CN113755978B - Automatic joint robot compliance device based on tension feedback - Google Patents
Automatic joint robot compliance device based on tension feedback Download PDFInfo
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- CN113755978B CN113755978B CN202111097787.4A CN202111097787A CN113755978B CN 113755978 B CN113755978 B CN 113755978B CN 202111097787 A CN202111097787 A CN 202111097787A CN 113755978 B CN113755978 B CN 113755978B
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
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- D01H13/10—Tension devices
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Abstract
The invention relates to an automatic joint robot compliance control device based on tension feedback, which comprises a robot, a yarn leading device, a tension sensor and an industrial personal computer, wherein the industrial personal computer runs a robot compliance control algorithm based on yarn tension feedback and realized by a force tracking admittance control model and a PID (proportion integration differentiation) controller. The invention adopts the force tracking admittance controller to establish the dynamic relation between the yarn tension and the kinematic parameters of the robot when the robot draws the yarn joint, and simultaneously adds the PID control to improve the force tracking performance, so that the tension on the yarn is kept near the expected tension value in the whole joint process. The automatic joint device can effectively prevent the yarn from being broken in the automatic joint process of the spun yarn, improve the joint success rate and provide a solution for the automatic joint of the low-strength high-count pure cotton yarn.
Description
Technical Field
The invention relates to a compliance control device of an automatic joint robot based on yarn tension feedback, and belongs to the technical field of automatic spun yarn joint devices.
Background
The traditional ring spinning has the advantages of wide range of used raw materials, good usability of products, wide range of spinnable counts, good yarn strength and the like, which account for more than 80% of the total production of national yarns, the broken yarns of the ring spun yarns still need to be manually connected by a vehicle stopping worker till now, and the automatic connection of the ring spun yarns is always the target pursued by the spinning world at home and abroad. Through the driving of the requirements and the technical development of the automatic piecing robot in the spinning world, more mature automatic piecing technologies and devices are provided at home and abroad.
Because the finding of the end on the broken yarn bobbin is complex, the existing piecing method mainly adopts an auxiliary yarn leading piecing, such as 'an automatic piecing method of a ring spinning frame' designed in chinese patent CN112111817A, 'an automatic intelligent piecing method and device of a ring spun yarn broken end' designed in chinese patent CN105019077A, 'an automatic piecing device and method of a ring spinning frame' designed in chinese patent CN113174668A, etc., all use a spare yarn to wind on the broken yarn bobbin, and then draw the spare yarn to penetrate a steel wire ring, wind a balloon ring and a yarn guide hook through a yarn leading device and feed the spare yarn to a front roller, but the existing piecing method and device have the common problems:
(1) the spare yarn is connected to the yarn guiding device through the long pipe, so that large friction resistance can occur in the yarn guiding process, the motion control of the existing yarn guiding device is open-loop position control, and the yarn is easily broken under the condition of no tension feedback control, so that the joint is failed.
(2) For the automatic joint of high count pure cotton yarn, the problem that the yarn is easy to break because the yarn strength is lower and the yarn tension is higher than the strength in the yarn leading process is very easy to occur, and the existing automatic joint technology and device have no method for solving the problem.
Disclosure of Invention
The purpose of the invention is: the yarn breakage in the automatic spun yarn splicing process is prevented, and the splicing success rate is effectively improved; and simultaneously provides a solution for the automatic joint of high-count pure cotton yarns.
In order to achieve the aim, the technical scheme of the invention is to provide an automatic piecing robot compliance control device based on tension feedback, which is characterized by comprising a robot, wherein the tail end of the robot is provided with a yarn leading device, the tail end of the yarn leading device is provided with a tension sensor, a yarn passes through the yarn leading device and is held by the yarn leading device, and the robot pulls the yarn through the yarn leading device to complete the whole automatic piecing work of ring spun yarn; in the whole automatic joint process of the ring spun yarn, the actual tension of the yarn is obtained in real time through a tension sensor and is uploaded to an industrial personal computer, the industrial personal computer runs a robot compliance control algorithm based on yarn tension feedback and realized by a force tracking admittance control model and a PID (proportion integration differentiation) controller, and when a robot yarn leading joint is established through the robot compliance control algorithm, the dynamic relation between the actual tension of the yarn and kinematic parameters of a robot is realized, so that in the whole automatic joint process of the ring spun yarn, the tension on the yarn is kept near an expected tension value, wherein:
after the industrial personal computer receives the actual tension, the robot compliance control algorithm obtains the kinematic parameters of the robot in the Cartesian space by adopting a force tracking admittance control model, and the kinematic parameters are converted into each joint angle of the robot by using the inverse kinematics algorithm of the robot; the industrial personal computer sends each joint angle to the robot, so that the robot moves to a designated position to complete the motion control of the robot, thereby indirectly controlling the yarn tension in the joint process to be kept near an expected tension value and preventing joint failure caused by yarn breakage in the joint process; in the process, the robot compliance control algorithm introduces a PID controller to adjust the dynamic and steady-state tension tracking performance of the force tracking admittance control model when the environment changes.
