CN207874232U - A kind of control system of robot - Google Patents
A kind of control system of robot Download PDFInfo
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- CN207874232U CN207874232U CN201721201880.4U CN201721201880U CN207874232U CN 207874232 U CN207874232 U CN 207874232U CN 201721201880 U CN201721201880 U CN 201721201880U CN 207874232 U CN207874232 U CN 207874232U
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- robot
- interface circuit
- communication interface
- data communication
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Abstract
The utility model provides a kind of control system of robot, including：Central controller, and the first robot, the second robot with central controller communication connection；The central controller receives the posture information of first robot, and carries out data processing and obtain the posture information of second robot, and second robot executes corresponding operating after receiving the posture information of second robot.Synchronous signal sampling and raising control efficiency and precision can be realized by the utility model.
Description
Technical field
The utility model is related to robotic technology field, espespecially a kind of control system of robot.
Background technology
It is that industrial robot commonly programs Job Operations method that robot, which guides teaching and course replay, guiding teaching with
Course replay refers to the actuator or tool by manually guiding robot arm end, so that robot is completed a series of predetermined dynamic
Make, while recording the movement instruction and miscellaneous function instruction, task program is formed, so that continuous repetitive process reproduces.Teaching
Technology to enhancing man-machine collaboration ability, develop by the direction conducive to quick teaching programming.
Teaching is implemented to the back yard industry robot of working site, the end that operator can hold industrial robot executes
Device realizes direct teaching.Then teaching, but which need to be carried out by teaching box by operator for large volume industrial robot
Operating process is complicated, and teaching period is long.It, need to be by programming and combining when manipulating teaching to the large scale industry robot of production scene
Teaching box is completed, more demanding to technical staff.
To solve above-mentioned contradiction, someone is servo-actuated the solution of teaching robot's system using principal and subordinate, and manipulator passes through behaviour
Man-controlled mobile robot of doing exercises moves, and system controller acquires and record the rotation displacement signal that Manipulation of the machine people respectively moves, defeated after operation
Go out pulse signal to servo-driver, to drive industrial controlled machine people to realize the movement synchronous with Manipulation of the machine people.It is this
The problem of method can be with the guiding teaching of the bulky robot of effective solution, but since the system is by acquiring and recording
The angular signal that Manipulation of the machine people respectively moves determines robot motion track, and error existing for each shafting of Manipulation of the machine people will be by
It brings into the action of industrial controlled machine people, produces teaching trueness error.
For the above situation, this application provides a kind of technical solutions solving the above technical problem.
Utility model content
The purpose of this utility model is to provide a kind of control system of robot, by using separate controller reality
Signal sampling frequencies are now improved, to realize signal sampling synchronization and improve control efficiency and precision.
The technical scheme that the utility model is provided is as follows：
A kind of control system of robot, including：Central controller, and the with central controller communication connection
One robot, the second robot；The central controller receives the posture information of first robot, and carries out data processing
Obtain the posture information of second robot, second robot executes after receiving the posture information of second robot
Corresponding operating.
Preferably, the central controller includes：Control processor, central data communication interface circuit；At the control
Device is managed to connect with central data communication interface circuit communication；The central data communication interface circuit is respectively with described first
Robot and second robot communication connection.
Preferably, first robot includes：At least one joint sensors, the first controller, the first driver,
One data communication interface circuit；The joint sensors are arranged in a one-to-one correspondence each turning joint in first robot
On；First controller respectively with the joint sensors, first driver, the first data communication interface circuit
Communication connection；The first data communication interface circuit is connected with central data communication interface circuit communication.
Preferably, second robot includes：At least one joint sensors, second controller, the second driver,
Two data communication interface circuits；The joint sensors are arranged in a one-to-one correspondence each turning joint in second robot
On；The second controller respectively with the joint sensors, second driver, the second data communication interface circuit
Communication connection；The second data communication interface circuit is connected with central data communication interface circuit communication.
Preferably, second robot further includes：At least one ultrasonic sensor, camera；The ultrasonic wave passes
Sensor is separately positioned in each turning joint of second robot；The ultrasonic sensor is for detecting described second
Distance of the robot relative to peripheral obstacle, and second robot passed through relative to the distance of peripheral obstacle described
Second data communication interface circuit is sent to the central controller；The execution in second robot is arranged in the camera
On device；The camera is used to shoot the work video of second robot, and by the work video of second robot
It is sent to the central controller by the second data communication interface circuit.
Preferably, the central controller further includes：Data storage, alarm, display；The data storage with
The control processor communication connection, the appearance of posture information and second robot for storing first robot
State information；The alarm receives second robot relative to surrounding obstacles by the central data communication interface circuit
The distance of object, and execute corresponding operating；The display receives second machine by the central data communication interface circuit
The work video of device people, and execute corresponding operating.
