CN206296912U - A kind of six axles cooperation robot multiloop control system - Google Patents
A kind of six axles cooperation robot multiloop control system Download PDFInfo
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- CN206296912U CN206296912U CN201621194018.0U CN201621194018U CN206296912U CN 206296912 U CN206296912 U CN 206296912U CN 201621194018 U CN201621194018 U CN 201621194018U CN 206296912 U CN206296912 U CN 206296912U
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Abstract
The utility model is related to a kind of six axles cooperation robot multiloop control system, and the system includes synchronous inductor, range sensor, machine vision device and robot control unit；The robot control system is used to control the motion and processing of robot, and it includes motor driver, motor and human-computer interaction device in multiple-axis servo control module, collection image module, power panel, arm；The multiple-axis servo control module, collection image module and power panel become one.Control system architecture design of the present utility model is simple, reasonable, easy for operation, can reduce dependence of the robot to high-precision motor and reductor, significantly reduces cost；Control method flow is simple.
Description
Technical field
The utility model belongs to robot automation field, and in particular to one kind is based on synchronous inductor and Distance-sensing
The six axles cooperation robot multiloop control system of device and machine vision.
Background technology
In the research field of robot, robot control system is most important part.At present, most of robot master
To coordinate to ensure kinematic accuracy using accurate retarding machine and servomotor, and be moved by the path locus of prior teaching.It is this
Control mode belongs to the control mode of complete open loop, and the path accuracy and positioning precision of its motion rely primarily on mechanical precision to protect
Card, and moved along the fixation locus for setting.
But it is high to process equipment and technological level requirement due to fabricating high-precision accurate retarding machine, and be manufactured into
Originally control also is difficult to, and due to mechanical irreversible mechanical wear, with the increase of service life, its precision can gradually drop
It is low, and then have a strong impact on the performance of robot.
In addition, with the continuous improvement of industrial automation level, the cooperation of robot and factory lines is more and more necessary.
Due to target object as streamline is moved together, its putting position and angle are not fixed, and current robot is based on teaching
The working method of pipeline system cannot be competent at substantially in the way of fixation locus are moved.
Utility model content
For problem above, the utility model proposes a kind of six axle cooperation robot multiloop control system, its design
Rationally, machine-building high cost in the prior art, fatigue wear can be solved, and is difficult the problem coordinated with streamline.
The technical solution of the utility model is as follows：
Above-mentioned six axles cooperation robot multiloop control system, including synchronous inductor, range sensor, machine vision
Device and robot control unit；The synchronous inductor is used to measure each joint angles absolute value and loaded on robot
Tail inner side；The range sensor is used for the arm end of robot measurement to working face distance, and its Matching installation is in described
The bottom of machine vision device；The machine vision device is used to position objective direction and Matching installation is in the arm end of robot
End；The robot control system is used to control the motion and processing of robot, and it includes multiple-axis servo control module, collection figure
As motor driver, motor and human-computer interaction device in module, power panel, arm；The multiple-axis servo control module, collection image
Module and power panel become one；The multiple-axis servo control module is used to perform movement instruction and sends each spindle motor moment of torsion
Instruction, it electrically connects and also two-way with the human-computer interaction device electrically connects with the collection image module by the way that PCI is two-way；Institute
Stating collection image module is used to obtain the Z axis coordinate of workpiece, its electrically connected with the machine vision device and also with the distance
Sensor is electrically connected；Described power panel one end connects 220V AC powers, motor driver in other end linking arm；In the arm
Motor driver is installed in the arm of robot, and it is electrically connected and also electric with the motor with the multiple-axis servo control module
Connection；The motor is also mounted at the tail inner side of robot and is electrically connected with the synchronous inductor.
The six axles cooperation robot multiloop control system, wherein：The machine vision device uses camera, institute
State camera lens FUJINON HF16HA-1B and black and white camera BFLY-PGE-13E4C-CS of the camera using the big depth of field.
A kind of six axles cooperation robot multiloop control method, based on six axles cooperation robot multiloop control system, its
Idiographic flow is as follows：(1) range sensor and machine vision device are arranged on six axles cooperation robot end side by side, it is ensured that away from
Sensing point from sensor is in the range of the visual field of camera lens；(2) coordinate system is set up, i.e., before robot start-up operation, first
The feature point template of workpiece to be processed is set up by software, coordinate system is set up as the origin of coordinates using robot end center；(3)
The z-axis coordinate of workpiece is detected, i.e., before tape starting is transmitted, workpiece is placed on the underface of robot end, by Distance-sensing
Device measures workpiece to the vertical range of robot end；(4) transmission speed of conveyer belt is calculated, that is, starts conveyer belt, by workpiece
Put on a moving belt, camera shoots a width picture every 0.1s, when the continuous two width figure of camera captures workpiece, by this two width figure
Picture calculates the corresponding plane coordinates of workpiece and now workpiece, relative to the deflection angle of template, thus calculates the speed of conveyer belt
Degree；(5) position coordinates during calculating robot's grabbing workpiece, i.e., by the movement velocity of software set robot, and draw machine
Coordinate during device people's grabbing workpiece；(6) coordinate and workpiece that will capture point obtain six relative to the deflection angle of template by inverse solution
The anglec of rotation of individual axle；(7) motion control is carried out to six axles by robot controller, accurate feedback is carried out by synchronous inductor
Six axles are made to rotate respectively, now hand is grabbed and opens grabbing workpiece.
