CN105666491B - A kind of multi-joint tubular service robot control system - Google Patents
A kind of multi-joint tubular service robot control system Download PDFInfo
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- CN105666491B CN105666491B CN201610140417.7A CN201610140417A CN105666491B CN 105666491 B CN105666491 B CN 105666491B CN 201610140417 A CN201610140417 A CN 201610140417A CN 105666491 B CN105666491 B CN 105666491B
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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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a kind of multi-joint tubular service robot control system, including grasping force control unit, complete machine motion state control unit and driving servos control unit；Grasping force control unit includes the force snesor being installed on the worm shaft of clamping open-and-close mechanism, the driving steel wire rope that grasping force control unit passes through force snesor detection clamping device takes up degree, complete machine motion state control unit includes 9 axle attitude transducers, for output driving control signal, robot is set to complete upset, axially operation, circumferential operation, spiral is run, and the movement state information of robot is gathered by 9 axle attitude transducers, compared with standard state information corresponding to robot current motion state, judge whether robot current kinetic is normal, and control machine people carries out Motion Adaptive adjustment.Multi-joint tubular service robot control system of the present invention substantially increases the kinetic stability and operating efficiency of multi-joint omnidirectional type Pipe-out Robot.
Description
Technical field
The present invention relates to robot control field, more particularly to a kind of multi-joint tubular service robot control system.
Background technology
With the continuous development and progress of International Industry production technology, robot is more and more applied to industrial life
During production, one type robot is exactly Pipe-out Robot.Pipe-out Robot be used for check pipeline it is whether faulty or
It is no potential safety hazard to be present.The characteristics of existing industrial tubes is that caliber is changeable, turns to complexity, has the pipe joints such as threeway, four-way
Design, flange, valve or instrumentation are arranged everywhere in pipeline, and pipeline is supported by all kinds of liftings or ground support.Operation
The robot of detection or maintenance outside such pipeline first has to possess the function of advancing or turn to pipeline, also to possess and cross
The function of the outer barrier of various pipes, meanwhile, in order to improve pipe detection and the efficiency of maintenance, Pipe-out Robot should also have
The locomitivity of certain speed.
Chinese invention patent application publication No. is the A of CN 104972460, discloses a kind of outer machine of multi-joint omnidirectional type pipe
People, the robot include being used for carrying the carrier bar of detection device, multi-joint front clamp mechanism, multi-joint rear grip mechanism, preceding
Overturn joint, overturn joint, clamping open-and-close mechanism, axial actuating mechanism and circumferential drive mechanism afterwards.The robot is in theory
Omnidirectional's wheel type movement and upset Obstacle Negotiation can be achieved, the wheeled sports bag of omnidirectional includes axial movement, circumferential mobile and 360 spirals fortune
It is dynamic.
Above-mentioned robot is that work is run on smooth pipeline, and the external diameter of pipeline, distribution and smooth degree are poor
It is different big, easily occur driving wheel skidding when above-mentioned robot moves outside pipeline, gripper mechanism grips are unstable, upset obstacle detouring is not in place
Phenomena such as, robot operating efficiency and accuracy of detection are not only influenceed, and easily robot crash phenomenon occur.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of multi-joint tubular service robot control system, for carrying
The kinetic stability of high multi-joint omnidirectional type Pipe-out Robot.
What the present invention was realized in：
A kind of multi-joint tubular service robot control system, the robot include equipment carrier bar, front clamp mechanism,
Rear grip mechanism and clamping open-and-close mechanism, front clamp mechanism are articulated with one end of equipment carrier bar, rear folder by preceding upset joint
The other end that mechanism is articulated with equipment carrier bar by rear upset joint is held, is set on the front clamp mechanism or rear grip mechanism
There is axial actuating mechanism, circumferential drive mechanism is provided with equipment carrier bar, the clamping open-and-close mechanism passes through worm-drive knot
Each joint of structure and Steel rope drive front clamp mechanism and rear grip mechanism；
The control system include grasping force control unit, complete machine motion state control unit, driving servos control unit,
Wireless transmission unit, electricity control unit and networking unit；
The grasping force control unit includes the force snesor being installed on the worm shaft of clamping open-and-close mechanism, chucking power control
Unit processed is used for the tensioning degree that the driving steel wire rope of front clamp mechanism and rear grip mechanism is detected by the force snesor, and
Compared with default maximum grip power and the standard force value demarcated in advance, judge whether the chucking power of robot clamping device is sufficient
It is enough, and clamping open-and-close mechanism output is adjusted, make front clamp mechanism and the chucking power of rear grip mechanism in setting range
It is interior；
The complete machine motion state control unit includes 9 axle attitude transducers, and complete machine motion state control unit is used for defeated
Go out driving control signal, robot is completed upset, axially operation, circumferential operation, spiral operation, and pass through the 9 axle appearance
State sensor gathers the movement state information of robot, and standard state information ratio corresponding with robot current motion state
Compared with, judge whether robot current kinetic is normal, when robot motion's exception, control machine people progress Motion Adaptive tune
It is whole；
The electricity control unit includes electric power detection module, locating module and safety and returns to module, electric power detection module
For detecting the dump energy of robot built-in lithium battery；The locating module is used for the current location for determining robot；
Safety returns to electricity of the module according to needed for robot current location calculates safety return, and is less than in dump energy
Or control machine people returns before the electricity needed for being returned equal to safety.
