CN114559560A - Punching operation control method and device and cooperative robot - Google Patents
Punching operation control method and device and cooperative robot Download PDFInfo
- Publication number
- CN114559560A CN114559560A CN202011355095.0A CN202011355095A CN114559560A CN 114559560 A CN114559560 A CN 114559560A CN 202011355095 A CN202011355095 A CN 202011355095A CN 114559560 A CN114559560 A CN 114559560A
- Authority
- CN
- China
- Prior art keywords
- preset threshold
- actuating mechanism
- magnitude
- punching operation
- threshold value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Control Of Presses (AREA)
- Manipulator (AREA)
Abstract
The application relates to a punching operation control method and device and a cooperative robot. The method comprises the following steps: acquiring stress information of an actuating mechanism; the stress information of the actuating mechanism is acquired by a force sensor arranged on the actuating mechanism; judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism; and when the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is controlled to exit and move horizontally, and then the punching operation is carried out again. According to the punching operation control method, the force sensor is arranged on the executing mechanism, so that the stress information of the executing mechanism is acquired in real time; when the stress of the executing mechanism is larger than a first preset threshold value, it is indicated that the executing mechanism encounters a hard object such as a steel bar or a nail in the punching operation process. At the moment, the execution mechanism is controlled to withdraw and carry out punching operation again after translation, and punching work efficiency is improved.
Description
Technical Field
The application relates to the technical field of automation, in particular to a punching operation control method and device and a cooperative robot.
Background
It is well known that in the construction industry, reinforcing mesh is usually added to concrete to form reinforced concrete so as to improve the mechanical properties of the concrete. In the subsequent drilling operation process of concrete, if the drill bit meets the reinforcing steel bars and is not avoided in time, the drill bit can be damaged, and even safety accidents occur. It is necessary to detect the reinforcing bars during the drilling of the concrete.
According to the traditional punching operation control method, the steel bar scanner is used for assisting in detection, and punching parameters of punching equipment are set according to the detection result of the steel bar scanner to perform punching operation. Because the concrete operation scene of punching, the environmental dust is great, and the reinforcing bar scanner has higher requirement to the environment, produces the error easily when the environmental dust is big. In the traditional punching operation process, the field operation environment needs to be controlled, the cleaning work of the steel bar scanner needs to be carried out in time, and the operation process is complicated. Therefore, the conventional punching operation control method has the defect of low working efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a punching work control method and apparatus with high work efficiency, and a cooperative robot.
In a first aspect of the present application, a method for controlling a punching operation is provided, including:
acquiring stress information of an actuating mechanism; the stress information of the actuating mechanism is acquired by a force sensor arranged on the actuating mechanism;
judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism;
and when the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is controlled to exit and translate, and then the punching operation is carried out again.
In one embodiment, before determining whether the force applied to the actuator is greater than a first preset threshold according to the force information, the method further includes:
and determining a first preset threshold according to the stress information of the historical punching operation.
In one embodiment, the determining, according to the stress information, whether the stress of the execution mechanism is greater than a first preset threshold includes:
calculating the magnitude of resultant force borne by the actuating mechanism according to the stress information;
and judging whether the magnitude of the resultant force borne by the actuating mechanism is greater than a first preset threshold value or not.
In one embodiment, the determining whether the magnitude of the resultant force applied to the actuator is greater than a first preset threshold includes:
and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within preset sampling times.
In one embodiment, after calculating the magnitude of the resultant force applied to the actuator according to the stress information, before determining whether the magnitude of the resultant force applied to the actuator is greater than a first preset threshold, the method further includes:
judging whether the magnitude of resultant force borne by the actuating mechanism is greater than a second preset threshold value or not; the second preset threshold is smaller than the first preset threshold;
if the magnitude of the resultant force exerted on the actuating mechanism is greater than the second preset threshold, the step of judging whether the magnitude of the resultant force exerted on the actuating mechanism is greater than a first preset threshold is carried out;
after judging whether the magnitude of the resultant force borne by the actuating mechanism is larger than a first preset threshold value, the method further comprises the following steps:
and when the magnitude of the resultant force borne by the actuating mechanism is greater than a second preset threshold and less than or equal to a first preset threshold, controlling the actuating mechanism to quit the preset displacement and then carrying out punching operation again.
In one embodiment, the determining whether the magnitude of the resultant force applied to the actuator is greater than a second preset threshold includes:
and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within preset time.
In one embodiment, before controlling the actuator to exit from the preset displacement and then perform the punching operation again when the magnitude of the resultant force applied to the actuator is greater than a second preset threshold, the method further includes:
and determining preset displacement according to the feeding amount of the actuating mechanism.
