Telescopic industrial mechanical arm and control system thereof

Abstract

The invention relates to the technical field of mechanical arms, and discloses a telescopic industrial mechanical arm and a control system thereof.Pose parameters of the mechanical arm in an operation area are collected through a data collection module, and then according to modal information of the mechanical arm in the operation area, a task recognition model and a neural network model set are adopted through a self-adaption module; the optimal working path is screened out to control the mechanical arm to work, and in the working process of the mechanical arm, track parameters of the mechanical arm are collected in real time through a collecting module, namely the speed of linear movement of an end effector, the rotating speed of a joint assembly and the stretching and retracting speed of a stretching and retracting assembly; and then the real-time parameters in the operation process of the mechanical arm are analyzed based on the data analysis module, the operation state of the mechanical arm is evaluated, the working state of the mechanical arm is adjusted according to the evaluation result, and therefore the autonomous operation capacity and the operation efficiency of the mechanical arm are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a telescopic industrial mechanical arm and a control system thereof. Background Art

[0002] The telescopic robotic arm is composed of multiple telescopic joints. The extension or contraction of the robotic arm is achieved through the coordinated action of telescopic cylinders, sliders, motors, reducers and other components. With the development of industrial automation and intelligent manufacturing, telescopic robotic arms have been widely used in industrial production, medical care, aerospace and other fields.

[0003] The existing telescopic robotic arms have certain limitations during use. There is a lack of monitoring of the trajectory of the robotic arms during operation, and the working process of the robotic arms cannot be adjusted in time, resulting in problems such as insufficient control accuracy and slow response speed of the robotic arms. Summary of the invention

[0004] The purpose of the present invention is to provide a telescopic industrial robot arm and a control system thereof to solve the above-mentioned technical problems.

[0005] A telescopic industrial robot arm, comprising a base, a telescopic assembly, a joint assembly and an end effector; The base is used to support the entire industrial robot arm; The telescopic assembly is used to adjust the length of the robotic arm; The joint assembly is a revolute joint, used to connect the base and the telescopic assembly, the telescopic assembly and the end effector, allowing the robot arm to rotate in a specific plane to adjust the angle; The end effector is used to grasp heavy objects.

[0006] A control system for a telescopic industrial robot arm, the control system comprising a data acquisition module, an adaptive module, a data analysis module, a state evaluation module and a control module; The data acquisition module is used to collect the posture parameters and trajectory parameters of the robot arm in real time; The posture parameters are the real-time telescopic length of the telescopic component of the robot arm and the real-time rotation angle of the joint component; The trajectory parameters include linear velocity parameters, angular velocity parameters and telescopic velocity parameters; The linear velocity parameter is the speed at which the end effector moves along a straight line, the angular velocity parameter is the speed at which the joint assembly rotates, and the telescopic velocity parameter is the speed at which the telescopic assembly telescopes; The adaptive module adopts a task recognition model and a neural network model set to identify the task scene according to the modal information of the working area where the robot arm is located, and select the optimal working path to control the operation of the robot arm; The data analysis module is used to analyze the parameters collected by the data collection module; The state evaluation module is used to evaluate the state of the robot arm according to the analysis result of the data analysis module; The control module is used to control the start and stop of the robot arm according to the evaluation result of the state evaluation module.

[0007] As a further description of the solution of the present invention, the specific working process of step S4 includes: Step S1, collecting the state information of the robot arm in real time through the sensor and transmitting it to the control module; Step S2: The user inputs a work task, and the adaptive module adaptively generates a target work path of the end effector and a target trajectory parameter of the robotic arm according to the work task input by the user and the state information of the collected robotic arm, and sends the generated target work path to the control module; Step S3: The control module controls the robot arm to operate according to the target working path and target working parameters; Step S4, collecting real-time trajectory parameters of the end effector; Step S5: The state evaluation module evaluates the working state of the robot arm according to the real-time trajectory parameters collected in step S4, and controls the start and stop of the robot arm according to the evaluation result.

[0008] As a further description of the solution of the present invention, the working process of step S4 includes: Used to collect real-time data on the speed of the end effector moving along a straight line during the operation of the robot arm, the speed of the joint component rotating over time, and the speed of the telescopic component extending and retracting over time; Construct a rectangular coordinate system xoy, and generate a function of the speed of the end effector moving along a straight line over time in the coordinate system , the speed of the joint component rotation changes as a function of time And the function of the speed of the expansion and contraction of the expansion and contraction component over time .

