Device and method for automatically detecting damping of rotating parts of vacuum mechanical arm

Abstract

The invention belongs to the field of production and manufacturing of vacuum mechanical arms, and discloses an automatic damping detection device and method for rotating parts of a vacuum mechanical arm. The motor drives to apply force, the rotating unit is rotated, and the damping force of the rotating link is tested based on data fed back by the coded disc and the infrared sensor. According to the method, the defect of a key parameter detection scheme for rotation damping in vacuum mechanical arm production optimization is overcome. By means of the method, more accurate control over part production can be achieved, and the situation that errors are too large after assembly is avoided. The difference value between an actual mechanical arm and a theoretical model is reduced, mechanical arm product control is improved, and the stability optimization effect of stability algorithm control is improved.

Description

Technical Field

[0001] The invention relates to the field of vacuum robot arm production and manufacturing, and in particular to an automatic detection device and method for damping of rotating parts of a vacuum robot arm. Background Art

[0002] Integrated Circuit (IC), as the core of various electronic products and the key to information development, has become a strategic, basic and leading industry that affects national economic development, political construction and national defense security.

[0003] At present, the solution of domestic vacuum robot arm manufacturers is to reduce jitter by optimizing the operation algorithm. However, on the one hand, during the operation of the robot arm, the change of the robot arm's posture will cause the natural frequency to change, and the conventional algorithm cannot be used. On the other hand, after investigation, it is found that the severity of the jitter of each robot arm is different. The difference caused in the processing process cannot be solved by the algorithm. Summary of the invention

[0004] In order to solve the problem of differential structure in the processing of the robot arm, reduce the difference between the actual machine and the model, and improve the effect of the anti-sway control algorithm, the present invention proposes an automatic detection device and method for the damping of rotating parts of a vacuum robot arm. The assembly structure of the vacuum robot arm rotor is coaxially nested. If the rotor deviates from the axis during the processing, it will cause the eccentric rotation of the entire robot arm and the damping difference of the rotating link, which will lead to unstable operation. By detecting the rotational damping and recording it in the warehouse, the instability caused by the accumulation of errors between parts can be avoided. Based on the laser ranging sensor, an automatic detection device for the damping of rotating parts of a vacuum robot arm is designed. By designing a rotational damping characteristic detection technology for the robot arm rotor, the damping characteristic detection of each motion unit in the production process of the robot arm is realized.

[0005] The technical scheme of the present invention is as follows: a vacuum robot arm rotating parts damping automatic detection device, the vacuum robot arm rotating parts damping automatic detection device comprises a bracket 1, a motor I 2, a motor II 3, a lifting platform 5, a damping detection dial 6, a feedback device 7, an infrared sensor 10, a lead screw 14 and a host computer;

[0006] The bracket 1 serves as a supporting frame; the lead screw 14 is vertically arranged on the bracket 1, one end of which is located at the top of the bracket 1 and connected to the motor 12; the motor 12 is located on the top surface 4 of the bracket;

[0007] The two sides of the lifting platform 5 are respectively connected to the lead screw 14, and the lifting platform 5 moves up and down as the lead screw 14 rotates; the motor II 3 is installed on the lifting platform 5, and the output shaft of the motor II 3 passes through the lifting platform 5 and is connected to the damping detection dial 6;

[0008] The component to be detected 8 is fixed to the bottom of the bracket 1, and the feedback device 7 is installed above the component to be detected 8;

[0009] The infrared sensor 10 is arranged on a sensor platform 11; the sensor platform 11 is in the shape of a beam and is arranged on the side of the bracket 1; the infrared sensor 10 is kept at a distance from the feedback device 7;

[0010] The host computer is connected to motor I 2, motor II 3 and infrared sensor 10 respectively, collects information of the three, and obtains starting damping and rotation damping according to the collected information.