In a second aspect, there is provided a punching work control apparatus including:
the information acquisition module is used for acquiring stress information of the actuating mechanism; the stress information of the actuating mechanism is acquired by a force sensor; the force sensor is mounted on the actuating mechanism;
the judging module is used for judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism;
and the punching path setting module is used for controlling the execution mechanism to quit and translate and then perform punching operation again when the stress of the execution mechanism is larger than a first preset threshold value.
In one embodiment, the punching work control apparatus further includes: and the stress threshold range determining module is used for determining the stress threshold range according to the stress information of the historical punching operation.
In one embodiment, the judging module includes a calculating unit and a judging unit. The computing unit is used for computing the resultant force applied to the actuating mechanism according to the stress information of the actuating mechanism; the judging unit is used for judging whether the magnitude of resultant force borne by the actuating mechanism is larger than a first preset threshold value or not.
In one embodiment, the determining unit is specifically configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within a first preset time.
In one embodiment, the determining unit is specifically configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within a first preset sampling frequency.
In one embodiment, the determining unit is further configured to determine whether a magnitude of a resultant force applied to the actuating mechanism is greater than a second preset threshold; and the punching path setting module is also used for controlling the actuating mechanism to quit the preset displacement and then to perform punching operation again when the resultant force applied to the actuating mechanism is larger than a second preset threshold and smaller than or equal to a first preset threshold.
In one embodiment, the determining unit is further configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within a second preset time.
In one embodiment, the determining unit is further configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within a second preset sampling frequency.
In one embodiment, the puncture path setting module is further configured to: and determining the preset displacement according to the feeding amount of the actuating mechanism.
In a third aspect, a cooperative robot is provided, comprising: the device comprises a base, a mechanical arm, an executing mechanism, a force sensor and a controller; the mechanical arm is arranged on the base; the executing mechanism is arranged at the tail end of the mechanical arm; the force sensor is arranged on the executing mechanism and used for acquiring stress information of the executing mechanism and sending the stress information to the controller; the controller is connected with the mechanical arm, the executing mechanism and the force sensor and is used for carrying out punching control according to the method.
In one embodiment, the force sensor is a force-controlled sensor; the force control sensor is arranged at the connecting position of the tail end of the mechanical arm and the executing mechanism.
According to the punching operation control method, the force sensor is arranged on the executing mechanism, the controller can acquire the stress information of the executing mechanism in real time, and then judge whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information. When the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is indicated to encounter hard objects such as reinforcing steel bars and the like in the punching operation process. At the moment, the execution mechanism is controlled to withdraw and carry out punching operation again after translation, and the punching work efficiency is improved.
Drawings
FIG. 1 is a flow chart illustrating a method for controlling a punching operation according to an embodiment;
FIG. 2 is a flowchart illustrating a method for controlling a punching operation according to another embodiment;
FIG. 3 is a flowchart illustrating a method for controlling a punching operation according to another embodiment;
FIG. 4 is a block diagram showing the construction of a punching operation control apparatus according to an embodiment;
FIG. 5 is a block diagram showing the construction of a punching operation control apparatus according to another embodiment;
FIG. 6 is a block diagram of the mechanism of a determination module in one embodiment;
FIG. 7 is a schematic diagram of the perforation by the collaborative robot in one embodiment.
Description of reference numerals: 10-base, 21-J1 joint, 22-J2 joint, 23-J3 joint, 24-J4 joint, 25-J5 joint, 26-J6 joint, 30-actuating mechanism, 40-concrete wall and 41-steel bar.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In a first aspect of the present application, a method for controlling a punching operation is provided, please refer to fig. 1, and the method includes steps S200 to S600.
Step S200: and acquiring stress information of the actuating mechanism.
When punching is performed, the actuating mechanism is inevitably subjected to the reaction force of the object to be punched. This reaction force is related to the stiffness of the object being perforated: the harder the object to be perforated, the greater the counter force. It can be understood that the object to be perforated may be a wall surface, furniture, or a structural beam, and in short, the embodiment does not limit the specific material of the object to be perforated. For convenience of understanding, the following description will be given taking a case where the object to be perforated is a concrete wall surface as an example.
The stress information of the actuating mechanism refers to information which is collected by a sensor and is related to the reaction force borne by the actuating mechanism. Specifically, the force information of the actuator is acquired by a sensor mounted on the actuator. Wherein a force sensor is a device that converts the magnitude of a force into an associated electrical signal. The force sensor is mainly composed of a force sensitive element, a conversion element and a circuit. According to the difference of the force-sensitive elements, the force sensor mainly comprises a strain gauge type force sensor, a diaphragm type force sensor, a strain beam type force sensor and a combined type force sensor, and the embodiment does not limit the type and force measuring principle of the specific force sensor. Furthermore, the mode of acquiring the stress information of the actuating mechanism by the controller can be that the stress sensor sends the stress information to the controller, or the controller actively reads the stress information acquired by the force sensor. In summary, the embodiment does not limit the specific manner of acquiring the force information of the actuator.
Step S400: and judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism.
