CN105666491A - Control system for multi-joint pipeline maintenance robot - Google Patents
Control system for multi-joint pipeline maintenance robot Download PDFInfo
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- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a control system for a multi-joint pipeline maintenance robot. The control system comprises a clamping force control unit, an integral machine movement state control unit and a drive steering gear control unit; the clamping force control unit comprises force sensors installed on worm shafts of clamping and opening-closing mechanisms and detects the winding degree of a drive steel wire rope of a clamping mechanism through the force sensors; the integral machine movement state control unit comprises a nine-shaft posture sensor used for outputting drive control signals and enabling the robot to complete overturning, axial operation, circumferential operation and spiral operation, and the nine-shaft posture sensor collects the movement state information of the robot and compares the movement state information with the standard state information corresponding to the current movement state of the robot for judging whether the current movement of the robot is normal and controlling the robot to move and carry out adaptive adjustment. According to the control system for the multi-joint pipeline maintenance robot, the movement stability and the work efficiency of the multi-joint omnidirectional extra-pipe robot are greatly improved.
Description
Technical field
The present invention relates to robot control field, particularly relate to a kind of multi-joint tubular service robot control system.
Background technology
Along with development and the progress of International Industry production technology, robot is more and more applied in industrial processes, and one type robot is exactly Pipe-out Robot. Pipe-out Robot is for checking whether pipeline has fault or whether there is potential safety hazard. The feature of existing industrial tubes is that caliber is changeable, turns to complexity, has the pipe joint design such as threeway, four-way, and flange, valve or instrumentation are arranged everywhere at pipeline, and pipeline is supported by all kinds of liftings or ground support. The robot operating in the detection outside this type of pipeline or maintenance first has to possess the function advanced with pipeline or turn to, also to possess the function crossing the outer barrier of various pipes, meanwhile, in order to improve the efficiency of pipe detection and maintenance, Pipe-out Robot also should have the motor capacity of certain speed.
Chinese invention patent application publication No. is CN104972460A, disclosing a kind of multi-joint omnidirectional type Pipe-out Robot, this robot includes for carrying the carrier bar of detection equipment, multi-joint front clamp mechanism, multi-joint rear grip mechanism, front upset joint, overturning joint, clamping open-and-close mechanism, axial actuating mechanism and circumference driving mechanism afterwards. This robot can realize omnidirectional's wheel type movement and upset Obstacle Negotiation in theory, the wheeled sports bag of omnidirectional draw together move axially, circumference is mobile and 360 screws.
Above-mentioned robot is operation work on smooth pipeline, and the external diameter of pipeline, distribution and smooth degree difference are big, the phenomenons such as driving wheel skids, gripper mechanism grips is unstable, upset obstacle detouring is not in place easily occur when above-mentioned robot moves outside pipeline, not only affect robot work efficiency and accuracy of detection, and robot crash phenomenon easily occurs.
Summary of the invention
For solving above-mentioned technical problem, the present invention provides a kind of multi-joint tubular service robot control system, for improving the kinetic stability of multi-joint omnidirectional type Pipe-out Robot.
The present invention is achieved in that
A kind of multi-joint tubular service robot control system, described robot includes equipment carrier bar, front clamp mechanism, rear grip mechanism and clamping open-and-close mechanism, front clamp mechanism is connected to one end of equipment carrier bar by front upset hinge joints, rear grip mechanism is connected to the other end of equipment carrier bar by rear upset hinge joints, described front clamp mechanism or rear grip mechanism are provided with axial actuating mechanism, equipment carrier bar is provided with circumference driving mechanism, described clamping open-and-close mechanism is by each joint of worm-drive structure and Steel rope drive front clamp mechanism and rear grip mechanism,
Described control system includes grasping force control unit, complete machine kinestate control unit, drives servos control unit, wireless transmission unit, electric energy control unit and networking unit;
Described grasping force control unit includes the force transducer being installed on the worm shaft of clamping open-and-close mechanism, grasping force control unit for detecting the tensioning degree driving steel wire rope of front clamp mechanism and rear grip mechanism by described force transducer, and compare with default maximum grip power and the standard force value demarcated in advance, judge that whether the chucking power of robot clamping device is enough, and clamping open-and-close mechanism output is adjusted, make the chucking power of front clamp mechanism and rear grip mechanism in set point;
Described complete machine kinestate control unit includes 9 axle attitude transducers, complete machine kinestate control unit is used for exporting drive control signal, make robot complete upset, axially operation, circumference is run, spiral runs, and the movement state information of robot is gathered by described 9 axle attitude transducers, and the standard state information corresponding with robot current motion state compares, judge that whether robot current kinetic is normal, when robot motion's exception, control robot and carry out Motion Adaptive adjustment;
Described electric energy control unit includes electric power detection module, locating module and safety and returns module, and electric power detection module is for the dump energy of measuring robots built-in lithium battery; Described locating module is for determining the current location of robot;
Safety returns module and calculates, according to robot current location, the electricity that safety return is required, and controls robot return before dump energy returns required electricity less than or equal to safety.
