CN-121733577-B - Track planning method and system for continuous synchronous mode of mechanical arm

CN121733577BCN 121733577 BCN121733577 BCN 121733577BCN-121733577-B

Abstract

The application provides a track planning method and a track planning system for a continuous synchronous mode of a mechanical arm, which relate to the technical field of mechanical arms and are characterized in that operation related data of a mechanical arm system are acquired, a motion process of the mechanical arm along a preset motion track is simulated through a digital twin model to generate a risk prediction result of the mechanical arm in the continuous synchronous mode, the preset motion track is divided into a plurality of track segments, the track segments are optimally integrated based on the risk prediction result and motion characteristic parameters of the mechanical arm to form a preliminary motion track, operation state data are analyzed to generate data abnormal information, each mechanical arm in the mechanical arm system is controlled to move according to the preliminary motion track, real-time operation data of each mechanical arm are acquired, the preliminary motion track is adjusted by combining the data abnormal information and the risk prediction result, and a target motion track of the mechanical arm is obtained, so that safe, efficient and self-adaptive target track operation of the mechanical arm in the continuous synchronous mode is realized.

Inventors

LI ZHAOXU
Liang Jinshuai
ZHAN QINGSHAN
ZHANG ZHIKANG
TAO WEI
ZHAO XIPENG

Assignees

济南昊中自动化有限公司

Dates

Publication Date: 20260508
Application Date: 20260224

Claims (8)