Specifically, after the controller acquires the stress information of the execution mechanism, the stress of the execution mechanism can be obtained according to the stress information, the stress of the execution mechanism is compared with a first preset threshold value, and whether the stress of the execution mechanism is larger than the first preset threshold value or not is judged. In the punching operation, X, Y, Z forces are applied to the actuator in three directions, and since the contact position of the reinforcing bar with the drill bit in the actuator is different, the magnitudes of the three forces are also different. The force applied by the actuating mechanism is larger than a first preset threshold, which may mean that the force in a certain direction is larger than the first preset threshold, or that the resultant force in three directions is larger than the first preset threshold.
Further, the first preset threshold value can be determined according to the specific material of the object to be punched and the punching parameter. For example, when a concrete wall is drilled, a steel bar may be encountered in the drilling process, and according to the hardness of the steel bar and the drilling parameter at the time, the stress of the drilling equipment executing mechanism when encountering the steel bar under the corresponding parameter can be calculated, so that the first preset threshold can be determined.
Step S600: and when the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is controlled to exit and move horizontally, and then the punching operation is carried out again.
Specifically, when actuating mechanism's atress size was greater than first predetermined threshold value, the explanation met the reinforcing bar at punching in-process actuating mechanism, and at this moment, control actuating mechanism withdraws from and carries out the operation of punching again after the translation, can effectively dodge the reinforcing bar, avoids arousing actuating mechanism's damage because of the too big impact that receives, improves drilling equipment's life. Furthermore, the preset displacement can be determined according to the size and the arrangement mode of the steel bars in the wall surface, and the executing mechanism is controlled to exit and translate to carry out punching operation again after the preset displacement. It can be understood that, in the process of the punching operation, if the stress magnitude of the execution mechanism is always smaller than or equal to the first preset threshold value, the execution mechanism is controlled by the controller to exit after the current punching operation is completed.
According to the punching operation control method, the force sensor is arranged on the executing mechanism, so that the stress information of the executing mechanism can be acquired in real time. And judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information, and when the stress of the executing mechanism is larger than the first preset threshold value, indicating that hard objects such as reinforcing steel bars or nails and the like are encountered in the punching operation process. At the moment, the execution mechanism is controlled to exit and carry out punching operation again after translation, and the punching operation efficiency is improved.
In an embodiment, referring to fig. 2, before step S400, step S300 is further included.
Step S300: and determining a first preset threshold according to the stress information of the historical punching operation.
When the object to be punched is a concrete wall, the stress magnitude when the object meets the reinforcing steel bar can be obtained according to the stress information of historical punching operation, and then the first preset threshold value is determined. Specifically, when punching operation is performed, the punching equipment can record stress information of each operation. According to the stress information of the historical punching operation, the minimum stress value when the steel bar is encountered in the historical operation can be used as a first preset threshold value, and the average value of the stress values when the steel bar is encountered in the historical operation can also be used as the first preset threshold value. The type of the steel bar can be recorded in the punching operation, the type of the steel bar is correspondingly stored with stress information of the execution mechanism when the execution mechanism meets the steel bar of the type in the punching operation, and when new punching operation is carried out, a first preset threshold value is directly determined according to the stress information of historical punching operation corresponding to the type of the steel bar. In short, the present embodiment does not limit the specific determination manner of the first preset threshold.
In the above embodiment, according to the stress information of the historical punching operation, the first preset threshold value is determined, so that the accuracy of the first preset threshold value is improved, and the punching efficiency is improved.
In one embodiment, the force applied to the actuator is the resultant force applied to the actuator, please refer to fig. 3, and step S400 includes step S420 and step S440.
Step S420: and calculating the magnitude of resultant force borne by the actuating mechanism according to the stress information of the actuating mechanism.
As mentioned above, the actuator is subjected to X, Y, Z forces in three directions during the punching operation. The magnitude of the forces in the three directions will vary, since the contact position of the rebar with the drill bit in the actuator will vary. According to the stress information acquired by the force sensor, the reasonable magnitude borne by the actuating mechanism can be calculated, and the resultant force value FCombination of Chinese herbsThe calculation formula of (2) is as follows:
x, Y, Z indicate the magnitudes of the three directional components.
Step S440: and judging whether the magnitude of the resultant force borne by the actuating mechanism is greater than a first preset threshold value or not.
Specifically, after the controller calculates the magnitude of the resultant force applied to the actuating mechanism, the controller compares the resultant force with a first preset threshold value to determine whether the magnitude of the resultant force applied to the actuating mechanism is greater than the first preset threshold value.
In the embodiment, the magnitude of the resultant force applied to the actuating mechanism is calculated according to the stress information of the actuating mechanism, and then whether the magnitude of the resultant force applied to the actuating mechanism is larger than a first preset threshold value is judged, which is equivalent to comprehensively considering the influence of the contact position of the drill bit and the reinforcing steel bar on the stress information, so that the reinforcing steel bar can be effectively avoided under various conditions, and the efficiency of the punching operation can be improved.
