CN112729251A - Flexible scanning mechanical arm system and flexible scanning method - Google Patents
Flexible scanning mechanical arm system and flexible scanning method Download PDFInfo
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- CN112729251A CN112729251A CN202011539480.0A CN202011539480A CN112729251A CN 112729251 A CN112729251 A CN 112729251A CN 202011539480 A CN202011539480 A CN 202011539480A CN 112729251 A CN112729251 A CN 112729251A
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Abstract
The application provides a flexible scanning mechanical arm system and a flexible scanning method. The system comprises: the scanning device comprises a mechanical arm, a rotary table, a host and a scanning probe, wherein the host is respectively in communication connection with the mechanical arm, the rotary table and the scanning probe, the scanning probe is arranged on the mechanical arm, the rotary table is used for mounting a workpiece to be scanned, can drive the workpiece to be scanned to move to a preset position together, and adjusts the posture of the workpiece to be scanned according to a posture adjusting instruction of the host; the mechanical arm can move according to the track data sent by the host computer to adjust the posture of the scanning probe; responding to the movement of the mechanical arm to a preset detection point position, and scanning the workpiece to be scanned by the scanning probe according to a received scanning signal sent by the host; and responding to the feedback signal of the scanning equipment receiving the workpiece to be scanned within the preset retention time of the mechanical arm, and moving the mechanical arm to the next preset detection point position according to the track data so as to scan the workpiece to be scanned again by the scanning probe.
Description
Technical Field
The application relates to the technical field of robots, in particular to a flexible scanning mechanical arm system and a flexible scanning method.
Background
The antenna is an important component of wireless communication equipment, and the quality of the antenna directly determines the performance index of communication products. Currently, antenna measurement has been developed as an important subject, mainly studying the measurement and testing method of antenna system parameters. Among them, near-field measurement techniques have been developed as important measurement methods of antenna radiation characteristics.
Near-field measurements can be classified into planar near-field measurements, cylindrical near-field measurements, and spherical near-field measurements, depending on the shape of the sampling surface. When the plane near field measurement is carried out, the antenna is fixed, and the probe is driven by the sampling frame to sample on a plane three to five wavelengths away from the aperture surface of the antenna to be measured; the cylindrical surface sampling is suitable for medium-gain and fan-shaped beam antennas, and the probe is driven by the sampling frame to sample up and down within a distance which meets the radiation near-field range and is allowed by mechanical movement; the spherical surface sampling is used for measuring the low-gain and wide-beam antenna, and the probe makes pitching motion along the semicircular guide rail.
The traditional near field measurement is time-consuming and labor-consuming and has low efficiency because the signal transmitting probe is manually carried to carry out point-by-point measurement.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
An object of the present application is to provide a flexible scanning robot system and a flexible scanning method, so as to solve or alleviate the above problems in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a flexible scanning arm system, includes: the scanning device comprises a mechanical arm, a rotary table, a host and a scanning probe, wherein the host is respectively in communication connection with the mechanical arm, the rotary table and the scanning probe, the scanning probe is arranged on the mechanical arm, the rotary table is used for mounting a workpiece to be scanned, can drive the workpiece to be scanned to move to a preset position together, and adjusts the posture of the workpiece to be scanned according to a posture adjusting instruction of the host; the mechanical arm can move according to the track data sent by the host computer to adjust the posture of the scanning probe; responding to the mechanical arm moving to a preset detection point position, and scanning the workpiece to be scanned by the scanning probe according to a received scanning signal sent by the host; and responding to the feedback signal of the workpiece to be scanned received by the scanning equipment within the preset retention time of the mechanical arm, and moving the mechanical arm to the next preset detection point position according to the track data so as to scan the workpiece to be scanned again by the scanning probe.
Optionally, in any embodiment of the present application, the turntable comprises: a base and a bracket; the bracket is rotatably connected with the base and can rotate along a first axis; the bracket is rotatably provided with the workpiece to be scanned, and the workpiece to be scanned can rotate around a second axis in a vertical plane; the first axis is the axis of the rotary joint of the bracket and the base, the second axis is the axis of the rotary joint of the workpiece to be scanned and the bracket, and the first axis is perpendicular to the second axis.
Optionally, in any embodiment of the present application, the cross-section of the u-shaped structure is a u-shaped structure, wherein the bottom surface of the u-shaped structure is rotatably connected to the base, and correspondingly, the workpiece to be scanned is rotatably connected to the support through a workpiece mounting portion, wherein the workpiece mounting portion is rotatably mounted between two side surfaces of the u-shaped structure and can rotate around the second axis.