1. The track planning method of the continuous synchronous mode of the mechanical arm is characterized by comprising the following steps of: Acquiring operation related data of a mechanical arm system, wherein the operation related data comprise relative angle data of a mechanical arm and a press sliding block, motion constraint parameters of the mechanical arm and operation state data under fixed production beats; Simulating a motion process of the mechanical arm along a preset motion track through a digital twin model to generate a risk prediction result of the mechanical arm in a continuous synchronous mode, wherein the risk prediction result at least comprises a prediction interference area of the mechanical arm and a press slide block; Dividing a preset motion track into a plurality of track segments by a track optimization technology, and optimizing and integrating each track segment based on a risk prediction result and motion characteristic parameters of the mechanical arm to form a preliminary motion track, wherein the motion characteristic parameters are used for indicating that the track segments passing through the prediction interference area are accelerated and avoided, and other track segments maintain the fixed production beats; Analyzing the running state data to generate data abnormality information; controlling each mechanical arm in the mechanical arm system to move according to the preliminary movement track through a multi-axis control technology and a distributed control technology, collecting real-time operation data of each mechanical arm in the synchronous operation process, and adjusting the preliminary movement track by combining the data abnormal information and the risk prediction result to obtain a target movement track of the mechanical arm in a continuous synchronous mode; Simulating a motion process of the mechanical arm along a preset motion track through a digital twin model to generate a risk prediction result of the mechanical arm in a continuous synchronous mode, wherein the method comprises the following steps: Simulating the motion process of the mechanical arms along a preset motion track through a digital twin model, and acquiring motion data of each mechanical arm and relative position information of the mechanical arms and a press sliding block in the motion process; generating motion conflict information according to the relative position information and the relative angle data, wherein the motion conflict information comprises one or more prediction interference areas formed by risk position points; comparing the motion data with the motion constraint parameters to obtain a comparison result; Based on the motion conflict information and the comparison result, identifying abnormal motion phases with overlapping possibility or not conforming to motion constraint parameters, and integrating all abnormal motion phases to form a risk prediction result of the mechanical arm in a continuous synchronous mode; dividing a preset motion track into a plurality of track segments by a track optimization technology, and optimizing and integrating each track segment based on a risk prediction result and a motion characteristic parameter of the mechanical arm to form a preliminary motion track, wherein the method comprises the following steps: Dividing a preset motion track into a plurality of track segments, and distributing priorities to the track segments according to the operation precision requirement; Determining a target risk type according to the risk prediction result, and identifying a first track section with the target risk type and a second track section without the target risk type, wherein if the target risk type is prediction interference with a press slide block, the corresponding first track section is marked as a track section needing acceleration avoidance; determining an optimization direction and an attitude adjustment parameter of the first track segment according to the target risk type corresponding to the first track segment, the motion characteristic parameters of the mechanical arms and the load characteristic parameters of each mechanical arm; according to the optimization direction and the gesture adjustment parameters of each first track segment, the motion parameters of the first track segments with different priorities are adapted and adjusted to obtain a third track segment; and splicing and smoothing correction processing is carried out on all the third track sections and the second track sections according to the preset movement track, so as to form a preliminary movement track.
2. The method of claim 1, wherein generating motion conflict information from the relative position information and the relative angle data comprises: setting the minimum safety distance and the safety angle range between the mechanical arm and the press sliding block according to the outline dimensions of the mechanical arm and the press sliding block; According to the relative position information and the actual distance and the actual angle between the mechanical arm and the press slide block at each moment in the relative angle data, the target moment when the actual distance is smaller than the minimum safety distance or the actual angle exceeds the safety angle range and the position information of the corresponding target mechanical arm and the target press slide block are identified; Clustering the position information corresponding to each target moment in space to form one or more prediction interference areas representing the collision risk space range; and integrating the target moments to obtain a risk period with collision risk, and combining the predicted interference area to form movement conflict information.
3. The method of claim 1, wherein the optimized direction of the first track segment comprises a first optimized direction and a second optimized direction; According to the target risk type corresponding to the first track segment, the motion characteristic parameters of the mechanical arms and the load characteristic parameters of each mechanical arm, determining the optimization direction and the posture adjustment parameters of the first track segment comprises the following steps: Aiming at a first track section with a target risk type of motion conflict abnormality, analyzing motion path nodes of collision risks generated by the first track sections and the press sliding blocks according to motion characteristic parameters, an operation space range and load characteristic parameters of the mechanical arms to determine a first optimization direction, and aiming at a first track section with a target risk type of constraint overrun abnormality, analyzing reasons of the motion parameters of the first track sections exceeding motion constraint parameters to determine a second optimization direction; Based on the first optimization direction and the second optimization direction, determining the posture adjustment range of the end effector of the mechanical arm and the cooperative movement range of each related mechanical arm by combining the movement characteristic parameters of the mechanical arm; and according to the load characteristic parameters of each mechanical arm, checking and correcting the gesture adjustment range and the cooperative motion range to generate gesture adjustment parameters of each first track segment.
4. The method of claim 1, wherein controlling the movement of each mechanical arm in the mechanical arm system according to the preliminary movement track by a multi-axis control technology and a distributed control technology, collecting real-time movement data of each mechanical arm in a synchronous movement process, and adjusting the preliminary movement track by combining the data anomaly information and a risk prediction result to obtain a target movement track of the mechanical arm in a continuous synchronous mode, comprises: Analyzing the preliminary running track into a motion control instruction corresponding to each mechanical arm, controlling each mechanical arm to synchronously run according to the motion control instruction through a multi-axis control technology and a distributed control technology, and collecting real-time running data of each mechanical arm in the synchronous running process; extracting abnormal real-time data matched with the data abnormal information and abnormal stage information matched with the risk prediction result from the real-time operation data; according to the abnormal real-time data and the abnormal stage information, the preliminary running track is adjusted, and a candidate running track is generated; And verifying the candidate running track according to the risk prediction result and the motion constraint parameter, and determining the candidate running track passing the verification as a target running track of the mechanical arm in a continuous synchronous mode.
5. The method of claim 4, wherein controlling each of the robotic arms to operate in synchronization with the motion control command via a multi-axis control technique and a distributed control technique, comprises: Constructing a communication network between a multi-axis control center and each part controller by using a distributed control technology, and configuring a communication address and a data transmission protocol of each part controller in the communication network to form a target communication link; Based on the target communication link, transmitting the motion control instruction and the synchronous clock signal to the corresponding part controllers to calibrate the time reference of each part controller and obtain a calibrated time reference; and controlling each mechanical arm to synchronously operate according to the motion control instruction based on the calibrated time reference.
6. A track planning system for a continuous synchronization mode of a mechanical arm, which is used for the track planning method for the continuous synchronization mode of the mechanical arm according to any one of claims 1 to 5, and is characterized by comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring operation related data of a mechanical arm system, and the operation related data comprise relative angle data of a mechanical arm and a press sliding block, motion constraint parameters of the mechanical arm and operation state data under fixed production beats; The simulation module is used for simulating the motion process of the mechanical arm along a preset motion track through the digital twin model so as to generate a risk prediction result of the mechanical arm in a continuous synchronous mode, wherein the risk prediction result at least comprises a prediction interference area of the mechanical arm and a press slide block; The integration module is used for dividing a preset motion track into a plurality of track segments through a track optimization technology, and optimizing and integrating each track segment based on the risk prediction result and the motion characteristic parameters of the mechanical arm to form a preliminary motion track, wherein the motion characteristic parameters are used for indicating that the track segments passing through the prediction interference area are accelerated and avoided, and other track segments maintain the fixed production beats; the analysis module is used for analyzing the running state data to generate data abnormality information; And the adjustment module is used for controlling each mechanical arm in the mechanical arm system to move according to the preliminary movement track through a multi-axis control technology and a distributed control technology, collecting real-time movement data of each mechanical arm in the synchronous movement process, and adjusting the preliminary movement track by combining the data abnormality information and the risk prediction result to obtain a target movement track of the mechanical arm in a continuous synchronous mode.
7. A computing device comprising a processing component and a storage component, the storage component storing one or more computer instructions for execution by the processing component to implement a method of trajectory planning for a continuous synchronization mode of a robotic arm as claimed in any one of claims 1 to 5.
8. A computer storage medium, wherein a computer program is stored, which, when executed by a computer, implements a method for trajectory planning in continuous synchronization mode of a robotic arm as claimed in any one of claims 1 to 5.

