation of the stepper motor to tighten or loosen the ball joint connection of the ball joint structure. At the same time, an encoder is used to collect the actual rotation angle of the shaft of the stepper motor to obtain a feedback value. The control of the stepper motor includes locking control and unlocking control.

[0021] Locking control includes the following steps: S11, startup phase, control the stepper motor to execute the locking step number N at the speed A1 A1 After the execution is completed, the feedback value B1 collected by the encoder is compared with the preset value N B1 For comparison, when B1>NB1 , go to the next step.

[0022] S12, acceleration stage, control the stepper motor to execute locking steps N at speed A2 A2 After the execution is completed, the feedback value B2 collected by the encoder is compared with the preset value N B2 For comparison, when B2>N B2 , go to the next step.

[0023] S13, locking stage, control the stepper motor to execute the locking steps N at the speed A3 A3 , every time the stepper motor executes n steps, the feedback value B3 collected by the encoder during the execution of n steps is compared with the preset value N B3 Compare until B3<N B3 , it is considered that the locking control has been completed.

[0024] Among them, the speed A1 is a low speed with large torque, which is used to start the motor, and its corresponding number of steps N A1 A2 is a high speed with small torque, which is used for fast locking and saving locking time. Its corresponding number of steps is N. A2 A3 is a large torque and low speed with a lower speed than A1, which can achieve stable locking of the ball joint.

[0025] Unlock control includes the following steps: S21, loosening stage, control the stepper motor to execute unlocking steps N at speed A4 A4 After the execution is completed, the feedback value B4 collected by the encoder is compared with the preset value N B4 For comparison, when B4>N B4 , go to the next step.

[0026] S22, acceleration unlocking stage, control the stepper motor to execute unlocking steps N at speed A5 A5 After the execution is completed, the feedback value B5 collected by the encoder is compared with the preset value N B5 For comparison, when B5>N B5 , it is considered that the unlocking control has been completed.

[0027] The speed A4 is a low speed with a large torque, which is used to start the motor and provide a large torque for the initial unlocking. The corresponding unlocking step number N A4 Also less, the A5 has a high speed with small torque, which can achieve quick unlocking.

[0028] In actual use, abnormal situations such as sudden power failure may occur, causing the locking device to be locked, unlocked or in a half-way state. Therefore, in this embodiment, the control of the stepper motor also includes self-check control: S31, loosening and unlocking stage, control the stepper motor to execute unlocking steps N at speed A6 A6 After the execution is completed, the feedback value B6 collected by the encoder is compared with the preset value N B6 For comparison, when B6>N B6 , go to the next step.

[0029] S32, small unlocking stage, control the stepper motor to execute unlocking steps N at speed A7 A7 After the execution is completed, the feedback value B7 collected by the encoder is compared with the preset value N B7 For comparison, when B7>N B7 , go to the next step.

[0030] S33, locking start phase, control the stepper motor to execute locking steps N at speed A8 A8 After the execution is completed, the feedback value B8 collected by the encoder is compared with the preset value N B8 For comparison, when B8>N B8 , go to the next step.

[0031] S34, small locking stage, control the stepper motor to execute unlocking steps N at speed A9 A9 After the execution is completed, the feedback value B9 collected by the encoder is compared with the preset value N B9 For comparison, when B9>N B9 , go to the next step.

[0032] S35, locking confirmation stage, control the stepper motor to execute locking steps N at speed A10 A10 , every time the stepper motor executes n steps, the feedback value B10 collected by the encoder during the execution of n steps is compared with the preset value N B10 Compare until B10<N B10 , complete the self-check control process.

