Motion control method and device for double-gantry inverted robot base and board card system

Abstract

The invention relates to the technical field of robot motion control, and particularly discloses a motion control method and control device for a double-gantry inverted robot base and a board card system, after a first driving motor is enabled, errors are found in time by checking the position of a first sliding block and the position of a second sliding block; if a drift error exists between the position of the first sliding block and the position of the second sliding block, a second driving motor is arranged to independently control the second sliding block, so that the second sliding block is released from synchronous movement with the first sliding block, the second sliding block is independently controlled to move from a position P2 to a position P3, a Y-axis cross beam of the base is perpendicular to an X1 driving shaft and an X2 driven shaft respectively, and the first sliding block and the second sliding block are driven to rotate; according to the method, drift errors existing in the X1 driving shaft and the X2 driven shaft in the lower enabling process or after lower enabling are eliminated, the inverted robot can be accurately positioned to the target position, the accuracy of motion positioning of the inverted robot can be improved, drift error accumulation after lower enabling is avoided, the damage probability of a double-gantry base is reduced, cost is reduced, and economic benefits are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot motion control, in particular to a motion control method, a control device and a board system for a double-gantry inverted robot base. Background Art

[0002] The inverted robot has excellent path control and high precision, occupies a small area, and is suitable for space-constrained application scenarios. The inverted robot can be installed on the ceiling to improve the space efficiency and flexibility of the operation unit. At the same time, it can cooperate with other robots and machinery equipment to improve production efficiency. The inverted robot gantry base can provide safe and stable operation path planning for the inverted robot, reduce manual labor intensity and ensure the stable operation of the inverted robot.

[0003] The inverted robot base mainly includes: two longitudinal beams set at intervals in parallel on the left and right, the Y-axis crossbeam assembly, the sliding seat that moves along, the lifting mechanism, the movable joint assembly, the servo drive and the servo motor and other structural components. The existing inverted robot gantry base is divided into single-axis drive and dual-axis drive according to the drive form. Compared with the single-drive mechanism, the gantry dual-drive mechanism has the advantages of good dynamic response, large output torque, and high mechanism rigidity, which can meet the requirements of larger spans and higher loads. When controlling the operation of the inverted robot, the control of the double gantry base is accompanied to achieve safe and stable operation of the base-assisted inverted robot.

[0004] In the current double gantry inverted robot base, one of the two longitudinal beams is the active axis and the other is the driven axis. The slider of the active axis is driven by a servo motor, which in turn drives the slider on the driven axis to slide along the driven axis, so that the Y-axis beam assembly can carry the inverted robot in the longitudinal direction. However, the Y-axis beam of this type of inverted robot base mainly moves by the drive of the active axis. After the drive motor is enabled, the position of the Y-axis beam on the active axis and the driven axis will produce mechanical drift errors due to vibration, stress release, etc., resulting in the problem of deviation or inaccuracy in controlling the motion positioning of the inverted robot; and if the mechanical drift error is not eliminated in time after the cyclic drive is enabled and enabled, it is very easy to cause damage to the double gantry base. Summary of the invention

[0005] The purpose of the present invention is to provide a motion control method, a control device and a board system for a double gantry inverted robot base in the prior art. The present invention aims to provide a motion control method, a control device and a board system for a double gantry inverted robot base. The motion control method, the control device and the board system of the Y-axis beam between the active shaft and the driven shaft may produce mechanical drift errors due to vibration, stress release and the like after the drive motor is enabled. The motion control method, the control device and the board system of the double gantry inverted robot base may be inaccurate or may easily cause damage to the motion positioning of the inverted robot.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A motion control method for a double gantry inverted robot base comprises the following steps:

[0008] S1, after the first driving motor is enabled, check the position P1 of the first slider of the X1 driving shaft; check the position P2 of the second slider of the X2 driven shaft; determine whether the first slider and the second slider have a drift error ΔP;