Further, the movement state information that complete machine kinestate control unit is collected by described 9 axle attitude transducers includes: axially-movable speed, circumferential movement speed, screw speed and direction, inverted and reversal rate.
Further, the Motion Adaptive adjustment that complete machine kinestate control unit controls when robot carries out axially-movable includes:
Complete machine kinestate control unit obtains the current kinetic speed of robot, and the information gathered according to 9 axle attitude transducers judges the current spatial attitude of robot;
The existing clamp dynamics of front clamp mechanism and rear grip mechanism is obtained by grasping force control unit;
The current kinetic speed of contrast robot and the manipulator shaft preset are to standard movement speed, and contrast the standard clamping dynamics of existing clamp dynamics and the axially-movable preset;
If current kinetic speed is lower than axial standard movement speed, and existing clamp dynamics clamps dynamics in default range of error with standard, then increase the clamping dynamics of front clamp mechanism and rear grip mechanism;
If current kinetic speed is higher than axial standard movement speed, and existing clamp dynamics clamps dynamics in default range of error with standard, then reduce the clamping dynamics of front clamp mechanism and rear grip mechanism.
Further, the Motion Adaptive adjustment that complete machine kinestate control unit controls when robot overturns includes:
Increase the clamping dynamics of front clamp mechanism or rear grip mechanism;
Complete machine kinestate control unit gathers current reversal rate and the axially-movable speed of robot;
Relatively current reversal rate and the standard reversal rate preset;
If current reversal rate is not zero more than standard reversal rate or axially-movable speed, then again increase the clamping dynamics of front clamp mechanism or rear grip mechanism.
Further, described networking unit includes TCP/IP hardware communication protocol stack, between more than two robots, and communication between robot and host computer, it is achieved operating area distribution and coordination;
Described wireless transmission unit includes RS232 serial communication bus and RS485 serial communication bus, described RS232 serial communication bus is for signal transmission between robot and host computer, and RS485 serial communication bus is for signal transmission between robot main control unit and each driving steering wheel.
Further, described equipment carrier bar is variable-length formula extensible canopy, and described complete machine kinestate control unit also includes radar range finding mechanism;
Complete machine kinestate control unit, when controlling robot upset, first passes through described radar range finding mechanism detection obstacle distance and orientation or the range-azimuth waiting to turn over two pipelines jumped;
Complete machine kinestate control unit adjusts the length of variable-length formula extensible canopy according to the distance of described obstacle distance or two pipelines, and determines the flip angle of robot according to the orientation in barrier orientation or two pipelines.
The invention have the benefit that multi-joint tubular service robot control system of the present invention includes grasping force control unit, complete machine kinestate control unit, drive servos control unit, wireless transmission unit, electric energy control unit and networking unit, networking between robot can be realized coordinate, realize operating area reasonable distribution and coordination, avoid repeating operation to improve working performance, described grasping force control unit and complete machine kinestate control unit can clamp dynamics by measuring robots in real time, and the movement state information that robot is when doing various kinds motion, and judge that whether robot motion is abnormal in conjunction with each kinestate of robot, and be adjusted in time in dyskinesia, thus substantially increasing the stability of robot motion, further, electric energy control unit can monitor dump energy in real time, it is ensured that robot can return safely, it is to avoid because the machine that the falls accident that electricity causes not.
