CN106493725A - A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder - Google Patents
A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder Download PDFInfo
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- CN106493725A CN106493725A CN201610937306.9A CN201610937306A CN106493725A CN 106493725 A CN106493725 A CN 106493725A CN 201610937306 A CN201610937306 A CN 201610937306A CN 106493725 A CN106493725 A CN 106493725A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention belongs to Industrial Robot Technology field, specially a kind of industrial robot positioner based on omnidirectional's driven pulley and encoder.Apparatus of the present invention include：Slide block, guide rail, driven omni-directional wheel, shaft coupling, encoder, wheel seat, hard spring, top board；Wherein, driven omni-directional wheel is two orthogonal wheels, as whole industrial robot is together moved, and is decomposed into orthogonal two axle and follows robot to move, the number of turns and angle that robot displacement is changed into the movement of driven omni-directional wheel；Encoder is used for the range information for reading omni-directional wheel movement, and is transformed in processor；Shaft coupling ensures that encoder is identical with driven pulley omni-directional wheel mobile status；When robot is moved, two orthogonal driven pulleys add up the x of robot movement respectively, and y-axis distance reads data, the coordinate information of final output robot by encoder.Apparatus of the present invention can achieve to carry out robot accurately whole audience positioning.
Description
Technical field
The invention belongs to Industrial Robot Technology field, and in particular to industrial robot positioner.
Background technology
In industrial robot field, most of machine is positioned using line walking or by the way of patrolling magnetic per capita, by making machine
The mode of device people single shaft movement, improves the positioning precision of robot.But this is far from enough in actual industrial production, Ren Mengeng
Wish to realize multidirectional hi-Fix.Present invention seek to address that such a problem, by omnidirectional's driven pulley and encoder
Combination unit, robot is carried out accurately the whole audience positioning.The final effect realized be within 10 meters 1 centimetre of positioning precision it
Interior, error is less than one thousandth.This scheme is not yet applied in industrial robot field at present, and we are first in industrial machine
People is attempted, and final index reaches domestically leading, world-class level.
Content of the invention
Present invention aim at a kind of industrial robot positioner based on omnidirectional's driven pulley and encoder is proposed, with reality
Accurately whole audience positioning is now carried out to robot.
The industrial robot positioner based on omnidirectional's driven pulley and encoder that the present invention is provided, its structure such as Fig. 1 institutes
Show, including：Slide block, guide rail, driven omni-directional wheel, shaft coupling, encoder, wheel seat, hard spring, top board etc.；Wherein, top top board
Horizontal, the upper end of slide block and hard spring is respectively fixedly connected with below top board；Slide block and guide rail are connected by sliding type, are led
Rail is vertically moved under fixed slide block control up and down；Remaining part is vertically moved with guide rail；The side of wheel seat and the side of guide rail
Face is fixed, and the top of wheel seat is connected with the lower end of hard spring, and is connected through hard spring with top board；Driven omni-directional wheel passes through
Shaft coupling is connected with wheel seat, and is freely rotatable；Encoder is placed on shaft coupling, is revolved with same angular velocity with driven omni-directional wheel
Turn；Wheel seat and the driven omni-directional wheel being attached thereto are vertically moved with guide rail by shaft coupling.
In the present invention, driven omni-directional wheel is two one group of orthogonal wheel（That is the axle of two wheels is orthogonal）, such as Fig. 3 institutes
Show.
In the present invention, driven omni-directional wheel is together moved with whole industrial robot, and is decomposed into two axles with random device
People moves, the number of turns and angle that robot displacement is changed into driven omni-directional wheel movement；Encoder is used for reading omni-directional wheel
Mobile range information（The motion number of turns and angle）, and be transformed in processor；Shaft coupling can ensure that encoder and driven pulley are complete
Identical to wheel mobile status.When robot is moved, two orthogonal driven pulleys add up the x of robot movement, y-axis respectively
Distance, reads data, the coordinate information of final output robot by encoder.