Preferably, the kinematic parameters of the robot include pose, speed and acceleration of the robot tip, and the force tracking admittance control model is represented by the following formula (1):
in the formula (1), M d 、B d 、K d Is a predetermined desired robot inertia, desired damping and desired stiffness matrix, the dimensions of which depend on the degrees of freedom of the robot; x d (t)、
Representing the pose, the speed and the acceleration of the robot for completing the expected track of the joint action; x (t),
Representing the actual motion pose, speed and acceleration of the robot; f d (t) represents the desired tension in the joint process; f e (t) represents the actual tension measured by the tension sensor during the splicing process;
in order to facilitate the application of the robot compliance control algorithm based on yarn tension feedback in the actual sampling-based control system, the differential equation of the formula (1) is written in the form of a differential equation as shown in the following formula (2)
In the formula (2), nT represents the nth control period, n is 1,2,3 …, and T is the sampling frequency, so as to obtain the acceleration in the robot joint process of the nth control period
Speed in robot joint process of n +1 control period
And the pose X ((n +1) T) in the robot joint process of the (n +1) th control cycle.
Preferably, when the force tracking admittance control model reaches a steady state,
are all 0, at the moment, the parameter K of the force tracking admittance control model is obtained by the formula (1) d Determining M according to the dynamic characteristics of the second-order system and the system simulation result d 、B d ；
Subsequently based on the calculated parameter K d 、M d 、B d Simulating the force tracking admittance control model, and continuously adjusting M according to the simulation result d And B d Finally, M with the best force tracking effect is selected d And B d A value of (d);
during simulation, simulating F by using an environmental dynamics model e (t) expressed by the following formula (3):
in the formula (3), B e Representing the damping coefficient between the yarn leading device and the yarn; x e (t) represents the ambient position of the yarn;
representing the ambient velocity of the yarn; k e Yarn representing a yarnLinear stiffness.
Preferably, to improve the robustness of the force tracking admittance control model in tension tracking when the environmental position, the rigidity and other factors change, the PID controller is configured to adjust the dynamic and steady tension tracking performance of the force tracking admittance control model when the environment changes, and e (nt) ═ F e (nT)-F d (nT), the ideal PID control law of the continuous control system is expressed as the following equation (4):
in the formula (4), u (nT) represents the control quantity transmitted to the force tracking admittance control model by the nth control period PID controller; k is a radical of p Proportional coefficient for PID control; t is t Is an integration time constant; t is D Is a differential time constant; e (nt) is the deviation of the actual tension from the desired tension in the nth control period;
the PID controller shown in equation (4) is written in the form of a difference equation shown in equation (5) below:
in the formula (5), e (nt) represents the sum of deviations of all tensions at the nth control period; k is a radical of i 、k d Respectively representing integral coefficient and differential coefficient of PID control; f e (nT) represents the actual tension measured by the tension sensor during the n-th control cycle of the joint; f d (nT) represents the desired tension during the splice for the nth control cycle.
The invention adopts the force tracking admittance controller to establish the dynamic relation between the yarn tension and the kinematic parameters of the robot when the robot draws the yarn joint, and simultaneously adds the PID control to improve the force tracking performance, so that the tension on the yarn is kept near the expected tension value in the whole joint process. The automatic joint device can effectively prevent the yarn from being broken in the automatic joint process of the spun yarn, improve the joint success rate and provide a solution for the automatic joint of the low-strength high-count pure cotton yarn.
Drawings
FIG. 1 is a control flow diagram of an embodiment of the present invention;
FIG. 2 is a block diagram of a control algorithm according to an embodiment of the present invention;
fig. 3 is a mechanical structure diagram of the embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The invention provides a tension feedback-based compliance control device of an automatic joint robot, which comprises a robot 101, a yarn leading device 102, a tension sensor 104 and an industrial personal computer. A thread take-up 102 is mounted at the end of the robot 101 and a thread 103 is passed through the thread take-up 102 and held by the thread take-up 102. The robot 101 pulls the yarn 103 through the yarn leading device 102 to complete the automatic joint work of the whole ring spun yarn. The tension sensor 104 is assembled at the tail end of the yarn leading device 102, and in the whole automatic joint process of the ring spun yarn, the actual tension of the yarn 103 is obtained in real time through the tension sensor 104 and is uploaded to the industrial personal computer.