[0011] Furthermore, the feedback device 7 includes a code disc 13 and a force-bearing rotating device 12, which are fixedly connected;

[0012] The code disc 13 is a fixed-interval hollow code disc with a resolution of 0.5°;

[0013] The main body of the force-bearing rotating device 12 is cylindrical, with a small arm extending from each side, and a hole penetrating from top to bottom is provided on the small arm for connecting with the damping detection dial 6; when the damping detection dial 6 rotates, the force-bearing rotating device 12 is forced to passively rotate; cylindrical protrusions are distributed in an annular shape on the bottom of the force-bearing rotating device 12, and the protrusions pass through the code disk 13, which are used to cooperate and fix with the component 8 to be detected; when the damping detection dial 6 pushes the force-bearing rotating device 12 to rotate, the motor I2 drives the lifting platform 5 to lift, so that the damping detection dial 6 disengages after pushing the force-bearing rotating device 12, and the force-bearing rotating device 12 enters a free rotation state.

[0014] Furthermore, the infrared sensor 10 projects the ranging light onto the code disk 13. When the light is at the gap and at the gap interval, the ranging distance detected by the infrared sensor 10 is different. The rotation speed of the part to be detected is calculated according to the changing speed of the ranging distance, and the speed change is monitored.

[0015] Furthermore, the infrared sensor 10 has two working modes, one is a trigger feedback mode, and the other is a speed feedback mode; when detecting the starting damping, the motor II3 slowly increases the output torque. When the infrared sensor 10 senses the movement of the force-bearing rotating device 12, the upper computer records the output torque of the motor II3 at this time, which is the starting damping of the component 8 to be detected; when detecting the rotational damping, the disengagement speed ω0 of the force-bearing rotating device 12 is predetermined. During the rotation process, when the force-bearing rotating device 12 reaches the disengagement speed ω0, the motor I2 drives the lifting platform 5 to lift, so that the damping detection dial 6 is completely disengaged from the force-bearing rotating device 12. At this time, the infrared sensor 10 starts to transmit the motion curve of the force-bearing rotating device 12 to the upper computer, and then obtains the rotational damping of the component 8 to be detected.

[0016] Furthermore, the output shaft of the motor I2 is connected to the lead screw 14 via a synchronous steel belt.

[0017] Furthermore, the component 8 to be detected is fixed in the fixture 9 to prevent shaking; the fixture 9 is symmetrical on both sides, and the inner contour of the fixture 9 is consistent with the base contour of the component 8 to be detected. Both sides of the fixture 9 are controlled by screws to move back and forth on the slide rail to adjust the tightness and clamp the component 8 to be detected.

[0018] A damping automatic detection method for a vacuum robot arm rotating parts damping automatic detection device, the specific steps are as follows:

[0019] Step 1: Position the component 8 to be tested or place it in the bottom groove of the fixture 9 to ensure that the component 8 to be tested is fixed stably and will not shake;

[0020] Step 2: Connect the feedback device 7 above the component to be detected 8, and assemble and fix the feedback device 7 with the component to be detected 8 through the cylindrical protrusion on the feedback device 7;

[0021] Step 3: The motor I2 rotates to make the lifting platform 5 descend until it reaches the preset position, and the end of the damping detection dial 6 extends into the holes on the two small arms of the force-bearing rotating device 12; the infrared sensor 10 is in the trigger feedback state and starts to drive the motor II 3; the feedback device 7 is in a stationary state, and the output torque gradient is increased every t seconds. When the distance measurement result of the infrared sensor 10 changes, that is, when it detects that the force-bearing rotating device rotates 12, the output torque N of the motor II 3 at this time is recorded, and the motor II3 is stopped;

[0022] The starting damping force of the component 8 to be tested is

[0023] Step 4: Put the infrared sensor 10 in the speed feedback state, drive the motor II 3 to rotate the force-bearing rotating device 12, and at the same time start the motor I2 to lift the damping detection dial 6, and completely disengage from the force-bearing rotating device 12 when the speed ω0 is reached; at this time, the infrared sensor 10 transmits its motion curve to the upper computer, the initial speed is ω0, and when the free rotation time is t q When the time comes, it returns to a static state;

[0024] Step 5: Obtain the angular acceleration α of the force-bearing rotating device 12 through the motion curve, and then obtain its rotation damping force by combining the inner diameter r and mass m of the component 8 to be detected;

[0025]

[0026] Beneficial effects of the invention: The method of the invention fills the gap in the detection scheme of the key parameter of rotation damping in the production optimization of vacuum manipulators. It not only provides a complete solution for the detection of key components of vacuum manipulators, which can help improve the stability of vacuum manipulators, but also the calculated rotation damping and starting damping are highly accurate, which helps to reduce the gap between the actual machine and the theoretical model, making the algorithm anti-shake effect more significant. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the overall flow chart of the present invention; (a) is the flow chart for obtaining the starting damping, and (b) is the flow chart for obtaining the rotation damping.