In the present invention, robot controller is STM32F103, and this is a conventional single-chip microcomputer, based on c Programming with Pascal Language.
The distance of rotation and angle information are converted into the readable umber of pulse of single-chip microcomputer by encoder, by accumulated pulse number number come really
The displacement of this axle fixed.And Orthogonal Decomposition is a kind of mode of the motion for plane motion being converted into two axles, in monolithic
Positional information of the robot in plane is calculated on machine, and this information transmission to computer or is exported on screen.
In the present invention, by the structure of top board, slide block and guide rail, it is ensured that wheel seat and driven omni-directional wheel are strictly perpendicular to ground
Face；By top board and the structure of hard spring, it is ensured that driven omni-directional wheel is fully contacted with ground, both will not be over-stressed,
Will not be hanging.Based on both structures, driven omni-directional wheel is made to keep completely in omnidirectional's driven pulley rotation direction with industrial robot
Identical motion state.
In the present invention, by driven omni-directional wheel and wheel seat, the structure of shaft coupling so that omnidirectional's driven pulley and encoder rotation
Angle identical with angular speed, make industrial robot pass through coding in the speed of this direction movement, acceleration
Device, is converted into level signal, is obtained by single-chip microcomputer.
In the present invention, driven omni-directional wheel 3 can pass through the driven wheel measurement of encoder and omnidirectional using two orthogonal wheels
Go out the displacement of two orthogonal directions, so as to obtain the distance that industrial robot is moved in two orthogonal directions, and then obtain machine
The plane coordinates of people.Fig. 2 is the outline drawing of omnidirectional's driven pulley, and Fig. 3 is the orthogonally located structural representation of omnidirectional's driven pulley.
Used as entirety, which has three degree of freedom in the plane for robot, the displacement in both direction and around vertical
The rotation of axle.Position and the pose that robot can be determined in real time by two orthogonal encoders and gyroscope.
The present invention adopts omni-directional wheel, by encoder record and the axially vertical componental movement of omni-directional wheel.Using orthogonal omnidirectional
Wheel, it is possible to measure the relative displacement of two quadrature shafts, calculate Current terrestrial coordinate.
The present invention adopts straight line model, i.e., each section circuit all differential is countless sections of straight lines.Assume initial time, in code-disc
Heart coordinate is（0,0）, angle is 0 °, now robot coordinate system（Relative to robot, change with robot motion）With
World coordinate system（Relative to place promoter region, constant）It is to overlap.Coordinate and the angle at a certain moment are indicated in the diagram（With
Counterclockwise for just）, the displacement increment of the Liang Ge omnidirectionals driven pulley of next computation of Period（Relative to robot coordinate system）Respectively i
And j.The computational methods of i and j are：Unit interval inner encoder increment/2000* locating wheel girths.I and j increments are projected to generation
On boundary's coordinate system, the increment dx and dy in x and y directions in world coordinate system are drawn：
dx=i∗cosθ−j∗sinθ
dy=i∗sinθ+j∗cosθ
Again dx and dy are added up, current coordinate just can be calculated, angle, θ is then measured by gyroscope.Have in coordinates computed
Approximately, the longer cumulative errors of distance are bigger.Once car body is rotated, above formula there is problem, because the θ when calculating
It is constant.Car body can turn over 1 ° in 10ms after tested, generally be less than 0.5 °, therefore in the feelings that angular speed is larger
The error of coordinate calculated under condition is larger.
Error to being likely to occur carries out theory analysis below：
In actual conditions, error is always inevitable, in order to study impact and the raising positioning accurate that error is controlled to robot
Degree, is analyzed to the error that orthogonal code-disc is positioned below.