[0009] S2. If there is a drift error ΔP between the first slider and the second slider, a second drive motor is set for the X2 driven axis, and the second drive motor is used to independently control the second slider to move on the X2 driven axis, so that the second slider is moved from position P2 to position P3 of the X2 driven axis, and the position P3 is horizontally opposite to the position P1, so that the Y-axis beam of the base is perpendicular to the X1 driving axis and the X2 driven axis respectively;

[0010] The motion control method of the double gantry inverted robot base described in the present invention can timely find the error by checking the position of the first slider and the position of the second slider after enabling the first drive motor, and then judging whether there is a drift error between the position of the first slider and the position of the second slider; if there is a drift error between the position of the first slider and the position of the second slider, the second slider is released from synchronous motion with the first slider by setting the second drive motor to independently control the second slider, and the second slider is independently controlled to move from position P2 to position P3. Since position P3 and position P1 are horizontally opposite, the Y-axis beam of the base can be made perpendicular to the X1 driving axis and the X2 driven axis respectively, and before the first drive motor drives the first slider of the X1 driving axis to move, the drift error existing in the X1 driving axis and the X2 driven axis during or after the enabling process is eliminated, so that the inverted robot can be positioned to the target position more accurately, which not only improves the accuracy of the motion positioning of the inverted robot, but also avoids the accumulation of drift errors after enabling again, thereby reducing the probability of damage to the double gantry base, reducing costs, and improving economic benefits.

[0011] Preferably, the motion control method of the double gantry inverted robot base of the present invention, judging whether the first slider and the second slider have a drift error ΔP, further comprises the following steps:

[0012] S11, according to the maximum allowable value of the structural deformation of the base, the maximum allowable value of the drift error ΔP is set to a threshold value P max ;

[0013] S12, if ΔP≤P max , then execute S2; if ΔP>P max , an alarm is issued and the enable is terminated.

[0014] As a preferred embodiment of the present invention, through steps S11 and S12, the mechanical drift error can be controlled within the maximum allowable value range, and step S2 is executed to realize automatic error elimination within the maximum operating value range. If the drift error exceeds the maximum operating value, manual intervention is notified by means of an alarm, and the upper enable is terminated, thereby avoiding damage to the base due to the drift error exceeding the maximum allowable value of the structural deformation of the base, further reducing the probability of damage to the double gantry base, and facilitating timely manual adjustment; and by issuing an alarm and terminating the upper enable, the automatic adjustment of S2 is no longer executed, which can avoid the accumulation of secondary errors after adjustment due to exceeding the threshold, can timely discover the unacceptable error, avoid damage to the gantry base caused by invisible errors, and improve the reliability of the equipment.

[0015] Preferably, the motion control method of the double gantry inverted robot base described in the present invention also includes step S3: setting a first drive motor and a second drive motor to couple and control the synchronous movement of the first slider on the X1 active axis and the second slider on the X2 driven axis.

[0016] As a preferred solution of the present invention, after eliminating the drift error, in conjunction with step S3, the coupling control of the first slider on the X1 active axis and the second slider on the X2 driven axis can ensure the accuracy of the synchronous movement of the first slider and the second slider after enabling, further avoid the drift error in the coupling control, and provide more precise planning control for the inverted robot to move to an accurate position.

[0017] Preferably, the motion control method of the double gantry inverted robot base described in the present invention couples and controls the synchronous movement of the first slider on the X1 active axis and the second slider on the X2 driven axis, and specifically includes the following steps: periodically sending pulse values ​​to the second drive motor or the first drive motor, comparing the motor encoder of the first drive motor or the second drive motor and the pulse value, and controlling the motor encoder of the first drive motor or the second drive motor to move to a coding value corresponding to the pulse value.

[0018] As a preferred solution of the present invention, through the above-mentioned coupling control, the synchronous movement of the driving axis and the driven axis of the inverted robot can be more accurately controlled, ensuring the precise synchronous movement of the multi-axis system of the double gantry base, improving the accuracy of trajectory tracking, and making complex motion control convenient and reliable.

