CN102581852B - Attitude and position adjustment system for robot in heavy load assembly and handling - Google Patents
Attitude and position adjustment system for robot in heavy load assembly and handling Download PDFInfo
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- CN102581852B CN102581852B CN201210019223.3A CN201210019223A CN102581852B CN 102581852 B CN102581852 B CN 102581852B CN 201210019223 A CN201210019223 A CN 201210019223A CN 102581852 B CN102581852 B CN 102581852B
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Abstract
An attitude and position adjustment system for a robot in heavy-duty assembly and handling comprises a plurality of manual manipulators and a controller. The manual manipulators are directly placed at different positions on the surface of a workpiece to be operated, and are connected with the controller in a wired or wireless manner. An operator can directly push and pull an operating lever of each manual manipulator to generate operation signals. The signals are processed and calculated by the controller, and control commands are generated according to the operator's intent, and enable the robot to hold the manipulated workpiece to correspondingly move so as to adjust the position and attitude of the workpiece, which is equivalent to the fact that the operator directly pushes and pulls local positions of the work piece under the balanced state. The attitude and position adjustment system is especially suitable for multiple operators to focus on controlling the position and attitude of a plurality of key positions so as to assemble or handle a large workpiece.
Description
Technical field
What the present invention relates to is a kind of device of Industrial Robot Technology field, specifically a kind of manual control device for robot heavy duty assembling/transport operation in non-structure environment.
Background technology
When robot (or other similar plant equipment, hereafter all refer to robot) realizes the carrying of workpiece or assembling action under non-structure environment, often need to adjust the position of workpiece and attitude.Here so-called non-structure environment refers to that robot working environment has uncertainty, cannot automatically realize accurately location, such as, be assembled body and cannot measure and locate relative to the position of robot by programming in advance.In this case use the object of robot normally because workpiece weight and volume is comparatively large, manpower has been difficult to assembling action, the installation of such as structural glass.
Under this application model, robot real work is in manual control pattern.The manual control that existing industrial robot adopts the mode of executor (also referred to as teaching machine) to realize robot usually, the i.e. hand-held executor of operator, by the Ji Zu button control robot each joint self-movement on executor or move along coordinate direction.Also some executor uses multidimensional control stick to carry out the motion of control, such as KUKA industrial robot.But this method is also not suitable for above-mentioned heavy duty assembling and transport operation:
1, for the executor of push button, robot each joint self-movement can only be realized, or move along the reference axis parallel direction of predefined coordinate system and rotate around reference axis, translation and the rotation of any direction can not be realized.
2, for multidimensional control stick, the fine movement realizing robot is difficult to.For large-scale workpiece, a Small-angle Rotation will cause the displacement that edge is larger, and control stick degree of regulation is inadequate.And large-scale workpiece often needs to do local directed complete set at some critical contact position in an installation, operator is difficult to judge which type of pose adjustment is whole workpiece should do and just can satisfy the demand.
3, large-scale workpiece has coordinated assembling by many people usually, needs to approach observation at different parts, local directed complete set.When being controlled by an executor, operator only has a people, and other people are by communication, very not convenient when oral statement, also easily have ambiguity, can increase the risk of maloperation.
4, use these executors not directly perceived to the people that operates machine: executor is separated with robot, operator needs to convert the relation in self erect-position and robot orientation, and not only efficiency is lower for this, also easily produces maloperation, may cause serious consequence.Robot manipulation person needs the professional training ability through the long period on duty.
" by doing and illustrating " teaching of formula is the more direct control mode of one, namely robot end fills a handle, there is six-dimension force sensor above, the size and Orientation of people's drawing handle steering force can be experienced, carry out control according to the size and Orientation of power and follow human hand movement, than push button and multidimensional control stick more convenient.But for large-scale workpiece, same exist above 2, described in 3 defect.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of location regulating system for robot heavy duty assembling is provided, several operator can be made to realize easily adjusting the position of large-scale workpiece and attitude, complete assembling work.