[0033] Among them, the speed A6 is a low speed with large torque, which is used for motor starting. Its corresponding unlocking step number N A6 A7 is a high speed with small torque, which is used for further unlocking. However, in order to avoid excessive unlocking, the number of unlocking steps corresponding to A7 is N. A6 A8 is a low speed with large torque, which is used for motor locking start. Its corresponding locking step number N A8A9 is a high speed with small torque, which is used for fast locking. It is the same as the locking control. A10 is a low speed with greater torque than A6 and A8, which is used to achieve stable locking of the ball joint. The self-check control is used to put the locking device in a locked state, which is equivalent to resetting the locking device to determine the state of the locking device. Of course, the reset state of the locking device can also be set to the unlocked state. It only needs to add the unlocking control process on the basis of the above self-check control.

[0034] Of course, the above are only preferred embodiments of the present invention, and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes made to the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the electric locking of a ball joint structure, characterized in that: A stepper motor is used to drive and connect the clamping nut through a locking bolt, and the clamping nut is controlled to press down or rise by controlling the forward and reverse rotation of the stepper motor to tighten or loosen the ball joint joint of the ball joint structure. At the same time, an encoder is used to collect the actual rotation angle of the shaft of the stepper motor to obtain a feedback value. The control of the stepper motor includes locking control and unlocking control; Locking control includes the following steps: S11, startup phase, control the stepper motor to execute the locking step number N at the speed A1 A1 After the execution is completed, the feedback value B1 collected by the encoder is compared with the preset value N B1 For comparison, when B1>N B1 , go to the next step; S12, acceleration stage, control the stepper motor to execute locking steps N at speed A2 A2 After the execution is completed, the feedback value B2 collected by the encoder is compared with the preset value N B2 For comparison, when B2>N B2 , go to the next step; S13, locking stage, control the stepper motor to execute the locking steps N at the speed A3 A3 , every time the stepper motor executes n steps, the feedback value B3 collected by the encoder during the execution of n steps is compared with the preset value N B3 Compare until B3<N B3 , it is considered that the locking control has been completed; Among them, the speed A1 is a low speed with large torque, A2 is a high speed with small torque, and A3 is a low speed with large torque and lower speed than the speed A1; Unlock control includes the following steps: S21, loosening stage, control the stepper motor to execute unlocking steps N at speed A4 A4 After the execution is completed, the feedback value B4 collected by the encoder is compared with the preset value N B4 For comparison, when B4>N B4 , go to the next step; S22, acceleration unlocking stage, control the stepper motor to execute unlocking steps N at speed A5 A5 After the execution is completed, the feedback value B5 collected by the encoder is compared with the preset value N B5 For comparison, when B5>N B5 , it is considered that the unlocking control has been completed; Among them, the speed A4 is a low speed with a large torque, and A5 is a high speed with a small torque.

2. The method for controlling the electric locking of a ball joint structure according to claim 1, characterized in that: The control of the stepper motor also includes self-test control: S31, loosening and unlocking stage, control the stepper motor to execute unlocking steps N at speed A6 A6 After the execution is completed, the feedback value B6 collected by the encoder is compared with the preset value N B6 For comparison, when B6>N B6 , go to the next step; S32, small unlocking stage, control the stepper motor to execute unlocking steps N at speed A7 A7 After the execution is completed, the feedback value B7 collected by the encoder is compared with the preset value N B7 For comparison, when B7>N B7 , go to the next step; S33, locking start phase, control the stepper motor to execute locking steps N at speed A8 A8 After the execution is completed, the feedback value B8 collected by the encoder is compared with the preset value N B8 For comparison, when B8>N B8 , go to the next step; S34, small locking stage, control the stepper motor to execute unlocking steps N at speed A9 A9 After the execution is completed, the feedback value B9 collected by the encoder is compared with the preset value N B9 For comparison, when B9>N B9 , go to the next step; S35, locking confirmation stage, control the stepper motor to execute locking steps N at speed A10 A10 , every time the stepper motor executes n steps, the feedback value B10 collected by the encoder during the execution of n steps is compared with the preset value N B10 Compare until B10<N B10 , complete the self-check control process; Among them, the speed A6 is a low speed with a large torque, A7 is a high speed with a small torque, A8 is a low speed with a large torque, A9 is a high speed with a small torque, and A10 is a low speed with a larger torque than A6 and A8.

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