Optionally, in any embodiment of the present application, the trajectory data is planar scanning trajectory data, correspondingly, the preset detection point positions are located in the same plane, and the mechanical arm moves according to the planar scanning trajectory data to adjust a posture of the scanning probe, so that the scanning probe performs planar scanning on the workpiece to be scanned along the plane, where the plane is a first envelope surface when the mechanical arm is equipped with the scanning probe to perform end movement; or the track data is cylindrical scanning track data, correspondingly, the preset detection point positions are located in the same cylindrical surface, and the mechanical arm moves according to the cylindrical scanning track data to adjust the posture of the scanning probe so that the scanning probe scans the workpiece to be scanned along the cylindrical surface, wherein the cylindrical surface is a second envelope surface when the tail end movement is executed; or the track data is spherical scanning track data, correspondingly, the preset detection point positions are located in the same spherical surface, and the mechanical arm moves according to the spherical scanning track data to adjust the posture of the scanning probe, so that the scanning probe scans the workpiece to be scanned along the spherical surface; wherein the spherical surface is a third envelope surface when the tip motion is performed.
Optionally, in any embodiment of the present application, the host generates the plane scanning trajectory data according to a length, a width, and a first starting point position of the first envelope surface, which are input in advance, and sends the plane scanning trajectory data to the mechanical arm, where the first starting point position is a starting position of the execution tail end when moving on the first envelope surface.
Optionally, in any embodiment of the present application, the host generates the cylindrical scanning trajectory data according to a height of a second envelope surface, a central angle, and a second starting point position, which are input in advance, and sends the cylindrical scanning trajectory data to the mechanical arm, where the second starting point position is a starting position of the execution end when moving on the second envelope surface.
Optionally, in any embodiment of the present application, the host generates the spherical scanning trajectory data according to a latitude and longitude range of a third envelope surface and a radius of the sphere, which are input in advance.
Optionally, in any embodiment of the present application, the system further includes: the electric control cabinet is electrically connected with the host, the rotary table and the mechanical arm respectively; and the fence is arranged on the periphery of the mechanical arm and the rotary table and used for isolating the mechanical arm and the rotary table so as to scan the workpiece to be scanned by the scanning probe.
The embodiment of the present application further provides a flexible scanning method, including: the rotary table drives a workpiece to be scanned, which is arranged on the rotary table, to move to a preset position, and the posture of the workpiece to be scanned is adjusted according to a posture adjusting instruction of the host; the mechanical arm receives track data sent by the host computer, and adjusts the posture of a scanning probe arranged on the mechanical arm according to the motion of the track data; responding to the mechanical arm moving to a preset detection point position, and scanning the workpiece to be scanned by the scanning probe according to a received scanning signal sent by the host; and responding to the feedback signal of the workpiece to be scanned received by the scanning probe within the preset retention time of the mechanical arm, and moving the mechanical arm to the next preset detection point position according to the track data so as to scan the workpiece to be scanned again by the scanning probe.
Optionally, in any embodiment of the application, the scanning, in response to the mechanical arm moving to a preset detection point position, the scanning probe scans the workpiece to be scanned according to a received scanning signal sent by the host, including: responding to the mechanical arm moving to a preset detection point position, and sending an arrival signal to the host by the mechanical arm; and responding to the host computer receiving the arrival signal, sending the scanning signal to the scanning probe, and scanning the workpiece to be scanned by the scanning probe according to the received scanning signal.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
according to the technical scheme, a host is in communication connection with a mechanical arm, a rotary table and a scanning probe installed on the mechanical arm respectively, a workpiece to be scanned is installed on the rotary table, the rotary table drives the workpiece to be scanned to move to a preset position, and the posture of the workpiece to be scanned is adjusted according to a posture adjusting instruction of the host; the mechanical arm moves according to the track data sent by the host computer to adjust the posture of the scanning probe; when the mechanical arm moves to a preset detection point position, the scanning probe scans a workpiece to be scanned according to a scanning signal sent by the host; and in the preset retention time of the mechanical arm, after the scanning equipment receives the feedback information of the workpiece to be scanned, the mechanical arm moves to the next preset detection point, and the scanning equipment scans the workpiece to be scanned again. Therefore, the mechanical arm controlled by the host computer moves according to the track data, so that the large movement space, the high movement speed, the complex track and the random hovering time are realized, and the diversified detection requirements of the workpiece to be scanned (such as an antenna) are met; the rotary table drives the workpiece to be scanned to move, so that the workpiece to be scanned is adjusted at a preset position, the posture of the workpiece to be scanned is adjusted according to a posture adjusting instruction of the host, the mechanical arm is matched to realize all-dimensional and dead-angle-free detection of the workpiece to be scanned, and the detection efficiency of the workpiece to be scanned is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
FIG. 1 is a schematic structural diagram of a flexible scanning robot system provided in accordance with some embodiments of the present application;
FIG. 2 is a schematic diagram of a scanning pattern provided in accordance with some embodiments of the present application;
FIG. 3 is a schematic flow diagram of a flexible scanning method provided in accordance with some embodiments of the present application;
fig. 4 is a schematic flowchart of step S103 in a flexible scanning method according to some embodiments of the present application.