Further, the motion state that complete machine motion state control unit is collected by the 9 axle attitude transducer is believed
Breath includes：It is axially moved speed, circumferential movement speed, screw speed and direction, inverted and reversal rate.
Further, Motion Adaptive adjustment when complete machine motion state control unit control machine people is axially moved
Including：
Complete machine motion state control unit obtains the current kinetic speed of robot, and is gathered according to 9 axle attitude transducers
Information judge the current spatial posture of robot；
Front clamp mechanism and the existing clamp dynamics of rear grip mechanism are obtained by grasping force control unit；
The current kinetic speed for contrasting robot works as fore-clamp with default manipulator shaft to standard movement speed, and contrast
Holding force degree and the standard clamping dynamics of default axial movement；
If current kinetic speed is less than axial standard movement speed, and existing clamp dynamics is being preset with standard clamping dynamics
Error range in, then increase the clamping dynamics of front clamp mechanism and rear grip mechanism；
If current kinetic speed is higher than axial standard movement speed, and existing clamp dynamics is being preset with standard clamping dynamics
Error range in, then reduce the clamping dynamics of front clamp mechanism and rear grip mechanism.
Further, Motion Adaptive adjustment bag when complete machine motion state control unit control machine people is overturn
Include：
Increase front clamp mechanism or the clamping dynamics of rear grip mechanism；
The current reversal rate and axial movement speed of complete machine motion state control unit collection robot；
Compare current reversal rate and default standard reversal rate；
It is not zero if current reversal rate is more than standard reversal rate or is axially moved speed, increases front clamp machine again
The clamping dynamics of structure or rear grip mechanism.
Further, the networking unit includes TCP/IP hardware communication protocol stacks, between more than two robots,
And communicated between robot and host computer, realize operating area distribution and coordinate；
The wireless transmission unit includes RS232 serial communication bus and RS485 serial communication bus, the RS232 strings
Row communication bus, which is used for signal between robot and host computer, to be transmitted, and RS485 serial communication bus is used for robot main control unit
Signal transmits between each driving steering wheel.
Further, the equipment carrier bar is length type variable extensible canopy, and the complete machine motion state control unit is also
Including radar range finding mechanism；
Complete machine motion state control unit first passes through the radar range finding mechanism detection obstacle when control machine people overturns
The range-azimuth of thing range-azimuth or two pipelines of jump to be turned over；
Complete machine motion state control unit adjusts length type variable according to the distance of the obstacle distance or two pipelines
The length of extensible canopy, and determine according to the orientation in barrier orientation or two pipelines the flip angle of robot.
Beneficial effects of the present invention are：Multi-joint tubular service robot control system of the present invention includes grasping force control list
Member, complete machine motion state control unit, driving servos control unit, wireless transmission unit, electricity control unit and networking unit,
Networking is coordinated between robot can be achieved, and realizes operating area reasonable distribution and coordinates, and avoids repeating operation to improve operation effect
Rate, the grasping force control unit and complete machine motion state control unit can detect robot clamping dynamics, and machine in real time
Movement state information of the people when doing various kinds motion, and combine each motion state of robot and judge whether robot motion abnormal,
And be adjusted in time in dyskinesia, so as to substantially increase the stability of robot motion；Further, electricity control is single
Member can monitor dump energy in real time, it is ensured that robot can return safely, avoid because electricity not enough and caused by fall machine accident.