In one embodiment, step S440 includes: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within preset time. Specifically, when the actuating mechanism performs punching operation, the drill bit is subjected to a large reaction force after encountering the steel bar, and the resultant force applied to the actuating mechanism is increased sharply and maintained at a large value. At this time, the first preset time may be set according to the feeding speed of the actuator. And when the magnitude of resultant force borne by the executing mechanism in the first preset time is continuously greater than a first preset threshold value, the executing mechanism is controlled to exit and move horizontally, and then the punching operation is carried out again. For example, the first preset time may be set to 0.5s, and when the force magnitude of the actuator is continuously greater than the first preset threshold within 0.5s, it is determined that the force magnitude of the actuator is greater than the first preset threshold. It is understood that the first preset time may also be set to 0.3s, 0.4s, 0.6s, etc., and the embodiment does not limit the specific value of the first preset time.
In one embodiment, step S440 includes: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within preset sampling times. As mentioned above, when the actuator performs the drilling operation, the drill bit will receive a large reaction force after encountering the steel bar, and the resultant force received by the actuator will increase sharply and be maintained at a large value. At the moment, the force sensor continues to acquire the stress information of the actuating mechanism according to the preset sampling period. At the moment, a first preset sampling frequency can be set according to the sampling period, and when the resultant force of the execution mechanism in the first preset sampling frequency is continuously larger than a first preset threshold value, the execution mechanism is controlled to exit and move horizontally, and then the punching operation is carried out again. For example, the first preset sampling number may be set to 5 times, and when the stress of the actuator obtained according to the sampling data of 5 consecutive times is greater than the first preset threshold, it is determined that the stress of the actuator is greater than the first preset threshold. It can be understood that the first preset sampling time may also be set to 3 times, 4 times, 6 times, and the like, and this embodiment does not limit a specific numerical value of the first preset sampling time.
In the embodiment, various standards for judging whether the stress of the executing mechanism is larger than the first preset threshold value are provided, which is beneficial to improving the flexibility of the punching operation control method.
In an embodiment, with continued reference to fig. 3, after step S420 and before step S440, step S400 further includes step S430: and judging whether the magnitude of the resultant force borne by the actuating mechanism is greater than a second preset threshold value. If yes, go to step S440, determine whether the magnitude of the resultant force applied to the actuator is greater than a first preset threshold; if yes, go to step S600, otherwise go to step S500.
Step S500: and when the magnitude of the resultant force borne by the actuating mechanism is greater than a second preset threshold and less than or equal to a first preset threshold, controlling the actuating mechanism to quit the preset displacement and then carrying out punching operation again.
Specifically, in the process of punching a concrete wall surface, hard obstacles such as stones may be encountered in addition to the reinforcing steel bars. When the drill bit meets hard obstacles, the drill bit can receive large reaction force, the electric hammer drill can generate large-amplitude fluctuation, and the fluctuation can not damage the punching equipment. However, if not eliminated in time, the fluctuations of the hammer drill caused by the reaction force may continue, which may lead to a protective stop of the drilling apparatus, not only reducing the working efficiency, but also affecting the life of the robot. And at the moment, setting a second preset threshold according to the stress information of the historical punching operation, and when the resultant force applied to the actuating mechanism is greater than the second preset threshold and less than or equal to the first preset threshold, controlling the actuating mechanism to withdraw from the preset displacement, then feeding to the punching depth of the previous operation, and continuing the punching operation until the current punching operation is finished and then withdrawing.
It can be understood that the stress of the actuating mechanism when the drill bit meets the stone is smaller than that when the drill bit meets the reinforcing steel bar, and based on the stress, the second preset threshold is smaller than the first preset threshold. In the process of punching operation, whether hard obstacles such as stones are encountered is judged by setting a second preset threshold value, whether reinforcing steel bars are encountered is further judged by setting a first preset threshold value, and punching control is performed according to specific conditions. Furthermore, if the stress of the executing mechanism is always smaller than or equal to a second preset threshold value in the punching operation process, the executing mechanism is controlled by the controller to exit after the current punching operation is finished.
In the above embodiment, by setting the second preset threshold, when the magnitude of the resultant force applied to the actuating mechanism is greater than the second preset threshold, the actuating mechanism is controlled to exit from the preset displacement and then the punching operation is performed again. Can be when running into hard barriers such as stone at the operation in-process that punches, eliminate the fluctuation that the electric hammer bored, avoid the protectiveness of drilling equipment to stop the action, be favorable to improving the efficiency of punching, increase drilling equipment's life.