[0028] Figure 2 This is a structural diagram of the automatic damping detection device for rotating parts of a vacuum mechanical arm of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the automatic damping detection device for rotating parts of a vacuum mechanical arm of the present invention;

[0030] Figure 4 Schematic diagram of the structure of the receiving rotation device; (a) is a top view; (b) is a side view.

[0031] In the figure: 1- bracket; 2- motor I; 3- motor II; 4- top surface of bracket; 5- lifting platform; 6- damping detection dial; 7- feedback device; 8- parts to be detected; 9- fixture; 10- infrared sensor; 11- sensor platform; 12- force rotation device; 13- code disk; 14- lead screw. DETAILED DESCRIPTION

[0032] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0033] like Figure 1As shown, step 1: place the component 8 to be tested in the bottom groove of the fixture 9 for positioning, adjust the positions of both sides of the fixture 9 on the slide through the screws on both sides of the fixture 9, clamp the base of the component 8 to be tested, and ensure that the component 8 to be tested is fixed and stable without shaking.

[0034] Step 2: Connect the feedback device 7 to the upper side of the component to be detected 8, and assemble and fix the feedback device 7 to the component to be detected 8 through the cylindrical protrusion on the feedback device 7.

[0035] Step 3: The upper motor I2 rotates to lower the lifting platform until it reaches the preset position, and the end of the damping detection dial 6 extends into the small arm of the feedback device 7. The infrared sensor 10 is in the trigger feedback state, and starts to drive the motor II3, slowly increasing the output torque. When the infrared sensor 10 detects that the force-bearing rotating device 12 rotates, the output torque N of the motor II3 is recorded at this time, and the motor II3 is stopped.

[0036] The starting damping force of the component 8 to be tested is

[0037] Step 4: The infrared sensor 10 is in the speed feedback state, the motor II3 is driven to rotate the force-bearing rotating device 12, and the motor I2 is started to lift the damping detection dial 6. When the preset time t is reached, e The infrared sensor 10 transmits its motion curve to the upper computer, with the initial speed being ω0 and the free rotation time being t q , returns to a static state.

[0038] Step 5: Obtain the angular acceleration α of the force-bearing rotating device 12 through the motion curve, and then obtain its rotation damping force by combining the inner diameter r and mass m of the component 8 to be detected.

[0039]

[0040] The application of the detection method is as follows: the detected parts are transferred to the operating position of the base component marking device, and the transfer is stopped. At this time, the inkjet printer is turned on to print a QR code on the base of the detected parts, and the parts detection data is archived to correspond to the QR code. Unqualified parts can be eliminated, and in the subsequent assembly process, parts with smaller deviations can be matched with parts with larger deviations (within the qualified range), further reducing the instability caused by the overall error of the robot arm.

[0041] By testing and archiving each component, we can more accurately control the production of components and avoid large errors after assembly. This can reduce the difference between the actual robot arm and the theoretical model, improve the robot arm production control, and improve the optimization effect of the stability algorithm control on stability.