Brief description of the drawings
Fig. 1 is the running status figure at multi-joint omnidirectional type Pipe-out Robot certain moment on pipeline；
Fig. 2 is state diagram of the robot of the present invention when being overturn on pipeline；
Fig. 3 is robotic gripper open-and-close mechanism structural representation；
Fig. 4 is robot clamping device structural representation；
Fig. 5 is robot hardware's control system hierarchy figure；
Fig. 6 is robot control system hardware block diagram；
Fig. 7 is the control strategy figure of each type games of robot；
Fig. 8 is the control unit block diagram of robot control system.
Label declaration：
1st, equipment carrier bar；2nd, preceding upset joint；3rd, joint is overturn afterwards；
4th, axial actuating mechanism；5th, circumferential drive mechanism；6th, front clamp mechanism；
7th, rear grip mechanism；8th, open-and-close mechanism is clamped, 10, small-caliber pipeline；
11st, big-diameter pipeline；14th, folding steering wheel is clamped；18th, mainframe；
19th, left-hand movable machine frame；20th, dextrad movable machine frame；27th, folding steering wheel steering wheel is clamped；
28th, worm gear bearing housing；29th, steel wire rope wire spool；30th, worm screw；31st, worm gear；
32nd, worm-wheel shaft；33rd, drum sleeve；34th, worm gear sleeve；35th, steel wire rope；
36th, pulley；39th, clamping device minor details frame.
Embodiment
To describe the technology contents of the present invention, construction feature, the objects and the effects in detail, below in conjunction with embodiment
And accompanying drawing is coordinated to be explained in detail.
Embodiment of the present invention discloses a kind of multi-joint tubular service robot control system.Refer to Fig. 1 and figure
2, the multi-joint omnidirectional type Pipe-out Robot is mainly used in auto production line tubular service, including equipment carrier bar, front clamp machine
Structure, rear grip mechanism and clamping open-and-close mechanism, the equipment carrier bar are used for installation and repairing equipment such as video camera, x-ray instrument, surpassed
Sonic analyzer etc., front clamp mechanism are articulated with one end of equipment carrier bar by preceding upset joint, and rear grip mechanism passes through
Upset joint is articulated with the other end of equipment carrier bar afterwards, is provided with the front clamp mechanism or rear grip mechanism axially driving
Mechanism, circumferential drive mechanism is provided with equipment carrier bar, and the clamping open-and-close mechanism passes through worm-drive structure and steel wire rope
Drive each joint of front clamp mechanism and rear grip mechanism.
Fig. 3 and Fig. 4 are referred to, Fig. 3 is robotic gripper open-and-close mechanism structure of driving unit schematic diagram, and Fig. 4 is robot
Clamp open-and-close mechanism structural representation.Clamping open-and-close mechanism 8 includes clamping folding steering wheel 14, worm screw 30, worm gear 31, worm-wheel shaft
32, steel wire rope wire spool 29, steel wire rope 35 and pulley 36.Clamping folding steering wheel 14 drives snail by clamping folding steering wheel steering wheel 27
Bar 30 is rotated, and worm gear 31 and steel wire rope wire spool 29 are all arranged on worm-wheel shaft 32, and worm screw 30 is formed together with worm gear 31 to be had
The Worm Wheel System pair of auto-lock function, the rotation of worm screw 30 drives worm gear 31 to rotate, and then passes through the rotational band of worm-wheel shaft 32
Dynamic steel wire rope wire spool 29 rotates, and steel wire rope 35 bypasses installed in left-hand movable machine frame 19, dextrad movable machine frame 20, clamping respectively
Mechanism respectively saves the pulley 36 in frame, is finally fixedly arranged at the end of clamping device Section 3 frame 39；The rotation of steel wire rope wire spool 29
It is short with lengthening that the receipts of steel wire rope 35 can be achieved, and then realize front clamp mechanism 6 and the closure and opening of rear grip mechanism 7.
The axial wheel type movement that the robot may be implemented on pipeline first, circumferential 360 ° of wheel type movements, around spiral pipeline
Formula is moved, the flip-flop movement on pipeline, by threeway four-way five it is logical wait pipe joint, pipeline outer wall supporting construction, ring flange,
180 ° of flip-flop movements of the barriers such as instrument, motion is crossed between adjacent channel.Axial actuating mechanism 4 is used to realize machine
The axial movement of people, the driving wheel on axially driving motor driven robot clamping device；Circumferential drive mechanism 5 is used to realize machine
The circumferential movement of device people, circumferential motor band mobile robot circumference driving wheel, exports circumferential movement.It is axially moved and is transported with circumferential
The dynamic achievable robot that is coupled moves around spiral pipeline formula.Clamping open-and-close mechanism 8 is driven by clamping folding motor, using deficient
Drive control mode, the folding of robot multi-joint clamping device is realized using rope traction.