By the control system of robot provided by the utility model, following at least one advantageous effect can be brought：
1, in the present invention, each joint information of Manipulation of the machine people is not only had recorded, it is each to be also recorded for controlled machine people
Joint real time information so that error will not be brought into the action of controlled machine people existing for each shafting of Manipulation of the machine people, effectively
Eliminate teaching trueness error.
2, in the present invention, each joint control information point of each joint information of Manipulation of the machine people and controlled machine people
It is not completed by separate controller, compared to the method for handling total data by the same controller, independent control
Device system realizes that signal sampling synchronizes, and improves control efficiency and precision.
3, in the present invention, Manipulation of the machine people and the action process and posture history of controlled machine people are recorded
Come, one achievees the purpose that teaching and course replay is guided to be programmed tune secondly accurate Actual path comparison can be carried out in real time
It is whole, to improve program file service efficiency.
4, in the present invention, each joint of controlled machine people is equipped with all kinds of environment sensing elements, to safely and effectively
Perception surrounding space environment in barrier the path of controlled machine people is limited, and anti-collision warning information is sent out, to realize
Effectively evade collision.
5, in the present invention, controlled machine people is equipped with camera, operating personnel can directly observe and manipulate by
The movement locus and targeted attitude of man-controlled mobile robot, the scene manipulation of realization are more careful more intuitive.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of control system of robot
Above-mentioned characteristic, technical characteristic, advantage and its realization method of system are further described.
Fig. 1 is the structural schematic diagram of one embodiment of the control system of the robot of the utility model；
Fig. 2 is the structural schematic diagram of another embodiment of the control system of the robot of the utility model；
Fig. 3 is the structural schematic diagram of another embodiment of the control system of the robot of the utility model；
Fig. 4 is the structural schematic diagram of the first robot of the control system of the robot of the utility model；
Fig. 5 is the structural schematic diagram of the second robot of the control system of the robot of the utility model；
Fig. 6 is the work flow diagram of the control system of the robot of the utility model.
Specific implementation mode
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.
To make simplified form, only schematically shown in each figure with the relevant part of the utility model, they are not
Represent its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or work(in some figures
The component of energy, only symbolically depicts one of those, or only marked one of those.Herein, "one" is not only
It indicates " only this ", can also indicate the situation of " more than one ".
The utility model provides a kind of one embodiment of the control system of robot, referring to Fig. 1, central controller 3,
And the first robot 1, the second robot 2 with central controller communication connection；The central controller 3 receives described
The posture information of first robot 1, and carry out data processing and obtain the posture information of second robot 2, second machine
Device people 2 executes corresponding operating after receiving the posture information of second robot 2.
Specifically, in the present embodiment, the first robot is analog manipulation robot, the second robot is the controlled machine of industry
Device people.After central controller receives the posture information of the first robot, according to the posture information calculation processing of the first robot
The posture information of the second robot is obtained, then the second robot follows the first machine according to the execution of the posture information of the second robot
The action of device people.
In the present invention, Manipulation of the machine human action can be guided using user's hand-held, thus when user from
When opening, Manipulation of the machine people allows for self-locking joint, and otherwise due to gravity, Manipulation of the machine people's mechanical arm is fallen, controlled machine
Device people will follow this unvested action, cause danger.
On the basis of above example, the utility model also provides one embodiment, with reference to Fig. 2, the center control
Device 3 includes：Control processor 31, central data communication interface circuit 32；The control processor 31 is logical with the central data
Believe the communication connection of interface circuit 32.First robot 1 includes：At least one joint sensors 14, the first controller 11,
One driver 13, the first data communication interface circuit 12；The joint sensors 14 are arranged in a one-to-one correspondence in first machine
In each turning joint of people 1；First controller 11 respectively with the joint sensors 14, first driver 13,
The communication of first data communication interface circuit 12 connection；The first data communication interface circuit 12 is logical with the central data
Believe the communication connection of interface circuit 32.Second robot 2 includes：At least one joint sensors 24, second controller 21,
Two drivers 23, the second data communication interface circuit 22；The joint sensors 24 are arranged in a one-to-one correspondence in second machine
In each turning joint of people；The second controller 21 respectively with the joint sensors 24, second driver 23, institute
State the communication connection of the second data communication interface circuit 22；The second data communication interface circuit 22 is communicated with the central data
The communication connection of interface circuit 32.
Specifically, in the present embodiment, the first controller 11 is for receiving each turning joint of the first robot
The posture information that obtains of joint sensors 14, and sent by the first data communication interface circuit 12, control processor 31 is logical
After crossing the posture information that central data communication interface circuit 32 receives the first robot, calculation processing obtains the appearance of the second robot
State information, and sent by central data communication interface circuit 32, second controller 21 passes through the second data communication interface circuit
After 22 receive the posture information of the second robot, is made by 23 the first robot of drive control of the second driver and follow action.