Description of reference numerals:
101-a robotic arm; 102-a turntable; 112-a base; 122-a scaffold; 103-a scanning device; 104-a host; 105-workpiece to be scanned.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
FIG. 1 is a schematic structural diagram of a flexible scanning robot system provided in accordance with some embodiments of the present application; as shown in fig. 1, the flexible scanning robotic arm system comprises: the scanning device comprises a mechanical arm 101, a rotary table 102, a host computer 104 and a scanning probe, wherein the host computer 104 is respectively in communication connection with the mechanical arm 101, the rotary table 102 and the scanning probe, the scanning probe is installed on the mechanical arm 101, the rotary table 102 is used for installing a workpiece 105 to be scanned, can drive the workpiece 105 to be scanned to move to a preset position together, and can adjust the posture of the workpiece 105 to be scanned according to a posture adjustment instruction of the host computer 104; the mechanical arm 101 can move according to the trajectory data sent by the host 104 to adjust the posture of the scanning probe; in response to the movement of the mechanical arm 101 to a preset detection point position, the scanning probe scans the workpiece 105 to be scanned according to the received scanning signal sent by the host 104; in response to the scanning device 103 receiving a feedback signal of the workpiece 105 to be scanned within a preset dwell time of the mechanical arm 101, the mechanical arm 101 moves to a next preset detection point position according to the trajectory data, so that the scanning probe scans the workpiece 105 to be scanned again. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the host computer 104 is respectively in communication connection with the robot arm 101, the turntable 102 and the scanning probe installed on the robot arm 101, the workpiece 105 to be scanned is installed on the turntable 102, the turntable 102 drives the workpiece 105 to be scanned to move to a preset position, and the posture of the workpiece 105 to be scanned is adjusted according to the posture adjustment instruction of the host computer 104; the mechanical arm 101 moves according to the track data sent by the host computer 104 to adjust the posture of the scanning probe; when the mechanical arm 101 moves to a preset detection point, the scanning probe scans the workpiece 105 to be scanned according to the scanning signal sent by the host 104; within the preset retention time of the mechanical arm 101, after the scanning device 103 receives the feedback information of the workpiece 105 to be scanned, the mechanical arm 101 moves to the next preset detection point, and the scanning device 103 scans the workpiece 105 to be scanned again. Therefore, the mechanical arm 101 controlled by the host computer 104 moves according to the track data, so that a large movement space, a high movement speed, a complex track and any hovering time are realized, and diversified detection requirements of the workpiece 105 (such as an antenna) to be scanned are met; the rotary table 102 drives the workpiece 105 to be scanned to move, so that the workpiece 105 to be scanned is adjusted at a preset position, the rotary table 102 adjusts the posture of the workpiece 105 to be scanned according to a posture adjusting instruction of the host 104, the mechanical arm 101 is matched to realize all-dimensional and dead-angle-free detection of the workpiece to be scanned, and the detection efficiency of the workpiece 105 to be scanned is effectively improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the robot arm 101 and the turntable 102 may be located on the same table top, or may be located on different table tops. When the turntable 102 drives the workpiece 105 to be scanned to move to a predetermined position on the table top, a movement instruction may be sent to the turntable 102 through the host 104, and the turntable 102 (for example, a mobile robot) automatically moves to the predetermined position according to the movement instruction after receiving the movement instruction; the operator may push the turntable 102 to move to a predetermined position. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the host computer 104 plans the motion trajectory of the execution end of the mechanical arm 101, so as to obtain trajectory data of the mechanical arm 101. In this process, if the trajectory planned by the host computer 104 passes through a singular point of the robot, the pose of the workpiece 105 to be scanned needs to be adjusted, for example: the pitch angle and the rotation angle of the turntable 102 are adjusted by increments set by a person until the trajectory planned by the host computer 104 does not approach the motion boundary and the singular point position of the execution end of the robot arm 101. At this time, after the posture of the workpiece 105 to be scanned is adjusted, the robot arm 101 may move according to the trajectory data sent by the host computer 104, and drive the scanning probe to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some alternative embodiments, the turntable 102 comprises: the base 112 and the bracket 122, the bracket 122 is rotatably connected with the base 112 and can rotate along a first axis; the bracket 122 is used for rotatably mounting the workpiece 105 to be scanned, and the workpiece 105 to be scanned can rotate around a second axis in a vertical plane; the first axis is an axis at a rotational connection position of the bracket 122 and the base 112, the second axis is an axis at a rotational connection position of the workpiece 105 to be scanned and the bracket 122, and the first axis is perpendicular to the second axis. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the turntable 102 can drive the workpiece 105 to be scanned to move in any direction on the table surface through the universal wheels mounted on the base 112, so as to adjust the position of the workpiece 105 to be scanned, and enable the workpiece 105 to be scanned to reach a predetermined position. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, there are at least 3 universal wheels, and the 3 universal wheels are not in the same line when they are installed on the same surface of the base 112. For example, when the base 112 is a cube, a universal wheel may be mounted at each of four corners of the same surface of the base 112. Thereby, the stability of the turntable 102 when moving on the table top can be sufficiently ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first axis and the second axis are matched with each other, so that the workpiece 105 to be scanned can be tilted and deflected, and the posture of the workpiece 105 to be scanned can be adjusted. For example, the first axis is perpendicular to the table top, which can realize the deflection adjustment of the workpiece 105 to be scanned; the second axis is perpendicular to the first axis and can rotate in a vertical plane, so that the workpiece 105 to be scanned can be subjected to pitching adjustment. Therefore, the position and the posture of the workpiece 105 to be scanned can be adjusted according to the requirement, and the purpose of scanning the workpiece 105 to be scanned is achieved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, four universal wheels are disposed on the base 112, so that the turntable 102 can move flexibly on the working table; meanwhile, two motors are arranged on the rotary table 102, one of the motors drives the rotary table 102 to deflect around the first axis, and the other motor drives the workpiece 105 to be scanned to pitch, so that the position and the posture of the workpiece 105 to be scanned are automatically adjusted. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the cross-section of the u-shaped structure of the support 122 is a u-shaped structure, wherein the bottom surface of the u-shaped structure is rotatably connected to the base 112, and correspondingly, the workpiece 105 to be scanned is rotatably connected to the support 122 through a workpiece mounting portion, wherein the workpiece mounting portion is rotatably mounted between two side surfaces of the u-shaped structure and can rotate around the second axis. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, one end of the workpiece mounting portion is rotatably mounted on the inner side of one side surface of the u-shaped structure, the other end of the workpiece mounting portion is rotatably mounted on the inner side of the other side surface of the u-shaped structure, and the workpiece 105 to be scanned is fixedly mounted on the workpiece mounting portion, so that the pitch adjustment of the workpiece 105 to be scanned in the vertical plane can be realized. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the ends of the workpiece mounting part rotatably connected with the two side surfaces of the U-shaped structure are disc-shaped connecting plates, and the two disc-shaped connecting plates are respectively rotatably connected with the two side surfaces of the U-shaped structure; a mounting connecting plate is arranged between the two disc-shaped connecting parts, two ends of the mounting connecting plate are respectively and fixedly connected with one disc-shaped connecting part, and the two disc-shaped connecting parts are symmetrically arranged at two ends of the mounting connecting part; a workpiece 105 to be scanned is mounted on the mounting link plate, wherein the workpiece 105 to be scanned is detachably mounted on the mounting link plate so as to be replaced with a different workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the robot arm 101 may be a six-degree-of-freedom robot arm 101, including: base 112, swivel, big arm, small arm, and actuating tip. The base 112 is fixedly arranged on the working table surface, and the rotating seat is rotatably arranged on the base 112 and can rotate around a third axis; one end of the large arm is rotatably connected with the rotating seat so that the large arm can rotate around a fourth axis; one end of the small arm is rotatably connected with the other end of the large arm, so that the small arm can rotate around a fifth axis; the execution tail end is rotatably connected with the other end of the small arm, so that the execution tail end can rotate around a sixth axis; the scanning probe is rotatably mounted on the actuating end such that the scanning probe is rotatable about a seventh axis. The third axis is an axis for rotationally connecting the rotary seat with the base 112, the fourth axis is an axis for rotationally connecting the big arm with the rotary seat, the fifth axis is an axis for rotationally connecting the small arm with the big arm, the sixth axis is an axis for rotationally connecting the execution tail end with the small arm, and the seventh axis is an axis for rotationally connecting the scanning probe with the execution tail end. The third axis is vertical to the working table surface, and the fourth axis and the fifth axis are parallel to each other and are both vertical to the third axis; the sixth axis extends along the length direction of the small arm and is respectively vertical to the third axis and the fifth axis; the seventh axis is perpendicular to the sixth axis. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, in order to further increase the working range of the scanning probe during scanning, the small arm of the mechanical arm 101 may be designed to be a telescopic structure, that is, the small arm includes a fixed part and a telescopic part, and one end of the fixed part is rotatably connected with one end of the large arm and can rotate around a fifth axis; one end of the telescopic part is connected with the fixing part in a sliding mode and can move on the fixing part in a telescopic mode along the length direction of the small arm, and the other end of the telescopic part is connected with the execution tail end in a rotating mode, so that the execution tail end can rotate around a sixth axis. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, when the scanning device 103 is mounted on the execution terminal, the scanning device can be connected to the flange of the execution terminal, so as to perform installation maintenance or replacement on the scanning device 103. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the trajectory data is planar scanning trajectory data, and correspondingly, the preset detection point positions are located in the same plane, and the mechanical arm 101 moves according to the planar scanning trajectory data to adjust the posture of the scanning probe, so that the scanning probe scans the workpiece 105 to be scanned along the plane, where the plane is a first envelope surface when the mechanical arm 101 is mounted with the scanning probe to perform end movement; or the trajectory data is cylindrical scanning trajectory data, correspondingly, the preset detection point positions are located in the same cylindrical surface, and the mechanical arm 101 moves according to the cylindrical scanning trajectory data to adjust the posture of the scanning probe so that the scanning probe scans the workpiece 105 to be scanned along the cylindrical surface, wherein the cylindrical surface is a second envelope surface when the tail end moves; or the trajectory data is spherical scanning trajectory data, correspondingly, the preset detection point positions are located in the same sphere, and the mechanical arm 101 moves according to the spherical scanning trajectory data to adjust the posture of the scanning probe, so that the scanning probe scans the workpiece 105 to be scanned along the sphere, wherein the sphere is a third envelope surface when the tail end moves. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, different trajectory data (plane scanning trajectory data, cylindrical scanning trajectory data, spherical scanning trajectory data) of the mechanical arm 101 correspond to different scanning modes (such as plane scanning, cylindrical scanning, and spherical scanning shown in fig. 2) of the scanning probe, the host 104 generates one of the plane scanning trajectory data, the cylindrical scanning trajectory data, and the spherical scanning trajectory data according to the input parameters, and sends the generated trajectory data to the mechanical arm 101, the mechanical arm 101 performs corresponding motion, and a motion trajectory of an execution end of the mechanical arm 101 forms an envelope surface corresponding to the trajectory data, so that the scanning device 103 completes corresponding scanning. The planar scanning trajectory data corresponds to a first envelope surface, and the first envelope surface is a plane, that is, the envelope surface of the motion trajectory of the execution tail end of the mechanical arm 101 is a plane; the cylindrical scanning track data corresponds to a second envelope surface, which is a cylindrical surface, that is, the envelope surface of the motion track of the execution end of the mechanical arm 101 is a cylinder; the spherical scanning trajectory data corresponds to a third envelope surface, which is a spherical surface, that is, the envelope surface of the motion trajectory of the execution end of the mechanical arm 101 is a spherical surface. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the host computer 104 generates the plane scanning trajectory data according to a length and a width of the first envelope surface and a first starting point position, which are input in advance, and sends the plane scanning trajectory data to the robot arm 101, where the first starting point position is a starting position of the execution end when moving on the first envelope surface. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, on the host computer 104, a trajectory path when the robot arm 101 moves in the planar scanning mode (i.e., planar scanning trajectory data when the scanning device 103 scans the workpiece 105 to be scanned) is generated according to the input length and width and the start position when the workpiece 105 to be scanned is scanned, and the robot arm 101 moves according to the trajectory path to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the host computer 104 divides the plane along coordinate axis directions of the plane (such as the X direction and the Y direction), and generates N in the X directionXA mesh point generating M in the Y directionYEach screen point; generating planar scanning trajectory data. The robot arm 101 starts at the first start point position and travels in the Y direction until M within a specified time intervalYEach dot completes the scan of the workpiece 105 to be scanned, and then the robot 101 switches to the next dot in the X direction, MYEach screen point finishes the scanning of the workpiece 105 to be scanned, and the scanning is repeated circularly and straightlyN to the robot arm 101 passing in the X directionXAnd the screen dots realize the scanning of the workpiece 105 to be scanned along a plane scanning track. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In another specific example, the host computer 104 generates the cylindrical scanning trajectory data according to the height, the central angle and a second starting point position of the second envelope surface, which are input in advance, and sends the cylindrical scanning trajectory data to the robot arm 101, wherein the second starting point position is a starting point of the execution end when moving on the second envelope surface. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, on the host computer 104, from the input height, the central angle, and the second starting point position, a trajectory path when the robot arm 101 moves in the cylindrical scanning mode (i.e., cylindrical scanning trajectory data when the scanning device 103 scans the workpiece 105 to be scanned), and the robot arm 101 moves according to the trajectory path to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the plane to be scanned is a cylindrical surface, and the cylindrical surface is divided into N by the host 104 along the central angle t direction and the height h direction of the cylindrical surface respectivelytAnd MhAnd generating cylindrical scanning track data by using the screen dots. The robot arm 101 starts from the second start point and travels in the height h direction until M within a specified time intervalhEach dot completes the scanning of the workpiece 105 to be scanned, and then the robot arm 101 switches to the next dot in the direction of the central angle t, at MhThe scanning of the workpiece 105 to be scanned is completed by each mesh point, and the scanning is repeated in a circulating way until the mechanical arm 101 passes through the N direction of the central angle ttAnd the screen dots realize the scanning of the workpiece 105 to be scanned along the cylindrical scanning track data. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a further specific example, the host computer 104 generates the spherical scanning trajectory data according to a latitude and longitude range of a third envelope surface and a radius of the sphere, which are input in advance. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, on the host computer 104, a trajectory path (that is, spherical scanning trajectory data when the scanning device 103 scans the workpiece 105 to be scanned) when the robot arm 101 moves in the spherical scanning mode is generated from the input longitude and latitude range (longitude range and latitude range) and the radius of the sphere, and the robot arm 101 moves according to the trajectory path to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the plane to be scanned is a spherical surface, and the host 104 divides the spherical surface into N along the longitude direction j and the latitude direction w of the spherical surface respectivelyjAnd MwAnd generating spherical scanning track data by using the screen dots. The robotic arm 101 starts from the third starting point and travels in the latitudinal direction w until M within a specified time intervalwEach dot completes scanning of the workpiece 105 to be scanned, and then the robot 101 switches to the next dot in the longitudinal direction j, at MwThe scanning of the workpiece 105 to be scanned is completed by each dot, and the operation is repeated in a circulating way until the mechanical arm 101 passes through N in the longitude direction jjAnd the screen dots realize the scanning of the workpiece 105 to be scanned along the cylindrical scanning track data. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the flexible scanning robot arm system further comprises: the electric control cabinet is electrically connected with the host 104, the rotary table 102 and the mechanical arm 101 respectively; and the fence is arranged on the peripheral sides of the mechanical arm 101 and the rotary table 102, and is used for isolating the mechanical arm 101 from the rotary table 102 so as to scan the workpiece 105 to be scanned by the scanning probe. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the electric control cabinet is electrically connected with the host 104, the turntable 102 and the mechanical arm 101 respectively, so that power supply to the host 104, the turntable 102 and the mechanical arm 101 is realized, meanwhile, data communication among the host 104, the turntable 102 and the mechanical arm 101 is ensured, and centralized control of the flexible scanning mechanical arm system is realized. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the fence is disposed on the periphery of the robot arm 101 and the turntable 102 to separate the robot arm 101 and the turntable 102, so as to avoid interference that the scanning device 103 may receive when scanning the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the posture of the scanning device 103 is adjusted by the motion of the mechanical arm 101, the posture of the workpiece 105 to be scanned is adjusted by the turntable 102, and the scanning effect of the workpiece 105 to be scanned can be effectively improved by the mutual cooperation of the mechanical arm 101 and the turntable 102. For example, when the movement range of the mechanical arm 101 is limited and cannot reach some preset detection points, the scanning of the workpiece 105 to be scanned can be realized by the movement of the turntable 102 and the posture adjustment of the workpiece 105 to be scanned, so that the scanning comprehensiveness is ensured. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, when the workpiece 105 to be scanned is scanned, the workpiece 105 to be scanned may be scanned by using any one of planar scanning, cylindrical scanning, and spherical scanning, or by using a combination of planar scanning, cylindrical scanning, and spherical scanning. When the trajectory data is complex, the turntable 102 and the mechanical arm 101 need to be matched and coordinated with each other, and the motion paths of the mechanical arm 101 and the turntable 102 are edited and adjusted to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