Fig. 5 and Fig. 6 are referred to, a kind of this multi-joint tubular service robot control system includes host computer and two or more
Robot, wherein, each robot uses embedded control system, and embedded control system can independent work when unit operates
Make, when multi-machine collaborative works, be scheduled and be uniformly controlled by master system.
In the present embodiment, the upset joint drive unit of the robot, axial and axially driving unit preferably use
Dynamixel MX106R steering wheels；Clamping folding driver element preferably uses Dynamixel MX64R.The characteristics of steering wheel, is
Servo-drive part integrates in steering wheel, and the instruction of servo-drive passes through RS485 multiple spot branch bus with proprietary format
Data packet form is written and read.So on hardware, control system is mainly realized power management, security protection, motion control, referred to
Order access, man-machine interface and interface communication function.Software aspects, control system need to realize bottom corresponding with each function phase
Layer hardware drive program, system resource scheduling is carried out by appropriate operating system and concrete function is realized.
The main control chip of robot is preferably the ARM STM32 chips of ST Microelectronics, based on set by main control chip
The control system hardware structure of meter will realize axial movement, axial movement, front and rear joint flip-flop movement, the front and rear clamping of robot
Totally 7 Servo-controller drive signal outputs, the reception of man-machine interaction command reception, sensor signal, intelligence are transported for mechanism open and close movement
The functions such as dynamic speed control.
Wherein, the driving of main control chip ARM STM32 chips and upset joint drive unit, axial and axially driving unit
Steering wheel communication uses RS485 asynchronous serial bus interfaces, and communication interface, machine are walked with upper communication using RS232 by robot
Networking communication between device people uses LAN Ethernet interfaces.
STM32 can UART peripheral units used at the same time with 3.Level conversion is carried out by MAX3232 and MAX3485
RS232 and RS485 communications are directly carried out afterwards.So in order to realize ethernet communication, it is necessary to extra TCP/IP hardware protocol stacks,
This control system has selected the ethernet controller ENC28J60 driven by spi bus.Pass through simple periphery circuit design
Directly worked with the reticle plug provided cans of HR911105A with pulse transformer.Other digital quantities, analog quantity control scene I/
O is directly driven by STM32I/O mouths.
The power supply of robot is mainly responsible for ensureing the power supply supply of Pipe-out Robot and control system, due to auto production line
The MX106R steering wheels that tubular service robot uses use 12V DC power supply plan, the 5V that control system uses with MX64R
With 3.3V power supplys in order to meet the multiple voltage demand of robot, in present embodiment, 5V and 3.3V power supplys can pass through 12V electricity
Source is obtained using linear voltage stabilization original paper.
Auto production line tubular service robot hardware control system designed by the present invention is by security protection and power supply pipe
Reason has carried out Integration Design, and the manual sudden-stop function of robot is realized by the emergency stop switch of independent two-way switch and series connection,
Ensure that robot runs into emergency or run into the auto production line course of work may dash forward to robot generation infringement
During hair event, robot can be protected not by accidental damage.
Robot control system involved in the present invention needs to realize robot axle in the various pipes of auto production line
Function is crossed etc. by pipeline flanges, branch pipe tee connection, adjacent channel to operation, circumferential operation, clamping upset, it is ensured that robot
Can smooth operation in the duct freely, simultaneously robot carry Measuring error equipment can be to automobile production spool
Road carries out on-line checking or maintenance.
Referring to Fig. 7, it show the control strategy of auto production line tubular service robot of the present invention：
Control system sets the type of sports of robot, is divided into omnidirectional's wheel type movement and convertible fortune according to input signal
Move two kinds of moving situations.
1st, the wheeled motion state of omnidirectional, according to input signal, control system determines robot motion's type, respectively through I/O
Mouth output pwm signal, driving axial steering wheel, circumferential steering wheel or driving axial and circumferential steering wheel, and then drive axially main simultaneously
Driving wheel, circumferential driving wheel or driving axial circumference driving wheel simultaneously so that robot realizes the axially quick motion on pipeline,
Circumferential 360 ° of motions, and spiral advance or setback.After correct position is moved to, control system stops output steering wheel
Drive signal, complete the course movement.