The six axles cooperation robot multiloop control method, wherein：The machine vision device uses the mirror of the big depth of field
Head FUJINON HF16HA-1B and black and white camera BFLY-PGE-13E4C-CS.
The six axles cooperation robot multiloop control method, wherein：Two plane coordinates of workpiece in the step (4)
It is designated as respectively (x1, y1) and (x2, y2)；The speed v1=(x2-x1) of the conveyer belt/0.1=10 (x2-x1).
The six axles cooperation robot multiloop control method, wherein：Robot elapsed time t is grabbed in the step (5)
Workpiece is got, then calculates the time
It can thus be concluded that coordinate during robot grabbing workpiece is
In the step (6) crawl point coordinate be
In above-mentioned formula (3) and (4), α is the angle of straight line OA and straight line AB, and x1, y1, z1 are that camera captures the first width figure
When workpiece spatial value, v1 for conveyer belt transfer rate, v2 for robot movement velocity.
Beneficial effect：
The axle of the utility model six cooperation robot multiloop control system structure design is simple, reasonable, using synchronous sensing
Device position is fed back, and can reduce dependence of the robot to high-precision motor and reductor, significantly reduces cost；Can compensate because
Robot operates precision reduction caused by the fatigue wear of the component of machine for causing for a long time, makes the service life of robot notable
Increase.
The axle of the utility model six cooperation robot multiloop control method reasonable idea, control is simple, compared to traditional machine
Device people is difficult to coordinate with streamline, and the utility model, can be with using machine vision and combination range sensor and synchronous inductor
Obtain streamline on workpiece exact position and carry out on-line machining, on-line machining efficiency and crudy can be greatly improved, drop
Low production cost.
Brief description of the drawings
Fig. 1 is the structured flowchart of the axle of the utility model six cooperation robot multiloop control system；
Fig. 2 is six axles cooperation robot cooperation conveyer belt in the axle of the utility model six cooperation robot multiloop control system
Structural representation during work；
Fig. 3 is that the six axles cooperation robot of the axle of the utility model six cooperation robot multiloop control system coordinates conveyer belt
The coordinate system figure set up is needed during work；
Geometry when Fig. 4 is the robot grabbing workpiece of the axle of the utility model six cooperation robot multiloop control system is closed
System's figure.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
As shown in Figure 1, 2, the axle of the utility model six cooperation robot multiloop control system, including synchronous inductor 1, away from
From sensor 2, machine vision device 3 and robot control system 4.
The synchronous inductor 1 is used to measure each joint angles absolute value and is installed on the afterbody of robot 5.
The range sensor 2 is used for the arm end of robot measurement 5 to working face distance, and its Matching installation is in machine vision
The bottom of device 3.
The machine vision device 3 is used to position objective direction and is installed on the arm end of robot 5, itself and conveyer belt 6
Position be adapted；Wherein, the machine vision device 3 uses camera, and camera uses the camera lens FUJINON of the big depth of field
HF16HA-1B and black and white camera BFLY-PGE-13E4C-CS.
The robot control unit 4 is used to control the motion and processing of robot, it include multiple-axis servo control module 41,
Motor driver 44, motor 45 and human-computer interaction device 46 in collection image module 42, power panel 43, arm；The multiple-axis servo control
Molding block 41, collection image module 42 and power panel 43 become one；The multiple-axis servo control module 41 is performed for fortune
Dynamic instruction simultaneously sends each spindle motor torque command, and it is electrically connected with collection image module 42 by the way that PCI is two-way, at the same also with it is man-machine
The two-way electrical connection of interactive device 46；The collection image module 42 is used to obtain the Z axis coordinate of workpiece, itself and machine vision device 3
Electrically connect and also electrically connected with range sensor 2；The one end of power panel 43 connects 220V AC powers, electricity in other end linking arm
Machine driver 44；Motor driver 44 is installed in the arm of robot 5 in the arm, and it is electrically connected with multiple-axis servo control module 41
Connect and also electrically connected with motor 45；The motor 45 is arranged on the tail inner side of robot 5 and is electrically connected with synchronous inductor 1.