Accompanying drawing explanation
Fig. 1 is multi-joint omnidirectional type Pipe-out Robot running status figure in certain moment on pipeline;
Fig. 2 is the robot of the present invention state diagram when overturning on pipeline;
Fig. 3 is robotic gripper's open-and-close mechanism structural representation;
Fig. 4 is robot clamping device structural representation;
Fig. 5 controls systemic hierarchial Organization Chart for robot hardware;
Fig. 6 is robot control system hardware block diagram;
Fig. 7 is the control strategy figure of each type games of robot;
Fig. 8 is the control unit block diagram of robot control system.
Label declaration:
1, equipment carrier bar; 2, front upset joint; 3, joint is overturn afterwards;
4, axial actuating mechanism; 5, circumference driving mechanism; 6, front clamp mechanism;
7, rear grip mechanism; 8, clamping open-and-close mechanism, 10, small-caliber pipeline;
11, big-diameter pipeline; 14, clamping folding steering wheel; 18, mainframe;
19, left-hand movable machine frame; 20, dextrad movable machine frame; 27, clamping folding steering wheel steering wheel;
28, worm-wheel shaft bearing block; 29, steel wire rope wire spool; 30, worm screw;31, worm gear;
32, worm-wheel shaft; 33, drum sleeve; 34, worm gear sleeve; 35, steel wire rope;
36, pulley; 39, clamping device minor details frame.
Detailed description of the invention
By describing the technology contents of the present invention, structural feature in detail, being realized purpose and effect, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
Embodiment of the present invention discloses a kind of multi-joint tubular service robot control system. refer to Fig. 1 and Fig. 2, this multi-joint omnidirectional type Pipe-out Robot is mainly used in auto production line tubular service, including equipment carrier bar, front clamp mechanism, rear grip mechanism and clamping open-and-close mechanism, described equipment carrier bar is used for installation and repairing equipment such as video camera, x-ray instrument, ultrasonic reflectoscope etc., front clamp mechanism is connected to one end of equipment carrier bar by front upset hinge joints, rear grip mechanism is connected to the other end of equipment carrier bar by rear upset hinge joints, described front clamp mechanism or rear grip mechanism are provided with axial actuating mechanism, equipment carrier bar is provided with circumference driving mechanism, described clamping open-and-close mechanism is by each joint of worm-drive structure and Steel rope drive front clamp mechanism and rear grip mechanism.
Referring to Fig. 3 and Fig. 4, Fig. 3 is robotic gripper's open-and-close mechanism structure of driving unit schematic diagram, and Fig. 4 is robotic gripper's open-and-close mechanism structural representation. Clamping open-and-close mechanism 8 includes clamping folding steering wheel 14, worm screw 30, worm gear 31, worm-wheel shaft 32, steel wire rope wire spool 29, steel wire rope 35 and pulley 36. Clamping folding steering wheel 14 drives worm screw 30 to rotate by clamping folding steering wheel steering wheel 27, worm gear 31 and steel wire rope wire spool 29 are all arranged on worm-wheel shaft 32, it is secondary that worm screw 30 and worm gear 31 collectively form the Worm Wheel System with auto-lock function, the rotation of worm screw 30 drives worm gear 31 to rotate, and then drive steel wire rope wire spool 29 to rotate by the rotation of worm-wheel shaft 32, the pulley 36 that steel wire rope 35 is walked around respectively and is arranged on left-hand movable machine frame 19, dextrad movable machine frame 20, clamping device respectively save in frame, is finally fixedly arranged at clamping device Section 3 frame 39 end; The rotation of steel wire rope wire spool 29 can realize the receipts of steel wire rope 35 short with lengthen, and then realize the Guan Bi of front clamp mechanism 6 and rear grip mechanism 7 and open.
First this robot can realize the axial wheel type movement on pipeline, 360 ° of wheel type movement of circumference, move around spiral pipeline formula, flip-flop movement on pipeline, by 180 ° of flip-flop movements of the barriers such as the pipe joints such as threeway four-way five-way, pipeline outer wall supporting construction, ring flange, instrument, the leap campaign between adjacent channel. Axial actuating mechanism 4 is for realizing the axially-movable of robot, the drivewheel on axially driving driven by motor robot clamping device; Circumference driving mechanism 5 is used for realizing the circumferential movement of robot, circumference drive motor band mobile robot circumference drivewheel, exports circumferential movement. Axially-movable and circumferential movement are coupled and can realize robot around the motion of spiral pipeline formula. Clamping open-and-close mechanism 8 drives by clamping folding motor, adopts underactuated control mode, utilizes rope traction to realize the folding of robot multi-joint clamping device.