2nd, convertible motion state, according to input signal, control system determines robot motion's type, respectively through I/O mouths
Output pwm signal, successively driving clamping folding steering wheel, upset steering wheel, and then drive clamping device and upset joint, makes robot
Realize that clamping device unclamps pipeline, joint upset, clamping device firmly grasps pipeline, another clamping device unclamps pipeline, another
Overturn the actions such as joint is overturn, clamping device is promptly crossed between the upset obstacle or adjacent channel of pipeline again.
Skidded to occur driving wheel when preventing robot from being moved outside pipeline, gripper mechanism grips are unstable, overturn obstacle detouring not
The generation of phenomena such as in place, it is ensured that robot can smooth operation in the duct freely, referring to Fig. 8, present embodiment is also
Provide the control system of multi-joint omnidirectional type Pipe-out Robot.The control system includes grasping force control unit, complete machine is moved
Status control unit, driving servos control unit, wireless transmission unit, electricity control unit and networking unit.
Wherein networking unit, major function are multirobot group-net communication function, realize robot in operation to operation
Region is made rational planning for, and avoids repeating operation to improve operating efficiency, the realization of the function is needed in upper computer control system simultaneously
Enter global map image taking and virtual map drawing system.
Wireless transmission unit, major function are to realize control signal between robot and host computer, motion state monitoring letter
Number and very important carrying payload (video camera, x-ray instrument, supersonic detector etc.) data transmission.
Driving steering wheel motion control unit includes steering gear body motion control unit and main control chip Motion trajectory
Unit, Motion selecting unit.Major function is each active drive unit of control machine people according to the set normal work of instruction
Make, including clamping device folding, the upset of upset joint, operation of axial driving wheel and circumferential driving wheel etc..
The electricity control unit includes electric power detection module, locating module and safety and returns to module, electric power detection module
For detecting the dump energy of robot built-in lithium battery；The locating module is used for the current location for determining robot；
Safety returns to module and the route returned safely, and the electricity needed for safety return is calculated according to robot current location
Amount, and be less than or equal to control machine people before safety returns to required electricity in dump energy and return.
In the control system that the present invention designs, chucking power sensing control unit will be to machine with complete machine motion state control unit
The raising of the movement effects, auto production line tubular service efficiency of device people plays an important roll.
Refer to Fig. 6 and Fig. 7, chucking power sensing detection unit is by clamping open-and-close mechanism 8 on worm shaft
The steel wire rope of force snesor detection clamping device takes up degree, and force snesor feeds back signal to Master control chip, control system
The chucking power size of the clamping device (front clamp or rear clamping) is obtained, according to the standard force value of off-line calibration with setting in advance
Whether maximum grip power (ensures that robot will not damage), first determine whether the chucking power of robot clamping device in allowed band
It is interior, and draw the deviation range with standard force value.
Complete machine motion state control unit, on the one hand according to set control strategy, provide driving control signal and cause machine
People completes each required movement：Upset, axially operation, circumferential operation, spiral operation etc..On the other hand, the control unit passes through peace
The 9 axle attitude transducers on machine human organism, real-time sensing detection robot current motion state, pass through attitude transducer
Gather axial movement speed, circumferential movement speed, screw speed and direction, inverted and the reversal rate of robot
Deng, according to compared with the predetermined output valve of the system of demarcation, such as make a reservation for axial movement velocity, predetermined circumferential movement speed,
Predetermined reversal rate, judge robot whether normal work, control system obtained after motion state feedback signal, it is necessary to machine
People's motion state is adaptively finely tuned, and concrete mode is as follows：
Robot is in on-line checking on auto production line pipeline, because the flexibility of the complexity of pipeline, robot is led
Cause robot is continually changing in spatial attitude, because auto production line pipeline species is different, each not phase of pipe surface coating
Together, different surface coatings brings different contact friction forces, and robot motion's state will be caused to change in real time, it is necessary to machine
Robot motion's state is detected in real time for device people control system and vernier control.
By taking the real-time closed-loop control of axial movement as an example, complete machine motion state control unit obtains being axially moved speed, together
When according to gyroscope signal in attitude transducer, judge that robot current spatial posture is (vertical state, horizontality, non-vertical
Non-standard state), different spatial attitudes causes gravity suffered by robot different, will influence omni-directional wheel and pipe on clamping device
The contact friction force of pipeline outer wall, and then influence the stationarity that robot is axially moved.