In one embodiment, step S430 includes: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within preset time. Specifically, similar to the situation of encountering a steel bar, when the executing mechanism performs punching operation, the drill bit encounters a stone and then receives a larger reaction force, and the resultant force borne by the executing mechanism is increased sharply. At this time, the second preset time may be set according to the feeding speed of the actuator; the second preset time can also be set according to the total time consumption of each punching operation and the percentage of the total time consumption. And when the magnitude of resultant force borne by the executing mechanism in a second preset time is continuously greater than a second preset threshold value, the executing mechanism is controlled to exit and move horizontally, and then the punching operation is carried out again. For example, the second preset time may be set to 5s, and when the force magnitude of the actuator is continuously greater than the second preset threshold within 5s, it is determined that the force magnitude of the actuator is greater than the second preset threshold; it is also possible to set 80% of the total time spent for a single punch as the second preset time. It is understood that the second predetermined time may be set to 3s, 4s, 6s, or 60%, 70% of the total time spent in a single punch. In short, the embodiment does not limit the specific calculation manner and the numerical value of the second preset time.
In one embodiment, step S430 includes: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within preset sampling times. As described above, when the actuator performs the drilling operation, the drill bit receives a large reaction force when encountering the reinforcing steel bar, and the resultant force applied to the actuator increases sharply. At the moment, the force sensor continues to acquire the stress information of the actuating mechanism according to the preset sampling period. At the moment, a second preset sampling frequency can be set according to the sampling period, and when the resultant force of the actuating mechanism in the second preset sampling frequency is continuously larger than a second preset threshold value, the actuating mechanism is controlled to quit and move horizontally, and then punching operation is carried out again. For example, the second preset sampling number may be set to 5, and when the stress of the actuator obtained from the sampling data of 5 consecutive times is greater than the second preset threshold, it is determined that the stress of the actuator is greater than the second preset threshold. It can be understood that the second preset sampling time may also be set to 3 times, 4 times, 6 times, and the like, and the specific value of the second preset sampling time is not limited in this embodiment.
In the embodiment, various standards for judging whether the stress of the actuating mechanism is greater than the second preset threshold value are provided, which is beneficial to improving the flexibility of the punching operation control method.
In one embodiment, step S500 is preceded by: and determining the preset displacement according to the feeding amount of the actuating mechanism.
The feeding amount of the actuator means the displacement of the actuator with respect to the initial position during the punching operation. It will be appreciated that the amount of feed of the actuator may be used to indicate the current drilling depth, and that the drilling depth at which the drill contacts a hard obstacle varies due to the different positions of the hard obstacle during the actual drilling operation. Specifically, when the magnitude of the resultant force applied to the actuating mechanism is larger than a second preset threshold value, the controller reads the current feeding amount of the actuating mechanism, determines a preset displacement according to the current feeding amount, and controls the actuating mechanism to quit the preset displacement and then carry out punching operation again.
In the above embodiment, the exiting preset displacement is determined according to the feeding amount of the execution mechanism, which is equivalent to performing punching control on the execution mechanism according to the current punching depth, and is beneficial to improving the scientificity of the punching operation control method.
It should be understood that, although the steps in the flowcharts shown in the above embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each flowchart involved in the above embodiments may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a part of the sub-steps or the stages of other steps.
In a second aspect of the present application, referring to fig. 4, a punching job control apparatus is provided, which includes an information obtaining module 200, a determining module 400, and a punching path setting module 600. The information acquiring module 200 is configured to acquire stress information of an execution mechanism; the stress information of the actuating mechanism is acquired by a force sensor, and the force sensor is arranged on the actuating mechanism; the judging module 400 is configured to judge whether the stress magnitude of the execution mechanism is greater than a first preset threshold according to the stress information of the execution mechanism; and the punching path setting module 600 is configured to control the execution mechanism to exit and perform punching operation again after translation when the stress of the execution mechanism is greater than a first preset threshold.
In one embodiment, referring to fig. 5, the punching operation control apparatus further includes: and a stress threshold range determining module 300, configured to determine a stress threshold range according to stress information of the historical punching operation.
In one embodiment, referring to fig. 6, the determining module 400 includes a calculating unit 420 and a determining unit 440. The calculating unit 420 is configured to calculate a resultant force applied to the executing mechanism according to the stress information of the executing mechanism; the determining unit 440 is configured to determine whether a resultant force applied to the actuating mechanism is greater than a first preset threshold.
In an embodiment, the determining unit 440 is specifically configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within a first preset time.
In an embodiment, the determining unit 440 is specifically configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within a first preset sampling frequency.
In one embodiment, the determining unit 460 is further configured to determine whether the magnitude of the resultant force applied to the actuator is greater than a second preset threshold; the punching path setting module 600 is further configured to control the execution mechanism to quit the preset displacement and then perform the punching operation again when the magnitude of the resultant force applied to the execution mechanism is greater than the second preset threshold and less than or equal to the first preset threshold.
In one embodiment, the determining unit 440 is further configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within a second preset time.