Refer to Fig. 5 and Fig. 6, this one multi-joint tubular service robot control system includes host computer and two or more robot, wherein, each robot adopts embedded control system, embedded control system can work alone when unit operates, when multi-machine collaborative works, it is scheduling by master system and is uniformly controlled.
In the present embodiment, the upset joint drive unit of this robot, axial and axially driving unit are preferably used DynamixelMX106R steering wheel; Clamping folding driver element is preferably used DynamixelMX64R. This steering wheel be characterized in that servo-drive part is integrated in steering wheel, the instruction of servo-drive is written and read with the data packet form of proprietary format by RS485 multiple spot branch bus. So on hardware, control system mainly realizes power management, security protection, motor control, instruction accessing, man machine interface and interface communication function. Software aspects, controlling system needs to realize the bottom hardware driver corresponding with each function, carries out system resource scheduling by suitable operating system and concrete function realizes.
The main control chip of robot is preferably the ARMSTM32 chip of ST Microelectronics, drives the functions such as signal output, the reception of man-machine interaction command reception, sensor signal, smart motion speed controlling based on the system hardware framework that controls designed by main control chip by realizing the axially-movable of robot, axially-movable, joint, front and back flip-flop movement, front and back clamping device open and close movement totally 7 Servo-controllers.
Wherein, main control chip ARMSTM32 chip and the driving steering wheel communication employing RS485 asynchronous serial bus interface overturning joint drive unit, axial and axially driving unit, robot and upper communication adopt RS232 to walk communication interface, and the networking communication between robot adopts LAN Ethernet interface.
STM32 has 3 UART peripheral units that can simultaneously use. RS232 and RS485 communication it is made directly after carrying out level conversion by MAX3232 and MAX3485. So in order to realize ethernet communication, it is necessary to extra TCP/IP hardware protocol stacks, this control system has selected the ethernet controller ENC28J60 driven by spi bus. By simple periphery circuit design and have that the HR911105A of pulse transformer is reticle plug provided just can on-line operation. Other digital quantity, analog quantity control scene I/O are directly driven by STM32I/O mouth.
The power supply primary responsibility of robot ensures Pipe-out Robot and controls the power supply supply of system, the MX106R steering wheel used due to auto production line tubular service robot uses 12V direct current supply scheme with MX64R, 5V and the 3.3V power supply that control system uses is in order to meet the multiple voltage demand of robot, in present embodiment, 5V and 3.3V power supply can pass through 12V power supply and use linear voltage stabilization original paper to obtain.
Auto production line tubular service robot hardware designed by the present invention controls system and security protection and power management has been carried out Integration Design; the manual sudden-stop function of robot is realized by the emergency stop switch of independent two-way switch and series connection; ensure that when robot runs into emergency in auto production line work process or runs into the accident being likely to that robot produces infringement, it is possible to protection robot is not by accidental damage.
Robot control system involved in the present invention needs to realize that robot axially runs in the various pipes of auto production line, circumference is run, clamping upset the function such as crosses by pipeline flanges, branch pipe tee connection, adjacent channel; guarantee robot can smooth and easy operation in the duct freely, simultaneously robot carry Measuring error equipment auto production line pipeline can be carried out on-line checking or maintenance.
Refer to Fig. 7, it is shown that the control strategy of the auto production line tubular service robot for the present invention relates to:
Control system, according to input signal, sets the type of sports of robot, is divided into omnidirectional's wheel type movement and two kinds of moving situations of convertible motion.
1, the wheeled kinestate of omnidirectional, according to input signal, control system determines robot motion's type, respectively through I/O mouth output pwm signal, driving axial steering wheel, circumference steering wheel or simultaneously drive axial and circumferential steering wheel, and then drive axial drivewheel, circumference drivewheel or simultaneously drive axially circumference drivewheel so that robot realizes axial rapid movement on pipeline, 360 ° of motions of circumference, and spiral advance or setback. After moving to correct position, control system and stop output servo driving signal, complete this course movement.