In the present embodiment, the first controller 11, second controller 21, control processor 31 can be by being written software
Implement of Function Module；First driver 12, the second driver 22 can be the various motor driven systems such as servo drive system；
First data communication interface circuit 12, the second data communication interface circuit 22, central data communication interface circuit 32 can be each
The wired or wireless transmission module of class.
On the basis of above example, the utility model also provides one embodiment, with reference to Fig. 3, second machine
People further includes：At least one ultrasonic sensor 25, camera 26；The ultrasonic sensor 25 is separately positioned on described second
In each turning joint of robot；The ultrasonic sensor 25 hinders for detecting second robot 2 relative to surrounding
Hinder the distance of object, and second robot is passed through into second data communication interface electricity relative to the distance of peripheral obstacle
Road 22 is sent to the central controller 3；The camera 26 is arranged on the actuator of second robot 2；It is described to take the photograph
As the first 26 work video for shooting second robot 2, and the work video of second robot 2 is passed through into institute
It states the second data communication interface circuit 26 and is sent to the central controller 3.The central controller 3 further includes：Data store
Device 33, alarm 34, display 35；The data storage 33 is connected with the communication of the control processor 31, for storing
State the posture information of the first robot 1 and the posture information of 2 people of the second machine；The alarm 34 passes through the center
Data communication interface circuit 32 receives distance of second robot 2 relative to peripheral obstacle, and executes corresponding operating；Institute
It states display 35 and receives the work video of second robot 2 by the central data communication interface circuit 32, and execute
Corresponding operating.
Specifically, in the present embodiment, data storage 33 is used to receive the posture information and second of the first robot 1
The posture information of robot 2 and storage, can be used for continuous repetition process.Data storage 33 can be that RAM etc. is various can
To store the medium of data.Ultrasonic sensor 25 is used to detect distance of second robot 2 relative to peripheral obstacle,
And sent by the second data communication interface circuit 22, after alarm 34 is received by central data communication interface circuit 32, when
When second robot 2 is less than safe distance relative to the distance of peripheral obstacle, alarm is executed.Alarm can be sound-light alarm
Etc. various type of alarms.Alarm 33 can be audible-visual annunciator, warning lamp, loudspeaker etc..
Camera 24 shoots the work video of the second robot 2, and is sent by the second data communication interface circuit 22,
After display 34 is received by central data communication interface circuit 32, shown.Camera 24 can be all kinds of video cameras, take the photograph
As head etc.；Display 34 can be the video display apparatus such as display screen, television set.
In the present embodiment, the ultrasonic sensor of each turning joint setting of controlled machine people, quantity can with position
It is determined according to spatial depiction residing for the barrier of industry spot periphery.The camera of controlled machine people end setting, quantity and cloth
Seated position can determine as needed, can also use 3D cameras.
The utility model also provides a kind of specific embodiment of first robot, and with reference to Fig. 4, the first robot can be mould
Quasi- Manipulation of the machine people is made of the specific component such as each mechanical arm, each turning joint.Assuming that by taking 6 axis robots as an example, there are 6
Joint, respectively waist joint M1, shoulder joint M2, shoulder joint M3, elbow joint M4, wrist joint M5, swivel of hand M6.
In the present embodiment, since mechanical arm each section joint length of the industrial robot of different designs has difference, this reality
Analog manipulation robot and industrial each joint length of controlled machine people can be realized with novel by adjusting the length of each arm
Being in similar proportion property, such as：The relative position of arm axle and forearm axle sleeve can adjust the length of h3 before adjusting；And adjust upper arm axle with
The relative position of upper arm axle sleeve can adjust the length of h2.
The utility model also provides a kind of specific embodiment of second robot, and with reference to Fig. 5, the second robot can be work
Industry controlled machine people is made of the specific component such as each mechanical arm, each turning joint, actuator.Assuming that with the above-mentioned fact Example of correspondence
In 6 axis robots for, have 6 joints, respectively waist joint N1, shoulder joint N2, shoulder joint N3, elbow joint N4, wrist close
Save N5, swivel of hand N6.
In the present embodiment, the evaginations such as mechanical arm, joint and actuator arrange ultrasonic sensor on position, especially
Same joint part needs to arrange multiple sensors (such as L1, L2, L3), when manipulator motion is close to barrier, can and
When send out alarm signal.
In the present embodiment, industrial controlled machine people actuator top is equipped with camera, and by screen display, so as to holding
Row device moving displacement or action target judge.