FIG. 3 is a schematic flow diagram of a flexible scanning method provided in accordance with some embodiments of the present application; as shown in fig. 3, the flexible scanning method includes:
step S101, the rotary table 102 drives a workpiece 105 to be scanned, which is arranged on the rotary table 102, to move to a preset position, and the posture of the workpiece 105 to be scanned is adjusted according to a posture adjustment instruction of the host computer 104;
step S102, the mechanical arm 101 receives track data sent by the host computer 104, and adjusts the posture of a scanning probe installed on the mechanical arm 101 according to the motion of the track data;
step S104, in response to that the scanning probe receives a feedback signal of the workpiece 105 to be scanned within a preset dwell time of the mechanical arm 101, the mechanical arm 101 moves to a next preset detection point position according to the trajectory data, so that the scanning probe performs rescanning on the workpiece 105 to be scanned.
In the embodiment of the present application, the step S101 and the step S102 are not related in time sequence, and the step S101 may be executed first, and then the step S102 may be executed; step S102 may be executed first, and then step S101 may be executed; step S101 and step S102 may also be performed simultaneously. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
Fig. 4 is a schematic flow chart of step S103 in a flexible scanning method provided according to some embodiments of the present application; as shown in fig. 4, when the robot arm 101 moves to a preset detection point, the scanning probe scans the workpiece 105 to be scanned according to the received scanning signal sent by the host 104, including:
step S113, in response to the mechanical arm 101 moving to a preset detection point position, the mechanical arm 101 sends an arrival signal to the host 104;
step S123, in response to the host computer 104 receiving the arrival signal first, sending the scanning signal to the scanning probe, and the scanning probe scans the workpiece 105 to be scanned according to the received scanning signal.
In the embodiment of the present application, the mechanical arm 101 moves according to the movement route, the movement speed, and the preset stopping time at the preset detection point in the trajectory data. After the mechanical arm 101 moves to a preset detection point position, the mechanical arm 101 sends an arrival signal reaching the preset detection point position to the host 104, and after the host 104 receives the arrival signal, the host 104 sends a pulse signal to the scanning probe installed at the execution tail end, so that the scanning probe is started to scan the workpiece 105 to be scanned. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the workpiece 105 to be scanned feeds back a scanning signal of the scanning probe, and the scanning probe receives the feedback signal of the workpiece 105 to be scanned within a preset retention time of the mechanical arm 101; after the preset retention time is reached, the mechanical arm 101 moves to the next preset detection point according to the trajectory data, the scanning probe scans the workpiece 105 to be scanned at the next preset detection point, and the quality condition of the workpiece 105 to be scanned (for example, an antenna) at the preset detection point is detected. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The flexible scanning method provided by the embodiment of the application can realize the functions and effects of the flexible scanning mechanical arm system, and is not repeated here. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A flexible scanning robot arm system, comprising: the main machine is respectively in communication connection with the mechanical arm, the rotary table and the scanning probe, the scanning probe is arranged on the mechanical arm,
the rotary table is used for mounting a workpiece to be scanned, can drive the workpiece to be scanned to move to a preset position together, and adjusts the posture of the workpiece to be scanned according to a posture adjusting instruction of the host;
the mechanical arm can move according to the track data sent by the host computer to adjust the posture of the scanning probe; responding to the mechanical arm moving to a preset detection point position, and scanning the workpiece to be scanned by the scanning probe according to a received scanning signal sent by the host; and responding to the feedback signal of the workpiece to be scanned received by the scanning equipment within the preset retention time of the mechanical arm, and moving the mechanical arm to the next preset detection point position according to the track data so as to scan the workpiece to be scanned again by the scanning probe.