2, convertible kinestate, according to input signal, control system determines robot motion's type, respectively through I/O mouth output pwm signal, drive clamping folding steering wheel, upset steering wheel successively, and then driving clamping device and upset joint, clamping device unclamps pipeline, joint upset, clamping device firmly grasps pipeline, another clamping device unclamps pipeline, another upset of upset joint, clamping device firmly grasp between the upset obstacle of pipeline or adjacent channel the actions such as leap again to make robot realize.
For preventing robot from the generation of the phenomenons such as driving wheel skids, gripper mechanism grips is unstable, upset obstacle detouring is not in place occurring when moving outside pipeline; guarantee that robot can smooth and easy operation in the duct freely; referring to Fig. 8, present embodiment additionally provides the control system of multi-joint omnidirectional type Pipe-out Robot. This control system includes grasping force control unit, complete machine kinestate control unit, drives servos control unit, wireless transmission unit, electric energy control unit and networking unit.
Wherein networking unit, major function is multirobot group-net communication function, realize robot in operation, to be made rational planning in operating area, avoiding repeating operation to improve working performance, the realization of this function needs to be incorporated to global map image taking and virtual map drawing system in upper computer control system.
Wireless transmission unit, major function is the transmission of payload (video camera, x-ray instrument, ultrasonic reflectoscope etc.) data realizing control signal between robot and host computer, kinestate monitor signal and very important lift-launch.
Drive steering wheel motion control unit to include steering wheel body motion control unit and select unit with main control chip Motion trajectory unit, Motion. Major function be control robot each active drive unit according to set instruction normal operation, including clamping device folding, the upset of upset joint, axial drivewheel and circumference drivewheel operation etc.
Described electric energy control unit includes electric power detection module, locating module and safety and returns module, and electric power detection module is for the dump energy of measuring robots built-in lithium battery; Described locating module is for determining the current location of robot;
Safety return module calculates the route that safety returns and the electricity that safety return is required according to robot current location, and controls robot return before dump energy returns required electricity less than or equal to safety.
In the control system of present invention design, the raising of the movement effects of robot, auto production line tubular service efficiency will be had important function by chucking power sensing control unit and complete machine kinestate control unit.
Refer to Fig. 6 and Fig. 7, chucking power sensing detection unit takes up degree by the steel wire rope of the force transducer detection clamping device that is arranged in clamping open-and-close mechanism 8 on worm shaft, force transducer feeds back signal to Master control chip, control system obtains the chucking power size of this clamping device (front clamp or afterwards clamping), standard force value according to off-line calibration and the maximum grip power (ensureing that robot is damaged from) set in advance, first determine whether that the chucking power of robot clamping device is whether in allowed band, and draw and the deviation range of standard force value.
Complete machine kinestate control unit, on the one hand according to set control strategy, provides drive control signal and makes robot complete each required movement: upset, axially operation, circumference operation, spiral operation etc. on the other hand, this control unit is by being arranged on 9 axle attitude transducers on robot body, real-time sensing measuring robots current motion state, the axially-movable speed of robot is gathered by attitude transducer, circumferential movement speed, screw speed and direction, inverted and reversal rate etc., compare according to the predetermined output valve of system demarcated, such as predetermined axial movement velocity, predetermined circumferential movement speed, predetermined reversal rate, judge robot whether normal operation, after control system obtains kinestate feedback signal, need robot motion's state is carried out self adaptation fine setting, concrete mode is as follows:
Robot is on auto production line pipeline during on-line checking, owing to the motility of the complexity of pipeline, robot causes that robot is continually changing in spatial attitude, owing to auto production line pipeline kind is different, pipe surface coating is different, and different surface coatings brings different contact friction forces, to cause that robot motion's state changes in real time, it is necessary to robot motion's state is detected and vernier control by robot control system in real time.
Control for the real-time closed-loop of axially-movable, complete machine kinestate control unit obtains axially-movable speed, simultaneously according to gyroscope signal in attitude transducer, judge robot current spatial attitude (vertical state, level, non-vertical non-standard state), different spatial attitudes causes that gravity suffered by robot is different, by the contact friction force of the omni-directional wheel affected on clamping device and pipeline outer wall, and then affect the stationarity of robot axially-movable.