In this embodiment, the robot 101 is an industrial-grade six-axis robot to meet the high-precision multi-pose continuous operation requirement. The yarn guiding device 102 adopts a one-way nozzle, and the yarn 103 can be pulled and clamped by controlling the size and the direction of the introduced air flow. The tension sensor 104 adopts an FS1-200-USB type tension sensor of SCHMIDT company in Germany, the maximum measuring range is 200cN, and the sampling frequency is 200HZ at most. The industrial personal computer adopts an intel Kurui i7 processor to realize real-time processing and feedback of data, and adopts a high-capacity hard disk to realize storage of original data and processed data, thereby facilitating subsequent analysis.
The industrial personal computer runs a robot compliance control algorithm based on yarn tension feedback and realized by a force tracking admittance control model and a PID controller. After the industrial personal computer receives the actual tension, the robot compliance control algorithm obtains the kinematic parameters of the robot 101 by adopting a force tracking admittance control model, and calculates and obtains each joint angle of the robot 101 based on the kinematic parameters. The industrial personal computer sends each joint angle to the robot 101, so that the robot 101 moves to a designated pose, the motion control of the robot 101 is completed, the yarn tension in the joint process is indirectly controlled to be kept near an expected tension value, and joint failure caused by yarn breakage in the joint process is prevented.
In the actual control process, the tracking performance of the robot compliance control algorithm on the yarn tension of the yarn 103 by using the tension sensor 104 may be deteriorated due to the change of environmental position, rigidity and other factors, and even the situation that the yarn tension exceeds the yarn breaking strength caused by tension tracking failure occurs. Therefore, the robot compliance control algorithm introduces a PID controller to adjust the dynamic and steady tension tracking performance of the force tracking admittance control model when the environment changes.
According to the invention, a dynamic relation between yarn tension and kinematic parameters of the robot 101 is established by using a robot compliance control algorithm when the robot 101 draws a yarn joint, so that the tension on the yarn 103 is kept near an expected tension value in the whole joint process.
In this embodiment, the kinematic parameters of the robot 101 include a pose, a speed, and an acceleration of the end of the robot 101, and the aforementioned force tracking admittance control model is represented by the following formula (1):
in the formula (1), M d 、B d 、K d Is a predetermined desired robot inertia, desired damping and desired stiffness matrix, the dimensions of which depend on the degrees of freedom of the robot 101; x d (t)、
Bits representing the desired trajectory of the robot 101 to complete the joint actionAttitude, velocity, acceleration; x (t),
Represents the actual motion pose, velocity, acceleration of the robot 101; f d (t) represents the desired tension in the joint process; f e (t) represents the actual tension measured by the tension sensor 104 during the splice.
And (3) carrying out Laplace transformation on the formula (1) to obtain the following formula (2):
as can be seen from equation (2): during the piecing process, when the yarn 103 is actually under tension F e (t) and the desired tension F d (t) when a deviation delta F exists, inputting the deviation delta F into the force tracking admittance control model to obtain a robot kinematic parameter X(s), and reducing the force deviation delta F by changing the kinematic parameter of the robot. This creates a negative feedback adjustment until the actual tension of the yarn has followed the desired yarn tension.
In order to establish the force tracking admittance control model as shown in formula (1), in this embodiment, M d 、B d And K d Calculated in a simulation environment. In a simulation environment F e (t) is expressed by the following formula (3):
in the formula (3), B e Represents the damping coefficient between the yarn take-up device 102 and the yarn 103; x e (t) represents the environmental position of yarn 103;
represents the ambient velocity of yarn 103; k e Representing the yarn stiffness of yarn 103.
In the simulationWhen the compliance control device of the automatic joint robot reaches a steady state,
all are 0, and at this time, the parameter K of the force tracking admittance control model can be obtained by the formula (1) d And then determining M according to the dynamic characteristics of the second-order system d 、B d And further establishing a force tracking admittance control model as shown in the formula (1).
In order to apply a robot compliance control algorithm to an actual automatic joint robot compliance control device, a differential equation of formula (1) is written in the form of a differential equation as shown in formula (4) below:
in equation (4), nT denotes the nth control period, n is 1,2,3 …, and T denotes the sampling frequency.