The present invention is achieved by the following technical solutions: described location regulating system, comprises several manual control device and a controller.
Described manual control device can be placed in the surface of the work be assembled, the complexity of concrete quantity depending on assembling work and the number of participation cooperation assembling.Manual control device comprises adsorption device, control crank, three-dimensional force sensor, azimuth indicator, sensor signal processing module.
Described adsorption device, for being fixed on surface of the work by executor.For iron and steel workpiece, magnetic suction disc can be adopted to adsorb; For the workpiece of any surface finish such as glass, vacuum cup can be adopted to adsorb; For other materials, the various ways such as double faced adhesive tape can be adopted to fix.Adsorbent equipment, as the substrate of executor, adopts the modes such as flange and screw to be connected with other parts.
Described control crank, is fixed on substrate that adsorbent equipment forms, by participating in coordinating the people of assembling to grip, and applies certain steering force, changing control signal into through force snesor.This control signal is sent to controller, can control robot motion, thus carries out pose adjustment to workpiece.
Described three-dimensional force sensor, is installed on control crank root, can detect the component of the steering force suffered by handle in all directions, thus obtains the size and Orientation of steering force.
Described azimuth indicator, is installed on executor shell, is made up of two potentiometer indicating knobs.Stir rotation knob by operator, setting manual control device is relative to the position of robot tool coordinate.One of them knob points to the center of robot tool coordinate, is used to refer to the relative bearing at executor and robot tool coordinate center; Another knob points to corresponding scale on dial plate, is used to refer to the distance at executor and robot tool coordinate center.
Described sensor signal processing module, is a SCM system, comprises microprocessor, A/D transform subblock and communicator module.Wherein A/D transform subblock is for reading the signal of three-dimensional force sensor and two groups of needle electrometers, converts it to digital quantity.Wherein communicator module is used for the communication between controller, and data signal is sent to controller.Specifically can adopt radio receiving transmitting module, also can adopt the mode that wire cable connects.
Described controller is an embedded computer system, and the information sent by serial line interface reception manual control device, specifically can be adopted radio receiving transmitting module, also can adopt the mode that wire cable connects.Computer program processes and computing sensor information, and generate manual control signal, be sent to robot controller by network interface, control realizes corresponding action.
Key of the present invention is that controller is to the process of manual executor signal and calculating, produces relevant robot motion's instruction control motion, the intention of accurate response operator.
Information processing and the calculating process of described controller are as follows:
The information that controller obtains from manual control device comprises: force signal and position signalling, and force signal and operator are applied to the size and Orientation of the power on control crank, are obtained by three-dimensional force sensor; Position signalling and manual control device, relative to the position of robot tool coordinate, are set by azimuth indicator by operator, are obtained by potentiometer indicating knob.The power equivalent transformation acted on manual control device is the force and moment acting on tool coordinates initial point according to force equation by controller, and then control is along the direction translation of power under tool coordinates, rotates around moment direction.The speed of translation and rotation is proportional to the size of force and moment.Motion control instruction mails to robot controller by controller by communication interface, is moved by robot controlling implement body driven machine people.Control action is equivalent under workpiece is in statically balanced state, and manual control device fixing point is applied with a power, and whole workpiece is moved under this force.When there being multiple manual control device to work simultaneously, then multiple control acts at diverse location simultaneously, and the motion of workpiece is the superposition of multiple control effect.
Its result of use to be similar under state of weightlessness by operator's Manual push-pull workpiece, adjusts its position and attitude.Unlike operator's impression less than the inertia of workpiece, and what feel is damping, because be that speed is proportional to amount of force, but not acceleration is proportional to active force.Damping size depends on the damped coefficient of program setting.
The invention has the advantages that: (1) can realize the six-freedom degree motion control to robot end's grabbing workpiece by mode the most intuitively, completes the manual operation to robot.(2) position and attitude of large-scale heavy workpiece can have been coordinated to adjust by multiple operator, each operator pays close attention to the crucial matching part in a place, and direct manipulation workpiece motion s, improves operating efficiency greatly.(3) use simply, can robot manipulation be carried out without the need to training.