In one embodiment, the determining unit 440 is further configured to: and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within a second preset sampling frequency.
In one embodiment, the perforation path setting module 600 is further configured to: and determining the preset displacement according to the feeding amount of the actuating mechanism.
For specific limitations of the punching job control apparatus, reference may be made to the above limitations of the punching job control method, which are not described herein again. All or part of the modules in the punching operation control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In a third aspect of the present application, please refer to fig. 7, there is provided a cooperative robot, including: a base 10, a mechanical arm, an actuating mechanism 30, a force sensor and a controller; the mechanical arm is arranged on the base 10; the actuator 30 is mounted at the end of the robot arm; the force sensor is arranged on the actuating mechanism 30 and used for collecting stress information of the actuating mechanism and sending the stress information to the controller; the controller is coupled to the robot arm, actuator 30 and force sensor for performing the punching control according to the method of any of the embodiments described above.
It is understood that the robot base mounting mode can be changed according to different application scenes, and the robot base mounting mode can be installed at an angle of 45 degrees, for example. Further, as shown in fig. 7, the robot arm of the cooperative robot may include a plurality of robot arms and a plurality of joints, wherein one robot arm is mounted on the base 10 through a J1 joint 21, and the other robot arms are connected to the implement structure 30 through a J2 joint 22, a J3 joint 23, a J4 joint 24, a J5 joint 25, and a J6 joint 26, respectively. The controller can control the mechanical arm to move to adapt to different punching operation scenes. For example, in fig. 7, the plurality of joints of the robot arm are linked to each other, thereby making it possible to punch a hole in the concrete wall surface 40 by the actuator.
Specifically, the controller controls the joints of the robot arm so that the actuator 30 performs the punching operation perpendicular to the concrete wall surface 40 according to the current punching operation scene. In the process of punching operation, the controller obtains stress information of the execution mechanism according to data acquired by a force sensor installed on the execution mechanism 30, judges whether the stress of the execution mechanism 30 is larger than a first preset threshold value or not according to the stress information, judges that the execution mechanism 30 meets the reinforcing steel bar 41 when the stress of the execution mechanism 30 is larger than the first preset threshold value or not, and controls the execution mechanism 30 to exit and perform punching operation again after translation at the moment.
According to the cooperative robot, the force sensor is arranged on the executing mechanism, the controller can acquire the stress information of the executing mechanism in real time, and then judge whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information. When the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is indicated to encounter hard objects such as reinforcing steel bars and the like in the punching operation process. At the moment, the controller controls the executing mechanism of the cooperative robot to withdraw and translate and then to repeat the punching operation, which is beneficial to improving the punching work efficiency of the cooperative robot.
In one embodiment, the force sensor is a force-controlled sensor; the force control sensor is arranged at the connecting position of the tail end of the mechanical arm and the actuating mechanism. The force control sensor is a novel force sensor, and can complete the measurement and output work of force and moment on each coordinate (X, Y and Z) in a Cartesian rectangular coordinate system. In addition, a flange is generally arranged at the connecting position of the tail end of the mechanical arm and the actuating mechanism, and a force control sensor is arranged at the wire outlet position of the flange, so that the operation is simple and convenient.
In the embodiment, the force control sensors are used as the force sensors, so that the use number of the force sensors is reduced, and the complexity of the device of the cooperative robot is reduced. In addition, the force control sensor is arranged at the connecting position of the tail end of the mechanical arm and the actuating mechanism, so that the force control sensor can be conveniently arranged and replaced.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A punching operation control method is characterized by comprising the following steps:
acquiring stress information of a punching executing mechanism; the stress information of the actuating mechanism is acquired by a force sensor arranged on the actuating mechanism;
judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism;
and when the stress of the executing mechanism is larger than a first preset threshold value, the executing mechanism is controlled to exit and translate, and then the punching operation is carried out again.
2. The punching operation control method according to claim 1, wherein before determining whether the force applied to the actuator is greater than a first preset threshold value according to the force information, the method further comprises:
and determining a first preset threshold according to the stress information of the historical punching operation.
3. The punching operation control method according to claim 2, wherein the magnitude of the force applied to the actuator is a magnitude of a resultant force applied to the actuator, and the determining whether the magnitude of the force applied to the actuator is greater than a first preset threshold value according to the force information includes:
calculating the magnitude of resultant force borne by the actuating mechanism according to the stress information;
and judging whether the magnitude of the resultant force borne by the actuating mechanism is greater than a first preset threshold value or not.
4. The method of claim 3, wherein the determining whether the magnitude of the resultant force applied to the actuator is greater than a first predetermined threshold value comprises:
and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a first preset threshold value within preset sampling times.