If manipulator shaft to movement velocity lower than predetermined speed, chucking power sensing detection unit detects that chucking power is within the scope of proof force, illustrate that pipe surface frictional force is less and there is skidding, require over the chucking power increasing clamping device improve frictional force and then improve robot movement velocity, allow the robot to carry out axially-movable according to predetermined speed, it is ensured that the accuracy of pipe detection. If manipulator shaft is to movement velocity higher than predetermined speed, chucking power detects within the scope of proof force, illustrates that pipeline outer wall frictional force is bigger, it is necessary to reduce chucking power so that robot obtains suitable contact friction force, keeps predetermined speed to run.
In like manner complete the Real-time Feedback closed loop control of circumferential movement, screw.
When robot carries out flip-flop movement, clamping device needs to improve chucking power, and now, chucking power sensing detection unit will control robotic gripper's power, and guarantee that it is without departing from default higher limit. Complete machine kinestate control unit gathers the current reversal rate of robot and axially-movable speed, and whether the actual reversal rate according to detection is consistent with predetermined reversal rate and carries out feedback control by complete machine kinestate control unit. If
In order to improve the obstacle climbing ability of robot further, present invention also offers another embodiment, be different in that with embodiment of above, in this embodiment, described equipment carrier bar is variable-length formula extensible canopy, and described complete machine kinestate control unit also includes radar range finding mechanism. Obstacle distance and the orientation on robot side is can detect that by radar range finding mechanism, and the distance of other pipelines and trend.
Wherein, the length of equipment carrier bar (i.e. the main trunk of robot) is adjustable, thus the distance being arranged between the front clamp mechanism at equipment carrier bar two ends, rear grip mechanism also adjusts therewith.
Complete machine kinestate control unit, when controlling robot upset, first passes through described radar range finding mechanism detection obstacle distance and orientation or the range-azimuth waiting to turn over two pipelines jumped;
Complete machine kinestate control unit adjusts the length of variable-length formula extensible canopy according to the distance of described obstacle distance or two pipelines, and determines the flip angle of robot according to the orientation in barrier orientation or two pipelines. Take a leap over an obstacle thus can ensure that robot can turn over, and jump accurately on another pipeline.
In sum, chucking power sensing control unit, complete machine kinestate control unit, driving steering wheel motion control unit will to complete the concrete motor control of auto production line tubular service robot, wireless transmission unit and networking unit will complete transmission and the multi-robot coordination task of information.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical fields, all in like manner include in the scope of patent protection of the present invention.
Claims (6)
1. a multi-joint tubular service robot control system, it is characterized in that, described robot includes equipment carrier bar, front clamp mechanism, rear grip mechanism and clamping open-and-close mechanism, front clamp mechanism is connected to one end of equipment carrier bar by front upset hinge joints, rear grip mechanism is connected to the other end of equipment carrier bar by rear upset hinge joints, described front clamp mechanism or rear grip mechanism are provided with axial actuating mechanism, equipment carrier bar is provided with circumference driving mechanism, described clamping open-and-close mechanism is by each joint of worm-drive structure and Steel rope drive front clamp mechanism and rear grip mechanism,
Described control system includes grasping force control unit, complete machine kinestate control unit, drives servos control unit, wireless transmission unit, electric energy control unit and networking unit;
Described grasping force control unit includes the force transducer being installed on the worm shaft of clamping open-and-close mechanism, grasping force control unit for by described force transducer detect front clamp mechanism and rear grip mechanism drive steel wire rope take up degree, and compare with default maximum grip power and the standard force value demarcated in advance, judge that whether the chucking power of robot clamping device is enough, and clamping open-and-close mechanism output is adjusted, make the chucking power of front clamp mechanism and rear grip mechanism in set point;
Described complete machine kinestate control unit includes 9 axle attitude transducers, complete machine kinestate control unit is used for exporting drive control signal, make robot complete upset, axially operation, circumference is run, spiral runs, and the movement state information of robot is gathered by described 9 axle attitude transducers, and the standard state information corresponding with robot current motion state compares, judge that whether robot current kinetic is normal, when robot motion's exception, control robot and carry out Motion Adaptive adjustment;
Described electric energy control unit includes electric power detection module, locating module and safety and returns module, and electric power detection module is for the dump energy of measuring robots built-in lithium battery; Described locating module is for determining the current location of robot;
Safety returns module and calculates, according to robot current location, the electricity that safety return is required, and controls robot return before dump energy returns required electricity less than or equal to safety.