[0019] Preferably, the motion control method of the double gantry inverted robot base described in the present invention checks the position P1 of the first slider of the X1 active axis; checks the position P2 of the second slider of the X2 driven axis, and specifically includes the following steps: according to the pulse value of the first drive motor or the second drive motor, converts the pulse equivalent into the displacement value of the first slider on the X1 active axis or the second slider on the X2 driven axis.

[0020] As a preferred solution of the present invention, by converting the displacement value of the first slider or the second slider according to the pulse value of the first drive motor or the second drive motor through pulse equivalent, the positions of the first slider and the second slider can be obtained, thereby further improving the accuracy of obtaining or recording the position p1 and the position P2, reducing mechanical errors, and improving the accuracy and reliability of motion control.

[0021] Preferably, the motion control method of the double gantry inverted robot base described in the present invention further includes the following steps after S2: independently controlling the lateral movement of the third slider on the Y-axis beam.

[0022] Preferably, the motion control method of the double gantry inverted robot base described in the present invention further includes the following steps after S2: independently controlling the vertical motion of the fourth slider on the Z motion axis.

[0023] As a preferred solution of the present invention, on the basis of being able to couple control or independently control the movement of the first slider on the X1 active axis and drive the second slider to move on the X2 driven axis, it is additionally capable of independently controlling the lateral movement of the third slider on the Y-axis crossbeam and independently controlling the vertical movement of the fourth slider on the Z motion axis, so that the flip robot can perform vertical and lateral movement on the basis of eliminating the longitudinal movement drift error, which can further avoid the defect that the flip robot is difficult to adjust the positioning after the superposition of multiple axis movements, further enhance the positioning accuracy of the double gantry flip robot, reduce the time spent on adjustment and positioning, and improve the use efficiency.

[0024] To achieve the purpose of the present invention, the present invention also provides another solution:

[0025] A motion control device for a double gantry inverted robot base, comprising: a first drive motor, a second drive motor, a signal transmission module, a calculation and analysis module and a drive control module;

[0026] The first drive motor and the second drive motor can respectively drive the first slider to move on the X1 active axis and the second slider to move on the X2 driven axis through a transmission mechanism; the signal transmission module is used to obtain and transmit the pulse values ​​of the encoders of the first drive motor and the second drive motor; the calculation and analysis module is used to calculate the drift error ΔP, and can analyze and calculate the size of the drift error ΔP; the drive control module is used to control the first drive motor and the second drive motor to operate according to the settings.

[0027] The motion control device of the double gantry inverted robot base described in the present invention can drive the first slider and the second slider to move independently or synchronously on the active axis and the driven axis respectively through the setting of the first drive motor and the second drive motor. The signal transmission module can obtain the position P1 of the first slider and the position P2 of the second slider from the first drive motor and the second drive motor, and transmit the control signal of the drive control module to the first drive motor and the second drive motor. Combined with the calculation and analysis module for the calculation and analysis of the drift error ΔP, when there is a drift error in the active axis and the driven axis of the double gantry base, the drift error existing in the X1 active axis and the X2 driven axis during or after the down-enabling process can be eliminated, and the first slider can be coupled and controlled to move synchronously on the X1 active axis and the second slider on the X2 driven axis, so that the inverted robot can be positioned to the target position more accurately, which not only improves the accuracy of the motion positioning of the inverted robot, but also avoids the accumulation of drift errors after the next down-enabling, thereby reducing the probability of damage to the double gantry base, reducing costs, and improving economic benefits.

[0028] To achieve the purpose of the present invention, the present invention also provides another solution:

[0029] A board system, comprising: a control chip, a programmable chip and a storage chip; the programmable chip and the storage chip are both communicatively connected to the control chip; the board system is used in the motion control method of the double gantry inverted robot base described in the present invention.