[0009] As a further description of the solution of the present invention, the working process of step S5 includes: According to the target trajectory parameters, the target function of the speed of the end effector moving along the straight line over time is generated in the coordinate system xoy. , the speed of the joint component rotation changes with time objective function The objective function of the speed at which the scaling component scales changes over time ; Calculate the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component respectively; The state of the robot arm is evaluated based on the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component.

[0010] As a further description of the solution of the present invention, a mathematical model of the joint component state coefficient is constructed, and the expression is: ; Construct a mathematical model of the state coefficient of the telescopic component, the expression is: ; Construct the mathematical model of the overall state coefficient of the robot arm, the expression is: ; In the formula, is the state coefficient of the joint component, is the state coefficient of the telescopic component, is the overall state coefficient of the robot arm, is the initial working time point of the robot arm, is the current working time point of the robot arm, is the weight coefficient corresponding to the joint component, is the weight coefficient corresponding to the telescopic component, and 0< <1,0< <1.

[0011] As a further description of the solution of the present invention, the working process of step S5 also includes: The joint component state coefficients The target interval , telescopic component state coefficient The target interval Compare; When the joint component state coefficient and the state coefficient of the telescopic component If any of the paths does not belong to the set target interval, it indicates that the robot arm is in an abnormal state. The control module is used to immediately stop the robot arm and readjust the trajectory parameters. When the joint component state coefficient and the state coefficient of the telescopic component If both are within the set target range, further status assessment is performed.

[0012] As a further description of the solution of the present invention, the method of further status evaluation includes: The overall state coefficient of the robot arm The target interval By comparison, when the overall state coefficient of the robot If it is within the set target range, it means that there is no potential abnormality in the state of the robot arm. If it does not fall within the set target range, it indicates that there is a potential abnormality in the state of the robotic arm. The control module is immediately used to stop the operation of the robotic arm and readjust the trajectory parameters.

[0013] As a further description of the solution of the present invention, the speed adjustment reference value of the rotation of the joint assembly is: ; The speed adjustment reference of the telescopic component is: ; The speed adjustment reference of the end effector moving along a straight line is: ; In the formula, , and are the conversion parameters respectively.

[0014] Beneficial effects of the present invention: 1. The present invention collects the posture parameters of the robot arm in the working area through the data acquisition module, and then uses the task recognition model and the neural network model set through the adaptive module according to the modal information of the robot arm in the working area to screen out the optimal working path to control the operation of the robot arm. During the operation of the robot arm, the trajectory parameters of the robot arm, that is, the speed of the end effector moving along the straight line, the speed of the joint assembly rotating, and the speed of the telescopic assembly extending and retracting, are collected in real time through the acquisition module. Then, based on the data analysis module, these real-time parameters in the operation process of the robot arm are analyzed, and the operating status of the robot arm is evaluated. According to the evaluation results, the working status of the robot arm is adjusted, thereby improving the autonomous operation capability and operating efficiency of the robot arm.

[0015] 2. The present invention calculates the overall state coefficient of the robot arm, the joint component state coefficient and the telescopic component state coefficient respectively by comparing the cumulative change difference between the actual trajectory parameters and the target trajectory parameters, and then compares the joint component state coefficient and the telescopic component state coefficient with the set target interval respectively. When any of the joint component state coefficient and the telescopic component state coefficient does not belong to the set target interval, it indicates that the robot arm state is abnormal, and the robot arm operation is immediately stopped through the control module, and the trajectory parameters are readjusted. When both the joint component state coefficient and the telescopic component state coefficient belong to the set target interval, the overall state coefficient of the robot arm is compared with the set target interval. When the overall state coefficient of the robot arm belongs to the set target interval, it indicates that there is no potential abnormality in the robot arm state. When the overall state coefficient of the robot arm If it does not fall within the set target range, it indicates that there is a potential abnormality in the state of the robotic arm. The control module is immediately used to stop the operation of the robotic arm and readjust the trajectory parameters.