5. The punching operation control method according to claim 3, wherein after calculating the magnitude of the resultant force applied to the actuator according to the force information, before determining whether the magnitude of the resultant force applied to the actuator is greater than a first preset threshold, the method further comprises:
judging whether the magnitude of resultant force borne by the actuating mechanism is greater than a second preset threshold value or not; the second preset threshold is smaller than the first preset threshold;
if the magnitude of the resultant force exerted on the actuating mechanism is greater than the second preset threshold, the step of judging whether the magnitude of the resultant force exerted on the actuating mechanism is greater than a first preset threshold is carried out;
after judging whether the magnitude of the resultant force borne by the actuating mechanism is larger than a first preset threshold value, the method further comprises the following steps:
and when the magnitude of the resultant force borne by the actuating mechanism is greater than a second preset threshold and less than or equal to a first preset threshold, controlling the actuating mechanism to quit the preset displacement and then carrying out punching operation again.
6. The punching operation control method according to claim 5, wherein the determining whether the magnitude of the resultant force applied to the actuator is greater than a second preset threshold value comprises:
and judging whether the magnitude of the resultant force borne by the actuating mechanism is continuously greater than a second preset threshold value within preset time.
7. The method for controlling punching operation according to claim 5, wherein when the magnitude of the resultant force applied to the actuator is greater than a second predetermined threshold, before controlling the actuator to exit from the predetermined displacement and then resume the punching operation, the method further comprises:
and determining the preset displacement according to the feeding amount of the actuating mechanism.
8. A punching operation control device is characterized by comprising:
the information acquisition module is used for acquiring the stress information of the actuating mechanism; the stress information of the actuating mechanism is acquired by a force sensor; the force sensor is mounted on the actuating mechanism;
the judging module is used for judging whether the stress of the executing mechanism is larger than a first preset threshold value or not according to the stress information of the executing mechanism;
and the punching path setting module is used for controlling the execution mechanism to quit and translate and then perform punching operation again when the stress of the execution mechanism is larger than a first preset threshold value.
9. A collaborative robot, comprising: the device comprises a base, a mechanical arm, an executing mechanism, a force sensor and a controller; the mechanical arm is arranged on the base; the actuating mechanism is arranged at the tail end of the mechanical arm; the force sensor is arranged on the executing mechanism and used for acquiring stress information of the executing mechanism and sending the stress information to the controller; the controller is connected with the mechanical arm, the actuating mechanism and the force sensor and is used for carrying out punching control according to the method of any one of claims 1 to 7.
10. The cooperative robot of claim 9, wherein the force sensor is a force controlled sensor; the force control sensor is arranged at the connecting position of the tail end of the mechanical arm and the executing mechanism.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011355095.0A CN114559560A (en) | 2020-11-27 | 2020-11-27 | Punching operation control method and device and cooperative robot |
| PCT/CN2021/127304 WO2022111207A1 (en) | 2020-11-27 | 2021-10-29 | Punching operation control method and apparatus, and collaborative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011355095.0A CN114559560A (en) | 2020-11-27 | 2020-11-27 | Punching operation control method and device and cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114559560A true CN114559560A (en) | 2022-05-31 |
Family
ID=81712562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011355095.0A Pending CN114559560A (en) | 2020-11-27 | 2020-11-27 | Punching operation control method and device and cooperative robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114559560A (en) |
| WO (1) | WO2022111207A1 (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5265195A (en) * | 1990-02-27 | 1993-11-23 | Kabushiki Kaisha Toshiba | Control robot with different axial direction shafts |
| EP1455051A1 (en) * | 2003-03-05 | 2004-09-08 | Illinois Tool Works Inc. | Method of drilling a borehole |
| CN101994507A (en) * | 2010-11-12 | 2011-03-30 | 铜陵精盛微特机电有限责任公司 | Intelligent flexible reinforced concrete drilling machine |
| CN106593438A (en) * | 2017-01-25 | 2017-04-26 | 中国地质大学（武汉） | Drilling hydraulic mining downhole excavating robot |
| CN107303670A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Common collaboration robot, robot system and common collaboration robot perform the control method of operation task |