[0030] To achieve the purpose of the present invention, the present invention also provides another solution:

[0031] An electronic device, wherein the board system is deployed.

[0032] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0033] When there is drift error in the active axis and driven axis of the inverted robot carried by the double gantry base, the mechanical drift error of the first slider and the second slider caused by base vibration, stress release, etc. can be eliminated, so that the inverted robot can be positioned to the target position more accurately, which not only improves the accuracy of the inverted robot's motion positioning, but also avoids the accumulation of drift errors after being enabled again, thereby reducing the probability of damage to the double gantry base, reducing costs and improving economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic flow chart of the motion control method of the double gantry inverted robot base of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the double gantry inverted robot base of the present invention;

[0036] Figure 3 It is a schematic diagram of module connection of the motion control device of the double gantry inverted robot base of the present invention;

[0037] Icons: 1. First drive motor; 2. X1 active shaft; 3. First slider; 4. X2 driven shaft; 5. Second slider; 6. Second drive motor; 7. Y-axis beam; 8. Third slider; 9. Fourth slider; 10. Z motion axis. DETAILED DESCRIPTION

[0038] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] Embodiment 1:

[0041] refer to Figure 1 and Figure 2 As shown, this embodiment discloses a motion control method for a double gantry inverted robot base, comprising the following steps:

[0042] S1. After the first drive motor 1 is enabled, check the position P1 of the first slider 3 of the X1 driving shaft 2; check the position P2 of the second slider 5 of the X2 driven shaft 4; and determine whether there is a drift error between the first slider 3 and the second slider 5;

[0043] S2. If there is a drift error between the first slider 3 and the second slider 5, a second drive motor 6 is set for the X2 driven shaft 4, and the second drive motor 6 is used to independently control the second slider 5 to move on the X2 driven shaft 4, and the second slider 5 is moved from position P2 to position P3 of the X2 driven shaft 4. Position P3 and position P1 are horizontally opposite, so that the Y-axis beam 7 of the base is respectively perpendicular to the X1 active shaft 2 and the X2 driven shaft 4.

[0044] It should be noted that the longitudinal direction mentioned in the present invention is understood as a direction parallel to the X1 driving axis 2 or the X2 driven axis 4, the lateral direction is understood as a direction parallel to the Y-axis beam 7, and the vertical direction is understood as a direction parallel to the Z motion axis 10. The lateral, longitudinal and vertical directions are perpendicular to each other. In the absence of drift error, the three axes of the X1 driving axis 2, the Y-axis beam 7 and the Z motion axis 10 are perpendicular to each other; position P3 and position P1 are horizontally opposite to each other, which is understood as the distance between position P3 and the starting point is equal to the distance between position P1 and the starting point.

[0045] It should be noted that the drift error ΔP is understood as the motion error of the two ends of the Y-axis beam 7 at the X1 driving axis 2 and the X2 driven axis 4 respectively.

[0046] In the present invention, reference Figure 2 As shown, the upper part of the inverted robot is fixed to the Y-axis beam 7 or the fourth slider 9. When the Y-axis beam 7 moves along the X1 active axis 2 and the X2 driven axis 4, the Y-axis beam 7 can drive the inverted robot to move longitudinally. The upper enablement of the present invention is understood as the power-on of the first drive motor 1 and the second drive motor 6, and the lower enablement is understood as the power-off of the first drive motor 1 and the second drive motor 6; the first drive motor 1 and the second drive motor 6 are servo motors.

[0047] Specifically, judging whether there is a drift error ΔP between the first slider 3 and the second slider 5 includes the following steps: S11, according to the maximum allowable value of the structural deformation of the base, setting the maximum allowable value of the drift error as a threshold value P max ; S12, if ΔP≤P max , then execute S2; if ΔP>P max , an alarm is issued and the enable is terminated.