If manipulator shaft is less than predetermined speed to movement velocity, chucking power sensing detection unit detects chucking power in standard
In the range of power, illustrating that pipe surface frictional force is smaller has skidding, it is necessary to be improved by the chucking power for increasing clamping device
Frictional force and then raising robot movement velocity so that robot can be axially moved according to predetermined speed, ensure pipeline
The accuracy of detection.If manipulator shaft is higher than predetermined speed to movement velocity, chucking power is detected in the range of proof force, illustrates pipe
Pipeline outer wall frictional force is larger, it is necessary to reduce chucking power so that robot obtains suitable contact friction force, keeps predetermined speed fortune
OK.
Similarly complete circumferential movement, the Real-time Feedback closed-loop control of screw.
When robot carries out flip-flop movement, clamping device needs to improve chucking power, now, chucking power sensing detection unit
By control machine people's chucking power, and ensure it without departing from default higher limit.Complete machine motion state control unit gathers robot
Current reversal rate and be axially moved speed, and complete machine motion state control unit will be according to the actual reversal rate of detection
The no progress feedback control that is consistent with predetermined reversal rate.If
In order to further improve the obstacle climbing ability of robot, present invention also offers another embodiment, implements with more than
Mode difference is that in this embodiment, the equipment carrier bar is length type variable extensible canopy, the complete machine motion
Status control unit also includes radar range finding mechanism.Obstacle distance beside robot can detect by radar range finding mechanism
And orientation, and the distance and trend of other pipelines.
Wherein, the length of equipment carrier bar (i.e. the main trunk of robot) is carried so as to be arranged at equipment
The distance between the front clamp mechanism at beam both ends, rear grip mechanism also adjust therewith.
Complete machine motion state control unit first passes through the radar range finding mechanism detection obstacle when control machine people overturns
The range-azimuth of thing range-azimuth or two pipelines of jump to be turned over；
Complete machine motion state control unit adjusts length type variable according to the distance of the obstacle distance or two pipelines
The length of extensible canopy, and determine according to the orientation in barrier orientation or two pipelines the flip angle of robot.So as to true
Guarantor robot, which can turn over, to take a leap over an obstacle, and accurately jumps onto another pipeline.
In summary, chucking power sensing control unit, complete machine motion state control unit, driving steering wheel motion control unit
The specific motion control of auto production line tubular service robot will be completed, wireless transmission unit will complete information with networking unit
Transmission and multi-robot coordination task.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (5)
1. a kind of multi-joint tubular service robot control system, it is characterised in that the robot includes equipment carrier bar, preceding
Clamping device, rear grip mechanism and clamping open-and-close mechanism, front clamp mechanism are articulated with equipment carrier bar by preceding upset joint
One end, rear grip mechanism are articulated with the other end of equipment carrier bar, the front clamp mechanism or rear clamping by rear upset joint
Axial actuating mechanism is provided with mechanism, circumferential drive mechanism is provided with equipment carrier bar, the clamping open-and-close mechanism passes through
Each joint of worm-drive structure and Steel rope drive front clamp mechanism and rear grip mechanism；
The control system includes grasping force control unit, complete machine motion state control unit, drives servos control unit, be wireless
Transmission unit, electricity control unit and networking unit；
The grasping force control unit includes the force snesor being installed on the worm shaft of clamping open-and-close mechanism, grasping force control list
Member is used to take up degree by the driving steel wire rope of force snesor detection front clamp mechanism and rear grip mechanism, and with it is pre-
If maximum grip power and the standard force value demarcated in advance compare, judge whether the chucking power of robot clamping device enough,
And clamping open-and-close mechanism output is adjusted, make front clamp mechanism and the chucking power of rear grip mechanism in setting range；
The complete machine motion state control unit includes 9 axle attitude transducers, and complete machine motion state control unit, which is used to export, drives
Dynamic control signal, robot is set to complete upset, axially operation, circumferential operation, spiral operation, and passed by the 9 axle posture
Sensor gathers the movement state information of robot, and compared with standard state information corresponding to robot current motion state, sentences
Whether disconnected robot current kinetic is normal, and when robot motion's exception, control machine people carries out Motion Adaptive adjustment；Complete machine
Motion Adaptive adjustment when motion state control unit control machine people is axially moved includes：
Complete machine motion state control unit obtains the current kinetic speed of robot, and the letter gathered according to 9 axle attitude transducers
Breath judges the current spatial posture of robot；
Front clamp mechanism and the existing clamp dynamics of rear grip mechanism are obtained by grasping force control unit；
The current kinetic speed of contrast robot and default manipulator shaft are to standard movement speed, and contrast existing clamp power
Degree and the standard clamping dynamics of default axial movement；
If current kinetic speed is less than axial standard movement speed, and existing clamp dynamics clamps dynamics in default mistake with standard
In poor scope, then increase front clamp mechanism and the clamping dynamics of rear grip mechanism；
If current kinetic speed is higher than axial standard movement speed, and existing clamp dynamics clamps dynamics in default mistake with standard
In poor scope, then reduce front clamp mechanism and the clamping dynamics of rear grip mechanism；
The electricity control unit includes electric power detection module, locating module and safety and returns to module, and electric power detection module is used for
Detect the dump energy of robot built-in lithium battery；The locating module is used for the current location for determining robot；
Safety returns to electricity of the module according to needed for robot current location calculates safety return, and is less than or waits in dump energy
Control machine people returns before electricity needed for being returned in safety.