| WO2019052971A1 (en) * | 2017-09-15 | 2019-03-21 | Inventio Ag | Device and method for the automated implementation of an assembly step in a lift shaft |
| JP2019151015A (en) * | 2018-03-02 | 2019-09-12 | 株式会社シブヤ | Core drill device |
| CN110625593A (en) * | 2019-10-18 | 2019-12-31 | 北京石油化工学院 | An end effector of an intelligent hole-making robot |
| CN110725648A (en) * | 2019-11-19 | 2020-01-24 | 中交机电工程局有限公司 | A dual-bit tunnel automatic drilling machine and method |
| CN111037556A (en) * | 2019-12-19 | 2020-04-21 | 上海新时达机器人有限公司 | Punching control method and punching control equipment |
| CN111677457A (en) * | 2020-06-28 | 2020-09-18 | 中铁九局集团电务工程有限公司 | Drilling arm |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108625777B (en) * | 2018-05-14 | 2021-08-20 | 广东和立土木工程有限公司 | Movable automatic drilling machine for bar planting drilling and construction method thereof |
| CN109519123B (en) * | 2019-01-09 | 2024-05-07 | 西安增材制造国家研究院有限公司 | Tunnel drilling robot and construction drilling method thereof |
| CN112065275B (en) * | 2020-10-12 | 2022-04-29 | 中国铁建重工集团股份有限公司 | Tunnel drilling robot system, control method thereof and tunnel boring machine |
| CN113482528A (en) * | 2021-08-18 | 2021-10-08 | 中建安装集团有限公司 | Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot |
-
2020
- 2020-11-27 CN CN202011355095.0A patent/CN114559560A/en active Pending
-
2021
- 2021-10-29 WO PCT/CN2021/127304 patent/WO2022111207A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5265195A (en) * | 1990-02-27 | 1993-11-23 | Kabushiki Kaisha Toshiba | Control robot with different axial direction shafts |
| EP1455051A1 (en) * | 2003-03-05 | 2004-09-08 | Illinois Tool Works Inc. | Method of drilling a borehole |
| CN101994507A (en) * | 2010-11-12 | 2011-03-30 | 铜陵精盛微特机电有限责任公司 | Intelligent flexible reinforced concrete drilling machine |
| CN107303670A (en) * | 2016-04-19 | 2017-10-31 | 上海技美科技股份有限公司 | Common collaboration robot, robot system and common collaboration robot perform the control method of operation task |
| CN106593438A (en) * | 2017-01-25 | 2017-04-26 | 中国地质大学（武汉） | Drilling hydraulic mining downhole excavating robot |
| WO2019052971A1 (en) * | 2017-09-15 | 2019-03-21 | Inventio Ag | Device and method for the automated implementation of an assembly step in a lift shaft |
| JP2019151015A (en) * | 2018-03-02 | 2019-09-12 | 株式会社シブヤ | Core drill device |
| CN110625593A (en) * | 2019-10-18 | 2019-12-31 | 北京石油化工学院 | An end effector of an intelligent hole-making robot |
| CN110725648A (en) * | 2019-11-19 | 2020-01-24 | 中交机电工程局有限公司 | A dual-bit tunnel automatic drilling machine and method |
| CN111037556A (en) * | 2019-12-19 | 2020-04-21 | 上海新时达机器人有限公司 | Punching control method and punching control equipment |
| CN111677457A (en) * | 2020-06-28 | 2020-09-18 | 中铁九局集团电务工程有限公司 | Drilling arm |
Non-Patent Citations (1)
| Title |
|---|
| 李翠平等: "《矿业企业生产事故安全预期技术研究》", vol. 1, 北京冶金工业出版社, pages: 162 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022111207A1 (en) | 2022-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6572265B2 (en) | Control device and machine learning device | |
| CN111438687B (en) | Determination device | |
| KR102069266B1 (en) | Diagnostic devices, computer programs, and diagnostic systems | |
| CN102233587B (en) | Apparatus and method for detecting contact position of robot | |
| US20140123740A1 (en) | Working Abnormality Detecting Device and Working Abnormality Detecting Method for Machine Tool | |
| CN111687652B (en) | Grip force adjusting device and grip force adjusting system | |
| EP2431137A2 (en) | Reducer abnormality determination method, abnormality determination device, and robot system | |
| US20020056181A1 (en) | Force controlling robot and fitting/drawing method using the force controlling robot | |
| US20190258223A1 (en) | Failure prediction device and machine learning device | |
| JP5496129B2 (en) | Robot screw tightening abnormality detection method | |
| CN112109080A (en) | Adjustment auxiliary device | |
| US11144032B2 (en) | Time to failure analysis of robotic arm cabling | |
| JP6863951B2 (en) | Wire disconnection predictor | |
| CN112109077A (en) | Machine learning device for learning tool state, robot system, and machine learning method | |
| CN104044147A (en) | Robot system and method for producing an object to be processed | |
| CN114559560A (en) | Punching operation control method and device and cooperative robot | |
| JPH05212455A (en) | Method for detecting life of press die and device therefore | |
| CN106032673B (en) | A kind of perching knife load control system, land leveller and method | |
| CN113352331A (en) | Method for force cooperation between robot and external object and cooperative robot | |
| CN115666836A (en) | Tool diagnosis device | |
| CN117824902A (en) | Bolt pretightening force monitoring and controlling method based on ultrasonic single wave technology | |
| US20230065613A1 (en) | Numerical control device | |
| CN117984363A (en) | A small six-joint robot tool anti-collision protection method | |
| CN104048635B (en) | Accumulated hole depth measuring system, measuring method and engineering machinery with accumulated hole depth measuring system | |
| CN117412840A (en) | Collaborative robot with collision detection function and collision detection method of collaborative robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220531 |
|
| RJ01 | Rejection of invention patent application after publication |