[0048] Specifically, the method further includes step S3: setting a first drive motor 1 and a second drive motor 6 to couple and control the synchronous movement of the first slider 3 on the X1 driving shaft 2 and the second slider 5 on the X2 driven shaft 4 .

[0049] It should be noted that the independent control is understood as the independent control of the first drive motor 1 or the second drive motor 6; the coupling control is understood as controlling the operation of the first drive motor 1 and the second drive motor 6 so that the X2 driven shaft 4 maintains movement in the same direction and speed as the X1 active shaft 2. The drive motors can be controlled by interpolation. Specifically, the coupling control of the synchronous movement of the first slider 3 on the X1 active shaft 2 and the second slider 5 on the X2 driven shaft 4 includes the following steps: periodically sending pulse values ​​to the second drive motor 6 or the first drive motor 1, comparing the motor encoder of the first drive motor 1 or the second drive motor 6 with the pulse value, and controlling the motor encoder of the first drive motor 1 or the second drive motor 6 to move to the encoding value corresponding to the pulse value.

[0050] For example, assuming that the cycle time is 2ms, the positions of the first slider 3 on the active shaft and the second slider 5 on the driven shaft are both 1mm, and the next cycle is 2ms later, the position of the first slider 3 is 1.1mm, then the second slider 5 follows the movement of the first slider 3 on the active shaft X1 on the X2 driven shaft 4, and the position of the second slider 5 should be 1.1mm, then the first drive motor 1 corresponding to the X1 active shaft 2 converts 1.1mm into a pulse value through the signal transmission module, and sends it to the motor driver corresponding to the X1 active shaft 2, the X2 driven shaft 4 converts 1.1mm into a pulse value and sends it to the motor driver of the second drive motor 6, thereby realizing the coupling control of the movement of the first slider 3 on the X1 active shaft 2 and the movement of the second slider 5 on the X2 driven shaft 4.

[0051] Specifically, check the position P1 of the first slider 3 of the X1 active shaft 2; check the position P2 of the second slider 5 of the X2 driven shaft 4, specifically including the following steps: according to the pulse value of the first drive motor 1 or the second drive motor 6, convert it into the displacement value of the first slider 3 on the X1 active shaft 2 or the second slider 5 on the X2 driven shaft 4 through the pulse equivalent.

[0052] Specifically, the motion control method of the double gantry inverted robot base described in the present invention also includes step S4: independently controlling the lateral movement of the third slider 8 on the Y-axis beam 7; independently controlling the vertical movement of the fourth slider 9 on the Z motion axis 10.

[0053] Embodiment 2:

[0054] Based on Example 1, this embodiment discloses a motion control device for a double gantry inverted robot base, which can implement the motion control method for the double gantry inverted robot base described in Example 1. Figure 3 As shown, the device specifically includes: a first drive motor 1, a second drive motor 6, a signal transmission module, a calculation and analysis module and a drive control module; the first drive motor 1 and the second drive motor 6 can respectively drive the first slider 3 to move on the X1 active shaft 2 and drive the second slider 5 to move on the X2 driven shaft 4 through a transmission mechanism; the signal transmission module is used to obtain and transmit the pulse values ​​of the encoders of the first drive motor 1 and the second drive motor 6; the calculation and analysis module is used to calculate the drift error, and can analyze and calculate the size of the drift error; the drive control module is used to control the first drive motor 1 and the second drive motor 6 to operate according to the settings.

[0055] Embodiment 3:

[0056] A board system, comprising: a control chip, a programmable chip and a storage chip; the programmable chip and the storage chip are both communicatively connected to the control chip; the board system is used in the motion control method of the double gantry inverted robot base described in the present invention.