Description

Track planning method and system for continuous synchronous mode of mechanical arm Technical Field The application relates to the technical field of mechanical arms, in particular to a track planning method and system for a continuous synchronous mode of a mechanical arm. Background In an automatic production line for automobile stamping, a mechanical arm needs to work cooperatively with a press sliding block running at a high speed to finish continuous feeding and discharging tasks. The synchronous motion of the mechanical arm with high precision and high safety is required to be realized under the fixed beat, so that the spatial interference with the press sliding block is avoided, the whole operation efficiency is ensured not to be influenced, and strict technical requirements are provided for the instantaneity, the safety and the dynamic adaptability of the track planning. The existing scheme generally adopts a preset track generation method based on off-line simulation, calculates an obstacle avoidance path in advance by constructing a motion model of equipment, and executes the obstacle avoidance path according to a fixed time sequence in actual operation. However, the scheme is difficult to cope with dynamic deviation caused by equipment abrasion, load change or beat fine adjustment on site, and once the actual running state deviates from the simulation condition, the preset track cannot be corrected in time, so that interference risk or beat instability is easily caused. Meanwhile, the online identification and response capability of abnormal data in the cooperative motion of multiple mechanical arms is lacking, so that the robustness and adaptability of the system in complex continuous operation are limited. Disclosure of Invention The application aims to provide a track planning method and system for a continuous synchronous mode of a mechanical arm, which are used for solving the problems of interference risk and beat instability caused by the fact that dynamic deviation and abnormal data cannot respond online in the prior art. In order to solve the above technical problems, in a first aspect, the present application provides a track planning method for a continuous synchronization mode of a mechanical arm, including: Acquiring operation related data of a mechanical arm system, wherein the operation related data comprise relative angle data of a mechanical arm and a press sliding block, motion constraint parameters of the mechanical arm and operation state data under fixed production beats; Simulating a motion process of the mechanical arm along a preset motion track through a digital twin model to generate a risk prediction result of the mechanical arm in a continuous synchronous mode, wherein the risk prediction result at least comprises a prediction interference area of the mechanical arm and a press slide block; Dividing a preset motion track into a plurality of track segments by a track optimization technology, and optimizing and integrating each track segment based on a risk prediction result and motion characteristic parameters of the mechanical arm to form a preliminary motion track, wherein the motion characteristic parameters are used for indicating that the track segments passing through the prediction interference area are accelerated and avoided, and other track segments maintain the fixed production beats; Analyzing the running state data to generate data abnormality information; And controlling each mechanical arm in the mechanical arm system to move according to the preliminary movement track through a multi-axis control technology and a distributed control technology, collecting real-time operation data of each mechanical arm in the synchronous operation process, and adjusting the preliminary movement track by combining the data abnormal information and the risk prediction result to obtain a target movement track of the mechanical arm in a continuous synchronous mode. Optionally, simulating a motion process of the mechanical arm along a preset motion track through a digital twin model to generate a risk prediction result of the mechanical arm in a continuous synchronization mode, including: Simulating the motion process of the mechanical arms along a preset motion track through a digital twin model, and acquiring motion data of each mechanical arm and relative position information of the mechanical arms and a press sliding block in the motion process; generating motion conflict information according to the relative position information and the relative angle data, wherein the motion conflict information comprises one or more prediction interference areas formed by risk position points; comparing the motion data with the motion constraint parameters to obtain a comparison result; Based on the motion conflict information and the comparison result, identifying abnormal motion phases with overlapping possibility or not conforming to motion constraint parameters, and integrating all a