2. multi-joint tubular service robot control system according to claim 1, it is characterised in that complete machine motion state
The movement state information that control unit is collected by the 9 axle attitude transducer includes：It is axially moved speed, circumferential movement speed
Degree, screw speed and direction, inverted and reversal rate.
3. multi-joint tubular service robot control system according to claim 1, it is characterised in that complete machine motion state
Motion Adaptive adjustment when control unit control machine people is overturn includes：
Increase front clamp mechanism or the clamping dynamics of rear grip mechanism；
The current reversal rate and axial movement speed of complete machine motion state control unit collection robot；
Compare current reversal rate and default standard reversal rate；
Be not zero if current reversal rate is more than standard reversal rate or is axially moved speed, increase again front clamp mechanism or
The clamping dynamics of rear grip mechanism.
4. multi-joint tubular service robot control system according to claim 1, it is characterised in that
The networking unit includes TCP/IP hardware communication protocol stacks, between more than two robots, and robot with
Communicated between host computer, realize operating area distribution and coordinate；
The wireless transmission unit includes RS232 serial communication bus and RS485 serial communication bus, and the RS232 serially leads to
News bus is used for signal between robot and host computer and transmitted, and RS485 serial communication bus is for robot main control unit and respectively
Signal transmits between driving steering wheel.
5. multi-joint tubular service robot control system according to claim 1, it is characterised in that the equipment carrying
Beam is length type variable extensible canopy, and the complete machine motion state control unit also includes radar range finding mechanism；
Complete machine motion state control unit when control machine people overturns, first pass through radar range finding mechanism detection barrier away from
From the range-azimuth with orientation or two pipelines of jump to be turned over；
Complete machine motion state control unit is stretched according to the distance adjustment length type variable of the obstacle distance or two pipelines
The length of beam, and determine according to the orientation in barrier orientation or two pipelines the flip angle of robot.
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| CN107807651B (en) * | 2017-11-29 | 2021-02-19 | 北京康力优蓝机器人科技有限公司 | Self-charging control system and method for mobile robot |
| CN110977975A (en) * | 2019-12-12 | 2020-04-10 | 上海邦芯物联网科技有限公司 | Self-return control system and method for flexible pipeline robot |
| CN113134838A (en) * | 2021-04-23 | 2021-07-20 | 浙江数斯智能机器人科技有限公司 | Remove manipulator precision positioning system in coordination |
| CN114012747A (en) * | 2021-06-09 | 2022-02-08 | 中铁五局集团建筑工程有限责任公司 | Pipe truss welding seam surface quality detection robot and control system and method thereof |
| CN113561313A (en) * | 2021-08-06 | 2021-10-29 | 醴陵华鑫电瓷科技股份有限公司 | Fettling machine control system for extra-high voltage porcelain insulator production |
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| CN100551634C (en) * | 2007-04-29 | 2009-10-21 | 东北大学 | A kind of control system for modular robot based on the CAN bus |
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| CN104972460B (en) * | 2015-07-17 | 2017-03-29 | 北京理工大学 | A kind of multi-joint omnidirectional type Pipe-out Robot |
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