1. angular error：
When the error of θ is mainly derived from robot original position in the determination of θ and motion process gyroscope feedback, if deviation is
D θ, then actual increment be：
d_x= di*cos(dθ+θ)−dj∗sin(dθ+θ)
d_y= di*sin(dθ+θ) + dj∗cos(dθ+θ)
For the small straight line in each section of unit interval,
Measurement displacement：
Actual displacement：
Distance of the target endpoint to actual terminal：
Relative error：
δ=ds/s_
δ also can be directly obtained by the triangle cosine law, and mono- timings of d θ, relative error δ are unrelated with θ, unrelated with di/dj, swear
Spirogram can have and intuitively recognize.
δ is as shown in Figure 5 with the relation of deviation d θ.
2. orthogonal code-disc error：
Under actual conditions, there is certain deviation in the angle of orthogonal code-disc so that robot i directions are not necessarily in 90 ° with j directions.
Fig. 6 is exemplary plot.
Fig. 6 show coordinate system of machine, if i deviations of directivity α, j deviations of directivity β.OA, OB are code-disc increment, and OC is actual
Displacement increment, can obtain：
AC linear equations：(y-OA*sinα)=(x-OA*cosα)*tan（90+α）
BC linear equations：(y-OB*cosβ)=(x-OB*sinβ)*tan（180-β）
Connection is solved equation and can obtain C (Δ i, Δ j)：
di=(OA*cosβ-OB*sinα)/cos(α+β)
dj=(OB*cosα-OA*sinβ)/cos(α+β)
Di, dj are substituted into coordinate model formula and can obtain world coordinates increment：
d_x= (OA*cos(β-θ)-OB*sin(θ+α))/cos(β+α)
d_y= (OB*cos(θ+α)-OA*sin(β-θ))/cos(β+α)
Displacement ideally：
Displacement under actual conditions：
Distance of the target endpoint to actual terminal：
Relative error：
δ=ds/s_
Under actual conditions, the deviation of both direction can be considered as the deviation processing in a direction, with j directions as reference, i.e. β=0,
I orientation angle deviations α are only existed, has to draw a conclusion：
（1）Relative error δ is unrelated with θ；
（2）In the case of OA=OB, δ is as shown in Figure 7 with the relation of deviation α.
3. omnidirectional wheel structure error：
If Fig. 8, R are motion radius of curvature, r is the maximum radius on omni-directional wheel steamboat, and S is measuring track length, and L is true rail
Mark length, then：
S=θ 1* (R+r), S=θ 2* (R-r)
L=R*(θ1+θ2)=R*[S/(R+r)+ S/(R-r)]
Relative error：
Actual analysis：
Current omni-directional wheel r=5.1mm, if walking the circular arc of a radius 1250mm, relative error δ only -0.0017%；I.e.
Car body is made to spin, the circular arc of a radius 500mm is walked at omni-directional wheel center with respect to car body center, and relative error δ also only has -0.01%.
4. wheel footpath error：
The true radius of locating wheel is r, but when contacting to earth, cushion rubber is certain to deform upon, if shape is changed into Δ r, relative error δ=Δ
R/r, positions omni-directional wheel r=25mm at present, and Δ r=0.5mm is possible to generation, then δ=2%, and this error is directly linear anti-
It is fed in positioning, the increment relative error in i directions or j directions is also 2%, if car body is along x-axis or y-axis translation, displacement is relative
Error is also 2%.
5. ground is uneven：
As shown in figure 9, point-to-point transmission measures distance：
S=rθ
Projected length（Actual distance）：
L=2rsin(θ/2）
Relative error：
（Unit：Radian）
Actual analysis：
Assume the continuous earth bulge 1mm of 20mm length, i.e. L=20mm, d=1mm, then：R=50.5mm, θ=0.199337, δ=
0.1658%.