[0016] 3. The present invention calculates the adjustment reference of the trajectory parameters according to the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component and the corresponding set interval, thereby realizing the intelligent selection and reliable operation of the robot arm in different task scenarios and improving the operation efficiency and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a structural schematic diagram of a telescopic industrial robot arm provided by the present invention; Figure 2 It is a schematic diagram of the control system structure of a telescopic industrial robot arm provided by the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1 , Figure 2 As shown, the present invention is a telescopic industrial robot arm, which includes a base, a telescopic assembly, a joint assembly and an end effector; The base is used to support the entire industrial robot arm; The telescopic assembly is used to adjust the length of the robotic arm; The joint assembly is a revolute joint, used to connect the base and the telescopic assembly, the telescopic assembly and the end effector, allowing the robot arm to rotate in a specific plane to adjust the angle; The end effector is installed at the end of the industrial robot arm and is used to directly execute tasks.

[0021] Through the above technical solution, this embodiment provides a prototype part of a retractable industrial robot arm, including a telescopic component and a joint component, wherein the telescopic component is driven by a motor and a ball screw is used to adjust the telescopic component to perform telescopic movement; the joint component is driven by a motor and a gear is used to adjust the joint component to perform rotational movement, thereby driving the end effector to move along the target trajectory to perform the task.

[0022] A control system for a telescopic industrial robot arm, the control system comprising a data acquisition module, an adaptive module, a data analysis module, a state evaluation module and a control module; The data acquisition module is used to collect the posture parameters and trajectory parameters of the robot arm in real time; The posture parameters are the real-time telescopic length of the telescopic component of the robot arm and the real-time rotation angle of the joint component; The trajectory parameters include linear velocity parameters, angular velocity parameters and telescopic velocity parameters; The linear velocity parameter is the speed at which the end effector moves along a straight line, the angular velocity parameter is the speed at which the joint assembly rotates, and the telescopic velocity parameter is the speed at which the telescopic assembly telescopes; The adaptive module adopts a task recognition model and a neural network model set to identify the task scene according to the modal information of the working area where the robot arm is located, and select the optimal working path to control the operation of the robot arm; The data analysis module is used to analyze the parameters collected by the data collection module; The state evaluation module is used to evaluate the state of the robot arm according to the analysis result of the data analysis module; The control module is used to control the start and stop of the robot arm according to the evaluation result of the state evaluation module.

[0023] As a further description of the solution of the present invention, the specific working process of step S4 includes: Step S1, collecting the state information of the robot arm in real time through the sensor and transmitting it to the control module; Step S2: The user inputs a work task, and the adaptive module adaptively generates a target work path of the end effector and a target trajectory parameter of the robotic arm according to the work task input by the user and the state information of the collected robotic arm, and sends the generated target work path to the control module; Step S3: The control module controls the robot arm to operate according to the target working path and target working parameters; Step S4, collecting real-time trajectory parameters of the end effector; Step S5: The state evaluation module evaluates the working state of the robot arm according to the real-time trajectory parameters collected in step S4, and controls the start and stop of the robot arm according to the evaluation result.

[0024] Through the above technical solution, this embodiment collects the posture parameters of the robot arm in the working area through the data acquisition module, and then uses the task recognition model and the neural network model set through the adaptive module according to the modal information of the robot arm in the working area to screen out the optimal working path to control the operation of the robot arm. During the operation of the robot arm, the trajectory parameters of the robot arm, that is, the speed of the end effector moving along the straight line, the speed of the joint assembly rotating, and the speed of the telescopic assembly extending and retracting, are collected in real time through the acquisition module. Then, based on the data analysis module, these real-time parameters in the operation process of the robot arm are analyzed, and the operating status of the robot arm is evaluated. According to the evaluation results, the working status of the robot arm is adjusted, thereby improving the autonomous operation capability and operating efficiency of the robot arm.

[0025] As a further description of the solution of the present invention, the working process of step S4 includes: Used to collect real-time data on the speed of the end effector moving along a straight line during the operation of the robot arm, the speed of the joint component rotating over time, and the speed of the telescopic component extending and retracting over time; Construct a rectangular coordinate system xoy, and generate a function of the speed of the end effector moving along a straight line over time in the coordinate system , the speed of the joint component rotation changes as a function of time And the function of the speed of the expansion and contraction of the expansion and contraction component over time .

[0026] As a further description of the solution of the present invention, the working process of step S5 includes: According to the target trajectory parameters, the target function of the speed of the end effector moving along the straight line over time is generated in the coordinate system xoy. , the speed of the joint component rotation changes with time objective function The objective function of the speed at which the scaling component scales changes over time ; Calculate the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component respectively; The state of the robot arm is evaluated based on the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component.