Accompanying drawing explanation
Fig. 1 is control system principle schematic.
Fig. 2 is manipulator structure schematic diagram.
Fig. 3 is controller architecture schematic diagram.
Fig. 4 is coordinate conversion relation schematic diagram.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1-Figure 3, the present embodiment is achieved through the following technical solutions:
In the present embodiment, robot 1 realizes the carrying assembling work to large-scale workpiece 3 by instrument 2, operator manual control device 4 is fixed on workpiece 3 surface, by the handle of direct push-and-pull manual control device 4 operate machine people motion, to adjust the location of workpiece and attitude.Manual control device 4 is communicated with its controller 5 by radio receiving transmitting module, sends sensor signal to controller 5.Controller 5, by computing, produces motion control instruction, is sent to robot controller, is moved by robot controlling implement body control by network interface.
Described location regulating system, comprises manual control device 4 and controller 5.Wherein the quantity of manual control device 4 can have multiple, the complexity of concrete quantity depending on assembling work and the number of participation cooperation assembling.Controller 5 quantity is one, is connected by the controller of network interface with robot 1.
Described manual control device 4 can be placed in workpiece 3 surface be assembled, and comprises adsorption device 6, control crank 11, three-dimensional force sensor 10, azimuth indicator 13, sensor signal processing module 12, battery module 8 etc.
Described adsorption device 6, for being fixed on surface of the work by executor.Adopt manual vacuum sucker in this embodiment, comprise rubber cup and valve switch 7 thereof.Operator is by adsorption device 6 by being pressed in workpiece 3 surface, and the air extruded in leather cup can rely on atmospheric pressure that adsorption device 6 is fixed on the surface of workpiece 3.Open valve switch 7, in leather cup, discharge air can eliminate draught head, loosens adsorption device 6.Adsorption device 6, as the substrate of executor, adopts flange to be connected with other parts with screw mode.
Described control crank 11, is fixed on substrate that adsorption device 6 forms, by participating in coordinating the people of assembling to grip, and applies certain steering force, changing control signal into through force snesor.This control signal is sent to controller, can control robot motion, thus carries out pose adjustment to workpiece.
Described three-dimensional force sensor 10, is installed on control crank root, can detect the component of the steering force suffered by handle in all directions, thus obtains the size and Orientation of steering force.
Described azimuth indicator 13, is installed on executor shell 9, employing be potentiometer indicating knob, quantity is two.Stir rotation knob by operator, setting manual control device 4 is relative to the position of robot tool 2.One of them knob points to the center of robot tool coordinate, is used to refer to the relative bearing at executor and robot tool coordinate center; Another knob points to corresponding scale on dial plate, is used to refer to the distance at executor and robot tool coordinate center.
Described sensor signal processing module 12 is SCM systems, comprises microprocessor, serial communication interface and A/D translation interface etc.Sensor signal processing module 12 is connected with radio receiving transmitting module 14 by its serial communication interface.Read the sensor signal of three-dimensional force sensor 10 and azimuth indicator 13 by A/D translation interface, convert it to digital quantity.Wherein radio receiving transmitting module is used for the digital communication between controller, by antenna 15, data signal is sent to controller.
Described controller 5, be an embedded computer system, concrete structure as shown in Figure 3.By the information that wireless communication module reception manual control device 4 sends.Computer program processes and computing sensor information, and generate manual control signal, be sent to robot controller by network interface, control realizes corresponding action.