The PID controller is used for adjusting the deviation delta F between the actual tension and the expected tension, wherein the delta F is equal to F e (nT)-F d (nT). In an industrial process, the ideal PID control law of a continuous control system is expressed as the following formula (5):
in the formula (5), u (nT) is an output signal of the PID controller; k is a radical of o To proportional gain, k p Is in reciprocal relation with the proportionality; t is t Is an integration time constant; t is D Is a differential time constant; e (nT) is the difference between the given value r (nT) and the measured value, the given value r (nT) is the expected tension, and the measured value is the actual tension.
Similarly, the PID controller shown in equation (5) is written in the form of a differential equation shown in equation (6) below:
in the formula (6), e (nt) represents a deviation of the actual tension from the desired tension in the nth control period; e (nT) represents the sum of all the deviations of the tension at the nth control period; k is a radical of p 、k i 、k d Respectively representing a proportional coefficient, an integral coefficient and a differential coefficient of PID control; u (nT) represents the control quantity transmitted to the force tracking admittance control system by the nth control period PID controller; f e (nT) represents the actual tension measured by the tension sensor during the n control cycle joint; f d (nT) represents the desired tension during the n control cycle joint. According to the formula (4) and the formula (5) and the formula (6), compiling programs to complete the robot compliance control based on yarn tension feedback to obtain robot kinematic parameters including the pose X in the robot joint process d (t), speed
Acceleration of a vehicle
For the industrial-grade six-axis robot adopted in this embodiment, cartesian space coordinates output by the force tracking admittance control model are converted into angles θ corresponding to joints of the robot through inverse kinematics of the robot, which is well known to those skilled in the art 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 And sending the group of joint angles to the robot to complete the motion control of the robot, and specifically comprises the following steps:
equation (7) is a coordinate transformation matrix of two adjacent joints of the robot:
for the industrial-grade six-axis robot adopted in this embodiment, the coordinate transformation matrix between any two adjacent connecting rods of the robot is sequentially obtained from equation (7) and is shown in equation (8) below:
thereby obtaining a transformation moment between the end effector coordinate system and the base coordinate system as shown in formula (9):
further, each joint angle theta corresponding to the kinematic parameter calculated by the force tracking admittance controller is obtained through matrix inverse transformation 1 、θ 2 、θ 3 、θ 4 、θ 5 、θ 6 And the joint angle is sent to the robot, and the robot moves to an appointed pose.
As shown in fig. 3, the structure of the ring spinning automatic piecing method and device based on tension feedback control according to the embodiment of the present invention includes a robot 101, a yarn leading device 102, a yarn 103, a tension sensor 104, an industrial personal computer, and a robot compliance control algorithm based on yarn tension feedback; the robot 101 is used for drawing the yarn 103 to complete the automatic joint work of the whole ring spun yarn; the yarn-guiding device 102 is assembled at the end of the robot 101, and the yarn 103 passes through the yarn-guiding device 102 and is held by the yarn-guiding device 102; the tension sensor 104 is assembled at the tail end of the yarn guiding device 102 and is used for uploading yarn tension data acquired in real time in the whole joint process to the industrial personal computer; the robot compliance control algorithm based on yarn tension feedback adjusts the kinematic parameters of the robot 101 in real time according to the tension data fed back by the tension sensor 104, wherein the kinematic parameters of the robot 101 comprise the pose, the speed and the acceleration of the tail end of the robot.
According to the actual working environment of a ring spinning frame, designing the automatic joint action of the robot 101 to obtain an original position control track of the joint action of the robot 101, and taking the original position control track as a reference track of a robot compliance control algorithm based on yarn tension feedback; obtaining environmental information, including yarn stiffness k, interacting with the robot 101 e Environment location x e Damping coefficient b between the yarn take-up device 102 and the yarn 103 e (ii) a When the tension tracking control system reaches a steady state, the parameter K of the force tracking admittance control model is obtained d And determining M through simulation and experiment modes according to the dynamic characteristics of a second-order system d 、B d And establishing a force tracking admittance control model.
In the process of piecing, a robot compliance control algorithm based on yarn tension feedback obtains tension data of the yarn 103 in real time according to the tension sensor 104 to calculate kinematic parameters of the robot 101, joint angles in each control period are obtained through a robot inverse kinematic algorithm and are sent to the robot 101, and the robot 101 performs ring spinning automatic piecing according to kinematic parameter motion; and finally, judging whether the joint work is finished or not, if not, continuing to execute, if so, exiting the program, and finishing the automatic joint work of the ring spinning by the flexible control joint robot based on yarn tension feedback.