[0042] like Figure 2-Figure 4 As shown, a vacuum robot arm rotating parts damping automatic detection device, through the motor drive force, rotate the rotating unit of the part to be detected, based on the feedback data of the code disk and the infrared sensor, the damping force of the rotating link is tested. The vacuum robot arm rotating parts damping automatic detection device is mainly composed of a bracket 1 and a lead screw 14. The bracket 1 is in the shape of a bridge, and a sensor platform 11 is extended from the middle and lower part of one side. A groove and a through hole are designed on the sensor platform 11, and the infrared sensor 10 and its wiring are placed to reflect the top rotation damping of the part by detecting the rotation data of the code disk. The motor I2 connects the motor output shaft with the lead screw 14 through the hollowing at the top of the bracket, and the lifting platform 5 is controlled by the transmission of the lead screw 14. The motor II3 is inverted on the lifting platform and fixed with screws. The output shaft extends downward through the hollowing of the lifting platform 5, and the damping detection dial 6 is connected at the motor output shaft through the top screw, and the feedback device 7 placed on the top of the part is driven by the rotation force. The feedback device consists of a code disk 13 and a force-bearing rotating device 12, and the two are connected and fixed by a screw press. The code disk 13 is hollowed out at regular intervals, with a resolution of 0.5°. The main body of the force-bearing rotating device 12 is cylindrical, with a small arm extending from each side, which is used to passively rotate when the damping detection dial hand rotates, and cylindrical protrusions are distributed in an annular manner at the bottom, which are used to cooperate and fix with the parts to be detected. Considering the mechanical interference between the force-bearing rotating device 12 and the damping detection dial hand 6, the small arm is provided with holes that penetrate up and down, and when the force-bearing rotating device is driven to rotate, the motor I2 drives the lifting platform 5 to slowly lift the lifting platform, and the damping detection dial hand 6 disengages after driving the force-bearing rotating device 12, and the force-bearing rotating device 12 enters a free rotation state. Fix the parts to be detected 8 in the fixture 9 to prevent shaking. The fixture 9 is symmetrical on both sides, and the inner contour of the fixture 9 is consistent with the base contour of the parts to be detected 8. Both sides of the fixture 9 are controlled by screws to move forward and backward on the slide rail, which is used to adjust the tightness and clamp the parts to be detected 8. There is a slight groove at the bottom to determine the placement of the parts.

[0043] In terms of control, the CANOPEN bus is used to communicate with the host computer. Motor I2, motor II3 and infrared sensor 10 are all slave devices, which are connected to the host computer through PLC. The rotation damping and starting damping of the tested parts are obtained by obtaining sensor feedback data, and then stored. In order to ensure the reliability and stability of data transmission, a real-time data storage MicroSD module is used for real-time data storage. During the entire detection process, the starting damping and rotation damping need to be detected respectively. The infrared sensor has two corresponding working modes, one is trigger feedback and the other is speed feedback. When detecting the starting damping, the motor II3 slowly increases the output torque. When the infrared sensor 10 senses the movement of the force-bearing rotating device 12, the main station records the output torque of the motor at this time, which is the starting damping of the component to be detected; when detecting the rotational damping, the driving time and disengagement time of the motor are predetermined. During the rotation process, the motor I2 drives the lifting platform to slowly rise. When the disengagement time is reached, the damping detection dial 6 is completely separated from the force-bearing rotating device 12. At this time, the infrared sensor begins to transmit the motion curve of the force-bearing rotating device to the main station, and then obtains the rotational damping of the part to be tested.

Claims

1. An automatic detection device for damping of rotating parts of a vacuum robot arm, characterized in that: The automatic damping detection device for rotating parts of a vacuum robot arm comprises a bracket (1), a motor I (2), a motor II (3), a lifting platform (5), a damping detection dial (6), a feedback device (7), an infrared sensor (10), a lead screw (14) and a host computer; The support (1) serves as a supporting frame; the lead screw (14) is vertically arranged on the support (1), one end of which is located at the top of the support (1) and connected to the motor I (2); the motor I (2) is located on the top surface (4) of the support; Both sides of the lifting platform (5) are respectively connected to the lead screw (14), and the lifting platform (5) moves up and down as the lead screw (14) rotates; a motor II (3) is installed on the lifting platform (5), and an output shaft of the motor II (3) passes through the lifting platform (5) and is connected to a damping detection dial handle (6); The component to be detected (8) is fixed to the bottom of the bracket (1), and a feedback device (7) is installed above the component to be detected (8); The infrared sensor (10) is arranged on a sensor platform (11); the sensor platform (11) is in the shape of a crossbeam and is arranged on the side of the bracket (1); the infrared sensor (10) is kept at a distance from the feedback device (7); The host computer is respectively connected to the motor I (2), the motor II (3) and the infrared sensor (10), collects information of the three, and obtains the starting damping and the rotation damping according to the collected information.