[0057] Embodiment 4:

[0058] An electronic device, wherein the board system is deployed.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion control method for a double gantry inverted robot base, characterized in that: The following steps are involved: S1, after the first drive motor (1) is enabled, the position P1 of the first slider (3) of the X1 driving shaft (2) is checked; the position P2 of the second slider (5) of the X2 driven shaft (4) is checked; and it is determined whether there is a drift error ΔP between the first slider (3) and the second slider (5); S2. If there is a drift error ΔP between the first slider (3) and the second slider (5), a second drive motor (6) is provided for the X2 driven shaft, and the second drive motor (6) is used to independently control the movement of the second slider (5) on the X2 driven shaft (4), so that the second slider (5) is moved from position P2 to position P3 of the X2 driven shaft (4), and the position P3 and the position P1 are horizontally opposite, so that the Y-axis beam (7) of the base is respectively perpendicular to the X1 driving shaft (2) and the X2 driven shaft (4).

2. The motion control method of the double gantry inverted robot base according to claim 1 is characterized in that: Determining whether the first slider (3) and the second slider (5) have a drift error ΔP also includes the following steps: S11, according to the maximum allowable value of the structural deformation of the base, the maximum allowable value of the drift error ΔP is set to a threshold value P max ; S12, if ΔP≤P max , then execute S2; if ΔP>P max , an alarm is issued and the enable is terminated.

3. The motion control method of the double gantry inverted robot base according to claim 1 or 2, characterized in that: The method further comprises step S3: setting a first drive motor (1) and a second drive motor (6) to couple and control the synchronous movement of the first slider (3) on the X1 driving shaft (2) and the second slider (5) on the X2 driven shaft (4).

4. The motion control method of the double gantry inverted robot base according to claim 3 is characterized in that: The method of coupling and controlling the synchronous movement of the first slider (3) on the X1 driving shaft (2) and the second slider (5) on the X2 driven shaft (4) specifically comprises the following steps: periodically sending a pulse value to the second driving motor (6) or the first driving motor (1), comparing the motor encoder of the first driving motor (1) or the second driving motor (6) with the pulse value, and controlling the motor encoder of the first driving motor (1) or the second driving motor (6) to move to a coding value corresponding to the pulse value.

5. The motion control method of the double gantry inverted robot base according to claim 1, characterized in that: Checking the position P1 of the first slider (3) of the X1 driving shaft (2); checking the position P2 of the second slider (5) of the X2 driven shaft (4), specifically comprising the following steps: converting the pulse value of the first driving motor (1) or the second driving motor (6) into the displacement value of the first slider (3) on the X1 driving shaft (2) or the second slider (5) on the X2 driven shaft (4) through pulse equivalent.

6. The motion control method of the double gantry inverted robot base according to claim 1, characterized in that: The step S2 also includes the following steps: independently controlling the lateral movement of the third slider (8) on the Y-axis beam (7).

7. The motion control method of the double gantry inverted robot base according to claim 1, characterized in that: The step S2 also includes the following steps: independently controlling the vertical movement of the fourth slider (9) on the Z movement axis (10).

8. A motion control device for a double gantry inverted robot base, characterized in that: A method for implementing the motion control of a double gantry inverted robot base as claimed in any one of claims 1 to 7, comprising: a first drive motor (1), a second drive motor (6), a signal transmission module, a calculation and analysis module and a drive control module; The first drive motor (1) and the second drive motor (6) can respectively drive the first slider (3) to move on the X1 active shaft (2) and the second slider (5) to move on the X2 driven shaft (4) through a transmission mechanism; the signal transmission module is used to obtain and transmit the pulse values ​​of the encoders of the first drive motor (1) and the second drive motor (6); the calculation and analysis module is used to calculate the drift error and can analyze the size of the calculated drift error; the drive control module is used to control the first drive motor (1) and the second drive motor (6) to operate according to the settings.

9. A board system, characterized in that: The board system includes: a control chip, a programmable chip and a storage chip; the programmable chip and the storage chip are both communicatively connected to the control chip; The board system is used to execute the motion control method of the double gantry inverted robot base as described in any one of claims 1-7.

10. An electronic device, characterized in that: The electronic device is equipped with the board system as claimed in claim 9.

Images