[0027] As a further description of the solution of the present invention, a mathematical model of the joint component state coefficient is constructed, and the expression is: ; Construct a mathematical model of the state coefficient of the telescopic component, the expression is: ; Construct the mathematical model of the overall state coefficient of the robot arm, the expression is: ; In the formula, is the state coefficient of the joint component, is the state coefficient of the telescopic component, is the overall state coefficient of the robot arm, is the initial working time point of the robot arm, is the current working time point of the robot arm, is the weight coefficient corresponding to the joint component, is the weight coefficient corresponding to the telescopic component, and 0< <1,0< <1.

[0028] As a further description of the solution of the present invention, the working process of step S5 also includes: The joint component state coefficients The target interval , telescopic component state coefficient The target interval Compare; When the joint component state coefficient and the state coefficient of the telescopic component If any of the paths does not belong to the set target interval, it indicates that the robot arm is in an abnormal state. The control module is used to immediately stop the robot arm and readjust the trajectory parameters. When the joint component state coefficient and the state coefficient of the telescopic component If both are within the set target range, further status assessment is performed.

[0029] As a further description of the solution of the present invention, the method of further status evaluation includes: The overall state coefficient of the robot arm The target interval By comparison, when the overall state coefficient of the robot If it is within the set target range, it means that there is no potential abnormality in the state of the robot arm. If it does not fall within the set target range, it indicates that there is a potential abnormality in the state of the robotic arm. The control module is immediately used to stop the operation of the robotic arm and readjust the trajectory parameters.

[0030] Through the above technical solution, this embodiment collects data on the speed of the end effector moving along a straight line, the speed of the joint assembly rotating, and the speed of the telescopic assembly extending and retracting over time during the operation of the robot arm in real time, and generates a corresponding function curve in the coordinate system, and then compares them with the target function of the speed of the end effector moving along a straight line changing over time, the target function of the speed of the joint assembly rotating over time, and the target function of the speed of the telescopic assembly extending and retracting over time, respectively. By comparing the cumulative change difference between the actual trajectory parameters and the target trajectory parameters, the overall state coefficient of the robot arm, the state coefficient of the joint assembly, and the state coefficient of the telescopic assembly are calculated respectively, and then the joint assembly state coefficient is respectively calculated. and the state coefficient of the telescopic component Compared with the set target range, when the joint component state coefficient and the state coefficient of the telescopic component If any of them does not belong to the set target range, it means that the robot arm is abnormal. The control module will immediately stop the robot arm and readjust the trajectory parameters. and the state coefficient of the telescopic component When all belong to the set target range, the overall state coefficient of the robot arm Compared with the set target range, when the overall state coefficient of the robot arm If it is within the set target range, it means that there is no potential abnormality in the state of the robot arm. If it does not fall within the set target range, it indicates that there is a potential abnormality in the state of the robotic arm. The control module is immediately used to stop the operation of the robotic arm and readjust the trajectory parameters.

[0031] As a further description of the solution of the present invention, the speed adjustment reference value of the rotation of the joint assembly is: ; The speed adjustment reference of the telescopic component is: ; The speed adjustment reference of the end effector moving along a straight line is: ; In the formula, , and are the conversion parameters respectively.

[0032] Through the above technical solution, this embodiment calculates the adjustment reference amount of the trajectory parameter according to the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component and the corresponding set interval.

[0033] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A telescopic industrial robot arm, characterized in that: The robotic arm comprises a base, a telescopic assembly, a joint assembly and an end effector; The base is used to support the entire industrial robot arm; The telescopic assembly is used to adjust the length of the robotic arm; The joint assembly is a revolute joint, used to connect the base and the telescopic assembly, the telescopic assembly and the end effector, allowing the robot arm to rotate in a specific plane to adjust the angle; The end effector is used to grasp heavy objects.