Claims (3)
1. The compliance control device of the automatic piecing robot based on tension feedback is characterized by comprising a robot, wherein the tail end of the robot is provided with a yarn leading device, the tail end of the yarn leading device is provided with a tension sensor, the yarn passes through the yarn leading device and is held by the yarn leading device, and the robot pulls the yarn through the yarn leading device to complete the automatic piecing work of the whole ring spinning spun yarn; in the whole automatic joint process of ring spun yarn, the actual tension of the yarn is obtained in real time through a tension sensor and is uploaded to an industrial personal computer, the industrial personal computer runs a robot compliance control algorithm based on yarn tension feedback and realized by a force tracking admittance control model and a PID (proportion integration differentiation) controller, and when the robot yarn leading joint is established through the robot compliance control algorithm, the dynamic relation between the actual tension of the yarn and kinematic parameters of a robot is realized, so that in the whole automatic joint process of ring spun yarn, the tension on the yarn is kept near an expected tension value, wherein:
after the industrial personal computer receives the actual tension, the robot compliance control algorithm obtains the kinematic parameters of the robot in the Cartesian space by adopting a force tracking admittance control model, and the kinematic parameters are converted into each joint angle of the robot by using the inverse kinematics algorithm of the robot; the industrial personal computer sends each joint angle to the robot, so that the robot moves to a designated position to complete the motion control of the robot, thereby indirectly controlling the yarn tension in the joint process to be kept near an expected tension value and preventing joint failure caused by yarn breakage in the joint process; in the process, a robot compliance control algorithm introduces a PID controller to adjust the dynamic and steady tension tracking performance of the force tracking admittance control model when the environment changes;
the kinematic parameters of the robot include the position, the speed and the acceleration of the tail end of the robot, and then the force tracking admittance control model is shown as the following formula (1):
in the formula (1), M d 、B d 、K d Is a predetermined desired robot inertia, desired damping and desired stiffness matrix, the dimensions of which depend on the degrees of freedom of the robot; x d (t)、
Position, velocity, acceleration representing the desired trajectory of the robot to complete the joint action; x (t),
Representing the actual motion position, speed, acceleration of the robot; f d (t) represents the desired tension in the joint process; f e (t) represents the actual tension measured by the tension sensor during the splicing process;
in order to facilitate the application of the robot compliance control algorithm based on yarn tension feedback in the actual sampling-based control system, the differential equation of the formula (1) is written in the form of a differential equation as shown in the following formula (2)
In the formula (2), nT represents the nth control period, n is 1,2,3 …, and T is the sampling frequency, so as to obtain the acceleration in the robot joint process of the nth control period
Speed in robot joint process of n +1 control period
And position X ((n +1) T) in the robot joint process of the (n +1) th control cycle.
2. The tension feedback-based automatic joint robot compliance control device of claim 1, wherein when the force tracking admittance control model reaches a steady state,
are all 0, at the moment, the parameter K of the force tracking admittance control model is obtained by the formula (1) d And then, according to the dynamic characteristics of the second-order system and the system simulation result, preliminarily determining M d 、B d ；
Subsequently based on the calculated parameter K d 、M d 、B d Simulating the force tracking admittance control model, and continuously adjusting M according to the simulation result d And B d Finally, M with the best force tracking effect is selected d And B d A value of (d);
during simulation, simulating F by using an environmental dynamics model e (t) expressed by the following formula (3):
in the formula (3), B e Yarn guiding device and yarnDamping coefficient therebetween; x e (t) represents the ambient position of the yarn;
representing the speed of the yarn; k e Representing the yarn stiffness of the yarn.
3. The compliance control device of claim 1, wherein to improve the tension tracking robustness of the force tracking admittance control model, the PID controller is configured to adjust the dynamic and steady state tension tracking performance of the force tracking admittance control model under environmental changes, e (nt) ═ F e (nT)-F d (nT), the ideal PID control law of the continuous control system is expressed as the following equation (4):
in the formula (4), u (nT) represents the control quantity transmitted to the force tracking admittance control model by the nth control period PID controller; k is a radical of p Proportional coefficient for PID control; t is t Is an integration time constant; t is D Is a differential time constant; e (nt) is the deviation of the actual tension from the desired tension in the nth control period;
the PID controller shown in equation (4) is written in the form of a difference equation shown in equation (5) below:
in the formula (5), e (nt) represents the sum of deviations of all tensions at the nth control period; k is a radical of i 、k d Respectively representing integral coefficient and differential coefficient of PID control; f e (nT) represents the actual tension measured by the tension sensor during the n control cycle joint; f d (nT) represents the desired tension during the splice for the nth control cycle.
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