Therefore, three main errors：The orthogonal error of angle information, code-disc, wheel footpath error.And the structural failure of omni-directional wheel
Uneven error can be ignored with ground.In post-production, we avoid first three error as far as possible, line algorithm optimization of going forward side by side
As follows：
1st, from the encoder that higher quality, line number are higher；
2nd, code-disc quadrature error：
Assume that the actual angle of code-disc is 90 ° of+α, j directions code-disc walks a straightway, di, dj respectively i direction codes along ideal line
Disk and the count pulse increment of j directions code-disc, then：
dj*sinα=di；
2. initial coordinate system angle theta and wheel footpath d,
S*cosθ=Ly/2000*pi*d
S*sin(θ+α)=Ly/2000*pi*d.
By with upper type, optimize through for several times, finally realize 7 millimeters in 10 meters of single shaft mobile accuracy, multiaxis moves ten meters
1 centimetre of interior error.The feasibility of the system is demonstrated, and finally can be applicable to production practices.
Description of the drawings
Fig. 1 integral module installation diagram front views.
Fig. 2 omnidirectionals driven wheel structure schematic diagram.
The orthogonal omnidirectional's driven wheel structure schematic diagrames of Fig. 3.
Fig. 4 is orthogonal omnidirectional's driven pulley model schematic.
Fig. 5 is the relation of angle relative error δ and deviation d θ.
Fig. 6 is orthogonal code-disc error schematic diagram.
In the case that Fig. 7 is OA=OB, the relation of δ and deviation α.
Fig. 8 is omnidirectional wheel structure error schematic diagram.
Fig. 9 is ground injustice error schematic diagram.
Label in figure：1 be slide block, 2 be guide rail, 3 be driven omni-directional wheel, 4 be shaft coupling, 5 be encoder, 6 be wheel seat, 7
It is top board for hard spring, 8.
Specific embodiment
It is below the example of the concrete device of patent：
1st, top board size is 135 millimeters * 135 millimeters of square aluminium sheet, and thickness is 10 millimeters, and top board is perpendicular with slide block, with
When also vertical with guide rail and hard spring；
2nd, we are from upper silver-colored brand MGN15H model guide rail and MGN15H-1Y model slide blocks, i.e. 15 millimeters of guide rail width, guide rail
Smooth connection and slide block between.It is parallel relation between guide rail and slide block；
3rd, when hard spring full extension, length is 70 millimeters, in collinear pass centered on hard spring and wheel seat
System, with driven omni-directional wheel vertical profile center also on the same line.Driven pulley is a diameter of 4 cun（101.6 millimeter）；
4th, on the same line, shaft coupling shaft hole diameter is 6 millimeters for driven omni-directional wheel wheel direction of principal axis and shaft coupling, encoder.It
There is identical angular speed and the anglec of rotation when moving.Encoder brand be Omron, model E6B2-CWZ6C.
It is below algorithm implementation：
1st, as robot motion, two orthogonal driven omni-directional wheels are divided into two normal axis random device people and together move.Device
Ensure that the speed which moves is identical with robot；
2nd, make the mobile angular speed and encoder angular velocity of rotation of driven omni-directional wheel completely the same, can be obtained by reading encoder
Obtain the moving parameter of driven omni-directional wheel；
3rd, the number of pulses in encoder is read by encoder, the signal that angle is converted into digital level, so that obtain machine
Displacement of the device people in two orthogonal directions, and calculate robot coordinate；
4th, by orthogonal algorithm, cumulative errors elimination algorithm etc., the error of measurement device is reduced as far as possible.Finally realize that robot exists
Being accurately positioned in plane.Within up to 10 meters of the positioning precision of realization, error is less than 1 centimetre, and error is less than one thousandth.
Claims (2)
1. a kind of industrial robot positioner based on omnidirectional's driven pulley and encoder, it is characterised in that include：Slide block, lead
Rail, driven omni-directional wheel, shaft coupling, encoder, wheel seat, hard spring, top board；Wherein, top top board is horizontal, slide block and hard bullet
The upper end of spring is respectively fixedly connected with below top board；Slide block and guide rail are connected by sliding type, and guide rail is in fixed slide block control
Lower vertically move up and down；The side of wheel seat is fixed with the side of guide rail, and the top of wheel seat is connected with the lower end of hard spring, and
It is connected through hard spring with top board；Driven omni-directional wheel is connected with wheel seat by shaft coupling, and is freely rotatable；Encoder is laid
On shaft coupling, rotated with same angular velocity with driven omni-directional wheel；Wheel seat and the driven omni-directional wheel being attached thereto pass through shaft coupling
Device is vertically moved with guide rail；
The driven omni-directional wheel is two one group of orthogonal wheel.