2. multi-joint tubular service robot control system according to claim 1, it is characterized in that, the movement state information that complete machine kinestate control unit is collected by described 9 axle attitude transducers includes: axially-movable speed, circumferential movement speed, screw speed and direction, inverted and reversal rate.
3. multi-joint tubular service robot control system according to claim 1, it is characterised in that the Motion Adaptive adjustment that complete machine kinestate control unit controls when robot carries out axially-movable includes:
Complete machine kinestate control unit obtains the current kinetic speed of robot, and the information gathered according to 9 axle attitude transducers judges the current spatial attitude of robot;
The existing clamp dynamics of front clamp mechanism and rear grip mechanism is obtained by grasping force control unit;
The current kinetic speed of contrast robot and the manipulator shaft preset are to standard movement speed, and contrast the standard clamping dynamics of existing clamp dynamics and the axially-movable preset;
If current kinetic speed is lower than axial standard movement speed, and existing clamp dynamics clamps dynamics in default range of error with standard, then increase the clamping dynamics of front clamp mechanism and rear grip mechanism;
If current kinetic speed is higher than axial standard movement speed, and existing clamp dynamics clamps dynamics in default range of error with standard, then reduce the clamping dynamics of front clamp mechanism and rear grip mechanism.
4. multi-joint tubular service robot control system according to claim 1, it is characterised in that the Motion Adaptive adjustment that complete machine kinestate control unit controls when robot overturns includes:
Increase the clamping dynamics of front clamp mechanism or rear grip mechanism;
Complete machine kinestate control unit gathers current reversal rate and the axially-movable speed of robot;
Relatively current reversal rate and the standard reversal rate preset;
If current reversal rate is not zero more than standard reversal rate or axially-movable speed, then again increase the clamping dynamics of front clamp mechanism or rear grip mechanism.
5. multi-joint tubular service robot control system according to claim 1, it is characterised in that
Described networking unit includes TCP/IP hardware communication protocol stack, between more than two robots, and communication between robot and host computer, it is achieved operating area distribution and coordination;
Described wireless transmission unit includes RS232 serial communication bus and RS485 serial communication bus, described RS232 serial communication bus is for signal transmission between robot and host computer, and RS485 serial communication bus is for signal transmission between robot main control unit and each driving steering wheel.
6. multi-joint tubular service robot control system according to claim 1, it is characterised in that described equipment carrier bar is variable-length formula extensible canopy, described complete machine kinestate control unit also includes radar range finding mechanism;
Complete machine kinestate control unit, when controlling robot upset, first passes through described radar range finding mechanism detection obstacle distance and orientation or the range-azimuth waiting to turn over two pipelines jumped;
Complete machine kinestate control unit adjusts the length of variable-length formula extensible canopy according to the distance of described obstacle distance or two pipelines, and determines the flip angle of robot according to the orientation in barrier orientation or two pipelines.
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Address after: 351100 west side of LiHan Road, Jiangxi town, Jiangkou Town, Hanjiang District, Putian, Fujian, China Patentee after: Yundu New Energy Vehicle Co.,Ltd. Address before: 351100 west side of LiHan Road, Jiangxi town, Jiangkou Town, Hanjiang District, Putian, Fujian, China Patentee before: Yundu New Energy Automobile Co.,Ltd. Address after: 351100 west side of LiHan Road, Jiangxi town, Jiangkou Town, Hanjiang District, Putian, Fujian, China Patentee after: Yundu New Energy Automobile Co.,Ltd. Address before: 351100 west side of LiHan Road, Jiangxi town, Jiangkou Town, Hanjiang District, Putian, Fujian, China Patentee before: FJ MOTOR GROUP, YUDO NEW-ENERGY AUTOMOBILE Co.,Ltd. |