Information processing and the calculating process of described controller 5 are as follows:
The information that controller obtains from manual control device comprises: force signal and position signalling, and force signal and operator are applied to the size and Orientation of the power on control crank 11, is obtained by three-dimensional force sensor 10; Position signalling and manual control device 4, relative to the position of robot tool 2, are set by azimuth indicator 13 by operator, are obtained by potentiometer indicating knob.As shown in Figure 4, controller computer is according to force equation:
Be the force and moment acting on tool coordinates initial point by the power equivalent transformation acted on manual control device 4, then control is along the direction translation of power under tool coordinates, rotates around moment direction.The speed of translation and rotation is proportional to the size of force and moment.Motion control instruction mails to robot controller by controller 5 by network interface, is moved by robot controlling implement body driven machine people.Control action is equivalent under workpiece is in statically balanced state, and manual control device fixing point is applied with a power, and whole workpiece is moved under this force.When there being multiple manual control device to work simultaneously, then multiple control acts at diverse location simultaneously, and the motion of workpiece is the superposition of multiple control effect.
Its result of use to be similar under state of weightlessness by the direct Manual push-pull workpiece of operator, adjusts its position and attitude.Unlike operator's impression less than the inertia of workpiece, and what feel is damping, because be that speed is proportional to amount of force, but not acceleration is proportional to active force.Damping size depends on the damped coefficient of program setting.
The operating process of the present embodiment is as follows:
(1) first use the executor (teaching machine) of robot itself conventionally to operate machine people 1, workpiece 3 is transported near target location, adjusts its attitude roughly simultaneously.
(2) coordinate the operator (can many people) of assembling that manual control device 4 is absorbed and fixed at tool surfaces, stationary plane should be parallel with the X-Y plane of robot tool coordinate, the coordinate direction of manual control device 4 should be consistent with robot tool coordinate, as shown in Figure 4.In fact because the tool coordinates system of robot can set arbitrarily, can in the hope of the X-Y plane of tool coordinates being set in the surface of the work of fixed manual operator, therefore this requirement is not difficult to meet.Such as when installing large flat glass, tool coordinates system is set on glass planar, and manual control device is also absorbed and fixed on glass planar.
(3) operator sets azimuth indicator, the knob pointer representing orientation is pointed to tool coordinates system initial point, the knob representing distance is screwed into corresponding scale.This distance eye estimate.
(4) handle 11 of push-and-pull manual control device, adjusts the position and attitude of workpiece as required.Now robot is in external control pattern, sends control instruction control its motion by controller 5.
Adopt manual control device of the present invention and control method thereof, operator can grasp the method for manual control robot motion without the need to special training.Manipulation process simple, intuitive, can realize carrying and assembling that many people have coordinated large-scale workpiece, and everyone is responsible for the position and attitude of place's key position, greatly improves efficiency and the security of assembling.
Claims (2)
1. for robot heavy duty assembling and the location regulating system of transport operation, it is characterized in that: comprise and severally can directly be placed in by the manual control device of the diverse location on workpiece manipulation surface and a controller; Described manual control device, is connected with controller by wire cable or wireless sending module; Described controller is an embedded computer system, receives the information that manual control device sends, its computer program processes and computing sensor information, generate Non-follow control instruction, be sent to robot controller by network interface, control realizes corresponding action; Described manual control device comprises adsorption device, control crank, three-dimensional force sensor, azimuth indicator, sensor signal processing module, wherein:
Described adsorption device, differently can be fixed on surface of the work by executor, wherein, for iron and steel workpiece, adopts magnetic suction disc absorption; For the workpiece of any surface finish, adopt vacuum cup absorption; For the workpiece except the material except iron and steel or any surface finish, double faced adhesive tape is adopted to fix;
Described control crank, being fixed on substrate that adsorbent equipment forms, gripping by participating in coordinating the people of assembling, and apply certain steering force, change control signal into through force snesor, this control signal is sent to controller, in order to control machine human action, thus pose adjustment is carried out to workpiece;
Described three-dimensional force sensor, is installed on control crank root, detects the component of the steering force suffered by handle in all directions, thus obtains the size and Orientation of steering force;
Described azimuth indicator, be installed on executor shell, be made up of two potentiometer indicating knobs, rotation knob is stirred by operator, set the position of this manual control device relative to robot tool coordinate, one of them knob points to the center of robot tool coordinate, is used to refer to the relative bearing at manual control device and robot tool coordinate center; Another knob points to corresponding scale on dial plate, is used to refer to the distance at manual control device and robot tool coordinate center;
Described sensor signal processing module, it is a SCM system, comprise microprocessor, A/D transform subblock and communicator module, wherein said A/D transform subblock, for reading three-dimensional force sensor and two groups of potentiometric signals of indicating knob, converts it to digital quantity, and wherein said communicator module is used for the communication between controller, data signal is sent to controller, the mode adopting radio receiving transmitting module or adopt wire cable to connect.