2. The system of claim 1, wherein the turntable comprises: a base and a bracket;
the bracket is rotatably connected with the base and can rotate along a first axis;
the bracket is rotatably provided with the workpiece to be scanned, and the workpiece to be scanned can rotate around a second axis in a vertical plane;
the first axis is the axis of the rotary joint of the bracket and the base, the second axis is the axis of the rotary joint of the workpiece to be scanned and the bracket, and the first axis is perpendicular to the second axis.
3. The system according to claim 2, characterized in that said legs have a u-shaped cross-section, wherein the bottom surface of said u-shaped structure is rotatably connected to said base,
correspondingly, the workpiece to be scanned is rotatably connected with the support through a workpiece mounting part, wherein the workpiece mounting part is rotatably mounted between two side surfaces of the U-shaped structure and can rotate around the second axis.
4. The system according to claim 1, wherein the trajectory data is planar scanning trajectory data, and correspondingly, the preset detection point positions are located in the same plane, and the mechanical arm moves according to the planar scanning trajectory data to adjust the posture of the scanning probe, so that the scanning probe performs planar scanning on the workpiece to be scanned along the plane, wherein the plane is a first envelope surface of the mechanical arm when the scanning probe performs a distal end movement;
or the track data is cylindrical scanning track data, correspondingly, the preset detection point positions are located in the same cylindrical surface, and the mechanical arm moves according to the cylindrical scanning track data to adjust the posture of the scanning probe so that the scanning probe scans the workpiece to be scanned along the cylindrical surface, wherein the cylindrical surface is a second envelope surface when the tail end movement is executed;
or the track data is spherical scanning track data, correspondingly, the preset detection point positions are located in the same spherical surface, and the mechanical arm moves according to the spherical scanning track data to adjust the posture of the scanning probe, so that the scanning probe scans the workpiece to be scanned along the spherical surface; wherein the spherical surface is a third envelope surface when the tip motion is performed.
5. The system according to claim 4, wherein the host computer generates the planar scanning trajectory data according to a length, a width and a first starting point position of the first envelope surface, which are input in advance, and sends the planar scanning trajectory data to the mechanical arm, wherein the first starting point position is a starting position of the execution tail end when moving on the first envelope surface.
6. The system of claim 4, wherein the host computer generates the cylindrical scanning trajectory data according to a height, a central angle and a second starting point position of the second envelope surface, wherein the height, the central angle and the second starting point position are input in advance, and sends the cylindrical scanning trajectory data to the mechanical arm, and the second starting point position is a starting point of the execution end when moving on the second envelope surface.
7. The system of claim 4, wherein the host computer generates the spherical scanning trajectory data according to a pre-input longitude and latitude range of a third envelope surface and a radius of the sphere.
8. The system of any of claims 1-7, further comprising: the electric control cabinet is electrically connected with the host, the rotary table and the mechanical arm respectively;
and the fence is arranged on the periphery of the mechanical arm and the rotary table and used for isolating the mechanical arm and the rotary table so as to scan the workpiece to be scanned by the scanning probe.
9. A flexible scanning method, comprising:
the rotary table drives a workpiece to be scanned, which is arranged on the rotary table, to move to a preset position, and the posture of the workpiece to be scanned is adjusted according to a posture adjusting instruction of the host;
the mechanical arm receives track data sent by the host computer, and adjusts the posture of a scanning probe arranged on the mechanical arm according to the motion of the track data;
responding to the mechanical arm moving to a preset detection point position, and scanning the workpiece to be scanned by the scanning probe according to a received scanning signal sent by the host;
and responding to the feedback signal of the workpiece to be scanned received by the scanning probe within the preset retention time of the mechanical arm, and moving the mechanical arm to the next preset detection point position according to the track data so as to scan the workpiece to be scanned again by the scanning probe.
10. The method according to claim 9, wherein the scanning probe scans the workpiece to be scanned according to the received scanning signal sent by the host computer in response to the mechanical arm moving to the preset detection point position, and comprises:
responding to the mechanical arm moving to a preset detection point position, and sending an arrival signal to the host by the mechanical arm;
and responding to the host computer receiving the arrival signal, sending the scanning signal to the scanning probe, and scanning the workpiece to be scanned by the scanning probe according to the received scanning signal.
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Application publication date: 20210430 |