2. industrial robot positioner according to claim 1, it is characterised in that driven omni-directional wheel is with whole industry
Robot is together moved, and be decomposed into orthogonal two axle follow robot move, robot displacement is changed into driven
The number of turns and angle of omni-directional wheel movement；Encoder is used for the range information for reading omni-directional wheel movement, and is transformed in processor；Connection
Axle device ensures that encoder is identical with driven pulley omni-directional wheel mobile status；When robot is moved, two orthogonal driven pulleys
Add up the x of robot movement respectively, y-axis distance reads data, the coordinate information of final output robot by encoder.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107932557A (en) * | 2017-12-14 | 2018-04-20 | 华南理工大学 | A kind of robotic positioning device of the vertical wheel axis based on encoder |
| CN108444465A (en) * | 2018-03-22 | 2018-08-24 | 山东大学 | A kind of AGV pose measuring apparatus and its application based on Dual-encoder |
| CN110231027A (en) * | 2019-05-20 | 2019-09-13 | 西安交通大学 | A kind of positioning system and localization method based on Fusion |
| CN111657686A (en) * | 2019-02-21 | 2020-09-15 | 天津工业大学 | Movable intelligent electronic component cabinet management system |
| CN111921896A (en) * | 2020-06-08 | 2020-11-13 | 合肥悦楠机电设备有限公司 | New energy automobile battery testing platform |
| CN112904861A (en) * | 2021-01-26 | 2021-06-04 | 齐鲁工业大学 | Two-dimensional positioning device and method for mobile robot based on passive orthogonal omni-wheel |
| CN113587791A (en) * | 2021-08-25 | 2021-11-02 | 哈尔滨工程大学 | Pose detection device and pose detection method of omnidirectional mobile platform |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107932557A (en) * | 2017-12-14 | 2018-04-20 | 华南理工大学 | A kind of robotic positioning device of the vertical wheel axis based on encoder |
| CN108444465A (en) * | 2018-03-22 | 2018-08-24 | 山东大学 | A kind of AGV pose measuring apparatus and its application based on Dual-encoder |
| CN108444465B (en) * | 2018-03-22 | 2023-04-11 | 山东大学 | Based on two AGV of encoder pose measuring device and application thereof |
| CN111657686A (en) * | 2019-02-21 | 2020-09-15 | 天津工业大学 | Movable intelligent electronic component cabinet management system |
| CN110231027A (en) * | 2019-05-20 | 2019-09-13 | 西安交通大学 | A kind of positioning system and localization method based on Fusion |
| CN111921896A (en) * | 2020-06-08 | 2020-11-13 | 合肥悦楠机电设备有限公司 | New energy automobile battery testing platform |
| CN112904861A (en) * | 2021-01-26 | 2021-06-04 | 齐鲁工业大学 | Two-dimensional positioning device and method for mobile robot based on passive orthogonal omni-wheel |
| CN112904861B (en) * | 2021-01-26 | 2023-04-11 | 齐鲁工业大学 | Two-dimensional positioning device and method for mobile robot based on passive orthogonal omni-wheel |
| CN113587791A (en) * | 2021-08-25 | 2021-11-02 | 哈尔滨工程大学 | Pose detection device and pose detection method of omnidirectional mobile platform |
| CN113587791B (en) * | 2021-08-25 | 2022-08-02 | 哈尔滨工程大学 | Pose detection device and pose detection method of omnidirectional mobile platform |
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