The axle of the utility model six cooperation robot multiloop control method, idiographic flow is as follows：
(1) range sensor and machine vision device are arranged on six axles cooperation robot end side by side, it is ensured that distance is passed
The sensing point of sensor is in the range of the visual field of camera lens.Wherein, machine vision device uses the camera lens FUJINON of the big depth of field
HF16HA-1B and black and white camera BFLY-PGE-13E4C-CS.
(2) coordinate system is set up
I.e. before robot start-up operation, the feature point template that software sets up workpiece to be processed is first passed through, with robot end
Coordinate system is set up in end center as the origin of coordinates (0,0,0), and the foundation of coordinate system is as shown in Figure 3；For convenience of calculation, by soft
Part adjustment makes the direction of motion of conveyer belt parallel to the X-axis of coordinate system.
(3) the z-axis coordinate of workpiece is detected
Before tape starting is transmitted, workpiece is placed on the underface of robot end, measuring workpiece by range sensor arrives
The vertical range of robot end, is designated as z1.
(4) transmission speed of conveyer belt is calculated
Start conveyer belt, workpiece is put on a moving belt, camera shoots a width picture every 0.1s；Continuous two width of camera
When figure captures workpiece, the plane coordinates and deflection angle for recording workpiece are respectively (x1, y1) and (x2, y2) and now workpiece
It is α 1 relative to the deflection angle of template；It is possible thereby to the speed for calculating conveyer belt is v1=(x2-x1)/0.1=10 (x2-
x1)。
(5) position coordinates during calculating robot's grabbing workpiece
It is v2 (v2 ＞ v1) i.e. by the movement velocity of software set robot.Assuming that robot elapsed time t is grabbed
Workpiece；As shown in Figure 4,
From remaining profound theorem
Thus equation calculates the time
It can thus be concluded that coordinate during robot grabbing workpiece is
(6) coordinate of point will be captured
And workpiece is relative
It is that α 1 obtains six anglecs of rotation of axle for (θ 1, θ 2, θ 3, θ 4, θ 5, θ 6) by inverse solution in the deflection angle of template.
(7) motion control is carried out to six axles by robot controller, carrying out accurate feedback by synchronous inductor makes six
Individual axle rotates (θ 1, θ 2, θ 3, θ 4, θ 5, θ 6) respectively, and now hand is grabbed and opens grabbing workpiece.
The utility model reasonable idea, can solve machine-building high cost in the prior art, fatigue wear, and be difficult and flow
The problem that waterline coordinates.
Claims (2)
1. a kind of six axle cooperation robot multiloop control system, it is characterised in that：The control system include synchronous inductor,
Range sensor, machine vision device and robot control unit；
The synchronous inductor is used to measure each joint angles absolute value and the tail inner side loaded on robot；
The range sensor is used for the arm end of robot measurement to working face distance, and its Matching installation is regarded in the machine
Feel the bottom of device；
The machine vision device is used to position objective direction and Matching installation is in the arm end of robot；
The robot control system is used to control the motion and processing of robot, and it includes multiple-axis servo control module, collection
Motor driver, motor and human-computer interaction device in image module, power panel, arm；The multiple-axis servo control module, collection figure
As module and power panel become one；
The multiple-axis servo control module is used to perform movement instruction and sends each spindle motor torque command, and itself and the collection are schemed
As module is by the two-way electrical connections of PCI and also two-way with the human-computer interaction device electrically connects；The collection image module is used for
The Z axis coordinate of workpiece is obtained, it electrically connects with the machine vision device and is also electrically connected with the range sensor；The electricity
Source plate one end connects 220V AC powers, motor driver in other end linking arm；Motor driver is installed on machine in the arm
In the arm of device people, it electrically connects with the multiple-axis servo control module and is also electrically connected with the motor；The motor is also pacified
Mounted in robot tail inner side and electrically connect with the synchronous inductor.
2. six axle as claimed in claim 1 cooperation robot multiloop control system, it is characterised in that：The machine vision dress
Put and use camera, the camera uses the camera lens FUJINONHF16HA-1B and black and white camera BFLY-PGE- of the big depth of field
13E4C-CS。
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| CN201621194018.0U CN206296912U (en) | 2016-11-04 | 2016-11-04 | A kind of six axles cooperation robot multiloop control system |
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| CN201621194018.0U CN206296912U (en) | 2016-11-04 | 2016-11-04 | A kind of six axles cooperation robot multiloop control system |
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| CN206296912U true CN206296912U (en) | 2017-07-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580135A (en) * | 2021-08-09 | 2021-11-02 | 华中科技大学 | Real-time inverse solution method for seven-axis robot with offset |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580135A (en) * | 2021-08-09 | 2021-11-02 | 华中科技大学 | Real-time inverse solution method for seven-axis robot with offset |
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