The utility model also provide a kind of robot it is in running order when specific embodiment, with reference to Fig. 6, operating procedure
Including：Step S100 obtains the current pose information of the first robot and the current pose information of the second robot；Step
S210 judges the default operating mode of robot, when in the first default operating mode, step S220 is executed, when in second
When default operating mode, step S230 is executed；Step S220 generates institute according to the current pose information of first robot
State the targeted attitude information of the second robot；Step S230 is according to the current pose information of second robot, described in generation
The targeted attitude information of first robot；Step S240 is according to the targeted attitude information of first robot, control described the
The posture of one robot, and update the current pose information of first robot；Step S310 is according to second robot
Targeted attitude information, control the posture of second robot, and update the current pose information of second robot；Step
Rapid S110 is when the targeted attitude information of the current pose information of second robot and second robot is inconsistent, control
It makes second robot and carries out pose adjustment；Step S400 is according to the current pose information of first robot and described
The current pose information of second robot generates the process record information of robot；Step S510 obtains second robot
Range information relative to peripheral obstacle；Step S520 is when the range information is less than the first predetermined threshold value and is more than second
When predetermined threshold value, the first preset alarm pattern is executed；Step S530 is less than or equal to the second predetermined threshold value simultaneously when the range information
And when more than third predetermined threshold value, the second preset alarm pattern is executed；Step S540 is less than or equal to third when the range information
When predetermined threshold value, third preset alarm pattern is executed；The work video information that step S600 obtains second robot is gone forward side by side
Row display.
Specifically, in the present embodiment, typical case scene description is as follows：
When 1, being switched on, Manipulation of the machine people reads the posture of controlled machine people first, and adjust automatically so far posture, realization two
Robot pose matches, and then starts analog manipulation programming process；
2, analog manipulation programming starts, and the actuator guiding robot that user holds robot arm end completes to make a reservation for
Action, controlled machine people carry out following action, reproduce the behavior of Manipulation of the machine people；
3, in the process, by using closed-loop control real time correction controlled machine people physical location and target location deviation, make
The two is obtained to be consistent.
4, in the process, Manipulation of the machine people and the action process and posture history of controlled machine people are recorded, and are used for
Continuous repetition；
5, in the process, limitation of the barrier to path in controlled machine people's surrounding space environment is perceived by safety device,
And send out collision information；
6, in the process, the movement locus and targeted attitude of controlled machine people are observed and manipulated by photographic device.
One kind that the invention that a kind of control system of robot provided by the utility model is submitted on the same day with another provides
The control method and system of robot belong to same technical solution.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle
Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (3)
1. a kind of control system of robot, which is characterized in that including：Central controller, and it is logical with the central controller
Interrogate the first robot, the second robot of connection；
The central controller includes：Control processor, central data communication interface circuit；
The control processor is connected with central data communication interface circuit communication；
The central data communication interface circuit is connected with first robot and second robot communication respectively；
First robot includes：At least one joint sensors, the first controller, the first driver, the communication of the first data
Interface circuit；
The joint sensors are arranged in a one-to-one correspondence in each turning joint of first robot；
First controller is electric with the joint sensors, first driver, first data communication interface respectively
Road communication connection；
The first data communication interface circuit is connected with central data communication interface circuit communication；
Second robot includes：At least one joint sensors, second controller, the second driver, the communication of the second data
Interface circuit；
The joint sensors are arranged in a one-to-one correspondence in each turning joint of second robot；
The second controller is electric with the joint sensors, second driver, second data communication interface respectively
Road communication connection；
The second data communication interface circuit is connected with central data communication interface circuit communication.
2. the control system of robot according to claim 1, which is characterized in that second robot further includes：Extremely
Few ultrasonic sensor, a camera；
The ultrasonic sensor is separately positioned in each turning joint of second robot；
The ultrasonic sensor is for detecting distance of second robot relative to peripheral obstacle, and by described second
Robot is sent to the central controller relative to the distance of peripheral obstacle by the second data communication interface circuit；
The camera is arranged on the actuator of second robot；
The camera is used to shoot the work video of second robot, and the work video of second robot is led to
It crosses the second data communication interface circuit and is sent to the central controller.
3. the control system of robot according to claim 2, which is characterized in that the central controller further includes：Number
According to memory, alarm, display；
The communication of the data storage and the control processor connects, for store the posture information of first robot with
And the posture information of second robot；
The alarm receives second robot relative to peripheral obstacle by the central data communication interface circuit
Distance, and execute corresponding operating；
The display receives the work video of second robot by the central data communication interface circuit, and executes
Corresponding operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721201880.4U CN207874232U (en) | 2017-09-19 | 2017-09-19 | A kind of control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721201880.4U CN207874232U (en) | 2017-09-19 | 2017-09-19 | A kind of control system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207874232U true CN207874232U (en) | 2018-09-18 |
Family
ID=63500346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721201880.4U Expired - Fee Related CN207874232U (en) | 2017-09-19 | 2017-09-19 | A kind of control system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207874232U (en) |
-
2017
- 2017-09-19 CN CN201721201880.4U patent/CN207874232U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20210919 |
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| CF01 | Termination of patent right due to non-payment of annual fee |