2. the information processing of a controller and operation method, for robot heavy duty assembling and the location regulating system of transport operation, it is characterized in that: by controller, manual executor signal is processed and calculated, produce relevant robot motion's instruction, moved by robot controller control, realize the intention of operator, wherein, described method comprises the steps:
Step one, controller obtain relevant information from manual control device, comprise force signal and position signalling, and described force signal is obtained by three-dimensional force sensor; Described position signalling is set by azimuth indicator by operator, is obtained by potentiometer indicating knob;
The force transformation acted on manual control device is the force and moment of equivalent action at tool coordinates initial point according to force equation by step 2, controller, then control under tool coordinates along the direction translation of power, rotate around moment direction, the speed of translation and rotation is proportional to the size of force and moment;
Step 3, motion control instruction mail to robot controller by controller by communication interface, moved by robot controlling implement body driven machine people, control action is equivalent under workpiece is in statically balanced state, manual control device fixing point is applied with a power, whole workpiece is moved under this force, when there being multiple manual control device to work simultaneously, then multiple control acts at diverse location simultaneously, and the motion of workpiece is the superposition of multiple control effect.
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| CN103909524B (en) * | 2013-01-09 | 2015-10-28 | 上银科技股份有限公司 | Directional type position control method |
| CN103213136B (en) * | 2013-03-22 | 2016-06-15 | 南通航运职业技术学院 | A kind of method and system drawing teaching for industrial robot |
| CN103600351A (en) * | 2013-11-11 | 2014-02-26 | 北京航空航天大学 | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof |
| DE102014004919B4 (en) | 2014-04-07 | 2022-05-12 | Abb Schweiz Ag | Method and means for manipulating an object |
| CN105437250A (en) * | 2014-09-01 | 2016-03-30 | 赵德朝 | Series engineering robot |
| KR20160144202A (en) * | 2015-06-08 | 2016-12-16 | 주식회사 로보스타 | System controlling robot for taping work and method the same |
| JP6208724B2 (en) * | 2015-09-09 | 2017-10-04 | ファナック株式会社 | Object posture calculation system |
| JP7039389B2 (en) * | 2018-05-25 | 2022-03-22 | 川崎重工業株式会社 | Robot system and robot control method |
| CN108890630A (en) * | 2018-08-21 | 2018-11-27 | 广东工业大学 | A kind of robot teaching system and method |
| CN114161453B (en) * | 2021-12-30 | 2024-05-10 | 上海钛米机器人股份有限公司 | Robot control method, device and system based on double handles and electronic equipment |
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| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
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| JP2008213119A (en) * | 2007-03-07 | 2008-09-18 | Institute Of Physical & Chemical Research | Cooperative work robot and its control method |
| JP5509673B2 (en) * | 2009-05-22 | 2014-06-04 | 株式会社Ｉｈｉ | Robot control apparatus and control method thereof |
| JP5446573B2 (en) * | 2009-08-13 | 2014-03-19 | 株式会社Ｉｈｉ | Robot control apparatus and robot operation device |
| JP5446574B2 (en) * | 2009-08-13 | 2014-03-19 | 株式会社Ｉｈｉ | Robot operating method and robot operating device |
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| CN101999938A (en) * | 2010-10-15 | 2011-04-06 | 上海交通大学 | Manual operating device for bone surgery assisted robot |
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