2. The automatic damping detection device for rotating parts of a vacuum robot arm according to claim 1 is characterized in that: The feedback device (7) comprises a code disc (13) and a force-bearing rotating device (12), which are fixedly connected; The code disc (13) is a fixed-interval hollow code disc with a resolution of 0.5°; The main body of the force-bearing rotating device (12) is cylindrical, with a small arm extending from both sides, and a hole penetrating from top to bottom is provided on the small arm for connecting with the damping detection dial (6); when the damping detection dial (6) rotates, the force-bearing rotating device (12) is forced to passively rotate; cylindrical protrusions are distributed in an annular manner on the bottom of the force-bearing rotating device (12), and the protrusions pass through the code disk (13) and are used to cooperate and fix with the component to be detected (8); when the damping detection dial (6) pushes the force-bearing rotating device (12) to rotate, the motor I (2) drives the lifting platform (5) to lift, so that the damping detection dial (6) is disengaged after pushing the force-bearing rotating device (12), and the force-bearing rotating device (12) enters a free rotation state.

3. The automatic damping detection device for rotating parts of a vacuum robot arm according to claim 1 is characterized in that: The infrared sensor (10) projects a distance measuring light onto a code disk (13). When the light is at the gap and at the gap interval, the distance measuring distance detected by the infrared sensor (10) is different. The rotation speed of the part to be detected is calculated based on the speed of change of the distance measuring distance, and the speed change is monitored.

4. The automatic damping detection device for rotating parts of a vacuum robot arm according to claim 3 is characterized in that: The infrared sensor (10) has two working modes, one is a trigger feedback mode, and the other is a speed feedback mode; when detecting the starting damping, the motor II (3) slowly increases the output torque, and when the infrared sensor (10) senses the movement of the force-bearing rotating device (12), the upper computer records the output torque of the motor II (3) at this time, which is the starting damping of the component (8) to be detected; when detecting the rotational damping, the disengagement speed ω0 of the force-bearing rotating device (12) is predetermined, and during the rotation process, when the force-bearing rotating device (12) reaches the disengagement speed ω0, the motor I (2) drives the lifting platform (5) to rise, so that the damping detection dial (6) is completely disengaged from the force-bearing rotating device (12), and at this time the infrared sensor (10) starts to transmit the motion curve of the force-bearing rotating device (12) to the upper computer, thereby obtaining the rotational damping of the component (8) to be detected.

5. The automatic damping detection device for rotating parts of a vacuum robot arm according to claim 1 is characterized in that: The output shaft of the motor 1 (2) is connected to the lead screw (14) via a synchronous steel belt.

6. The automatic damping detection device for rotating parts of a vacuum robot arm according to claim 1 is characterized in that: The component to be detected (8) is fixed in the clamp (9) to prevent shaking; the clamp (9) is symmetrical on both sides, the inner contour of the clamp (9) is consistent with the base contour of the component to be detected (8), and both sides of the clamp (9) are controlled by screws to move forward and backward on the slide rail to adjust the tightness and clamp the component to be detected (8).

7. An automatic damping detection method for a vacuum robot arm rotating parts automatic damping detection device according to any one of claims 1 to 6, characterized in that: The specific steps are as follows: Step 1: Position the component to be tested (8) or place it in the bottom groove of the fixture (9) to ensure that the component to be tested (8) is fixed stably and does not shake; Step 2: Connect the feedback device (7) above the component to be detected (8), and assemble and fix the feedback device (7) with the component to be detected (8) through the cylindrical protrusion on the feedback device (7); Step 3: The motor I (2) rotates to make the lifting platform (5) descend until it reaches the preset position, and the end of the damping detection dial (6) extends into the holes on the two small arms of the force-bearing rotating device (12); the infrared sensor (10) is in a trigger feedback state and starts to drive the motor II (3); the feedback device (7) is in a stationary state, and the output torque gradient is increased every t seconds. When the distance measurement result of the infrared sensor (10) changes, that is, when the rotation of the force-bearing rotating device (12) is detected, the output torque N of the motor II (3) at this time is recorded, and the motor II (3) is stopped; The starting damping force of the component to be tested (8) is Step 4: The infrared sensor (10) is placed in a speed feedback state, and the motor II (3) is driven to rotate the force-bearing rotating device (12). At the same time, the motor I (2) starts to lift the damping detection dial (6), and when the speed ω0 is reached, it is completely separated from the force-bearing rotating device (12); at this time, the infrared sensor (10) transmits its motion curve to the upper computer, and the initial speed is ω0. When the free rotation time is t q When the time comes, it returns to a static state; Step 5: Obtain the angular acceleration α of the force-bearing rotating device (12) through the motion curve, and then obtain its rotation damping force by combining the inner diameter r and mass m of the component (8) to be tested;

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