2. A control system for a telescopic industrial robot arm, used to control the telescopic industrial robot arm according to claim 1, characterized in that: The control system includes a data acquisition module, an adaptive module, a data analysis module, a state evaluation module and a control module; The data acquisition module is used to collect the posture parameters and trajectory parameters of the robot arm in real time; The posture parameters are the real-time telescopic length of the telescopic component of the robot arm and the real-time rotation angle of the joint component; The trajectory parameters include linear velocity parameters, angular velocity parameters and telescopic velocity parameters; The linear velocity parameter is the speed at which the end effector moves along a straight line, the angular velocity parameter is the speed at which the joint assembly rotates, and the telescopic velocity parameter is the speed at which the telescopic assembly telescopes; The adaptive module adopts a task recognition model and a neural network model set to identify the task scene according to the modal information of the working area where the robot arm is located, and select the optimal working path to control the operation of the robot arm; The data analysis module is used to analyze the parameters collected by the data collection module; The state evaluation module is used to evaluate the state of the robot arm according to the analysis result of the data analysis module; The control module is used to control the start and stop of the robot arm according to the evaluation result of the state evaluation module.

3. A control system for a telescopic industrial robot arm according to claim 2, characterized in that: The specific working process of step S4 includes: Step S1, collecting the state information of the robot arm in real time through the sensor and transmitting it to the control module; Step S2: The user inputs a work task, and the adaptive module adaptively generates a target work path of the end effector and a target trajectory parameter of the robotic arm according to the work task input by the user and the state information of the collected robotic arm, and sends them to the control module; Step S3: The control module controls the robot arm to operate according to the target working path and target working parameters; Step S4, collecting real-time trajectory parameters of the end effector; Step S5: The state evaluation module evaluates the working state of the robot arm according to the real-time trajectory parameters collected in step S4, and controls the start and stop of the robot arm according to the evaluation result.

4. A control system for a telescopic industrial robot arm according to claim 3, characterized in that: The working process of step S4 includes: Used to collect real-time data on the speed of the end effector moving along a straight line during the operation of the robot arm, the speed of the joint component rotating over time, and the speed of the telescopic component extending and retracting over time; Construct a rectangular coordinate system xoy, and generate a function of the speed of the end effector moving along a straight line over time in the coordinate system , the speed of the joint component rotation changes as a function of time And the function of the speed of the expansion and contraction of the expansion and contraction component over time .

5. The control system of a telescopic industrial robot arm according to claim 3, characterized in that: The working process of step S5 includes: According to the target trajectory parameters, the target function of the speed of the end effector moving along the straight line over time is generated in the coordinate system xoy. , the speed of the joint component rotation changes with time objective function The objective function of the speed at which the scaling component scales changes over time ; Calculate the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component respectively; The state of the robot arm is evaluated based on the overall state coefficient of the robot arm, the state coefficient of the joint component and the state coefficient of the telescopic component.

6. A control system for a telescopic industrial robot arm according to claim 5, characterized in that: Construct the mathematical model of the joint component state coefficient, the expression is: ； Construct a mathematical model of the state coefficient of the telescopic component, the expression is: ； Construct the mathematical model of the overall state coefficient of the robot arm, the expression is: ； In the formula, is the state coefficient of the joint component, is the state coefficient of the telescopic component, is the overall state coefficient of the robot arm, is the initial working time point of the robot arm, is the current working time point of the robot arm, is the weight coefficient corresponding to the joint component, is the weight coefficient corresponding to the telescopic component, and 0< <1,0< <1.

7. A control system for a telescopic industrial robot arm according to claim 6, characterized in that: The working process of step S5 also includes: The joint component state coefficients The target interval , telescopic component state coefficient The target interval Compare; When the joint component state coefficient and the state coefficient of the telescopic component If any of the paths does not belong to the set target interval, it indicates that the robot arm is in an abnormal state. The control module is used to immediately stop the robot arm and readjust the trajectory parameters. When the joint component state coefficient and the state coefficient of the telescopic component If both are within the set target range, further status assessment is performed.

8. The control system of a telescopic industrial robot arm according to claim 7, characterized in that: The method of further status assessment comprises: The overall state coefficient of the robot arm The target interval By comparison, when the overall state coefficient of the robot If it is within the set target range, it means that there is no potential abnormality in the state of the robot arm. If it does not fall within the set target range, it indicates that there is a potential abnormality in the state of the robotic arm. The control module is immediately used to stop the operation of the robotic arm and readjust the trajectory parameters.

9. A control system for a telescopic industrial robot arm according to claim 8, characterized in that: The speed adjustment reference of the joint assembly rotation is: ; The speed adjustment reference of the telescopic component is: ; The speed adjustment reference of the end effector moving along a straight line is: ; In the formula, , and are the conversion parameters respectively.

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