CN106926273A - A kind of industrial machinery arm range finder module - Google Patents

A kind of industrial machinery arm range finder module Download PDF

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Publication number
CN106926273A
CN106926273A CN201710153041.8A CN201710153041A CN106926273A CN 106926273 A CN106926273 A CN 106926273A CN 201710153041 A CN201710153041 A CN 201710153041A CN 106926273 A CN106926273 A CN 106926273A
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CN
China
Prior art keywords
module
modules
range finder
ethernet
nanometers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710153041.8A
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Chinese (zh)
Inventor
王强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Wonbao Intelligent Robot Technology Co Ltd
Original Assignee
Suzhou Wonbao Intelligent Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Wonbao Intelligent Robot Technology Co Ltd filed Critical Suzhou Wonbao Intelligent Robot Technology Co Ltd
Priority to CN201710153041.8A priority Critical patent/CN106926273A/en
Publication of CN106926273A publication Critical patent/CN106926273A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095Means or methods for testing manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop

Abstract

The invention discloses a kind of industrial machinery arm range finder module, including 635 nanometers of visible laser camera lenses for measuring the air line distance between the end of the camera lens and testee, for data processing and the processor of control, increase key including numerical value, numerical value reduces the key-press module of key and numerical value setting key, communication module, embedded EtherNet IP modules and power module for realizing the data interaction between the module and mechanical arm, processor controls 635 nanometers of visible laser camera lenses to measure current distance, obtain measured value, with apart from setting value be compared the measured value by processor, the difference of gained is sent to embedded EtherNet IP modules by communication module, the difference is sent to mechanical arm in the form of EtherNet/IP agreements.Finding range is wide, and certainty of measurement is high;Adapt to environment various;Closed-loop control is formed, the tasks such as carrying and crawl based on position feedback are realized.

Description

A kind of industrial machinery arm range finder module
Technical field
The present invention relates to industrial automation, more particularly to a kind of industrial machinery arm range finder module.
Background technology
At present, various automatic manipulators and robot are widely applied in the industrial production line of all trades and professions.And its The industrial machinery arm of the middle overwhelming majority is all based on the coordinate system of oneself and is positioned, by user by teaching pattern or Be pre-designed for the movement locus of mechanical arm by programming mode.In normal motion, rail of the mechanical arm according to set by Mark is moved, and completes the tasks such as corresponding carrying, assembling.In this case, if the object to be operated(Such as carried Object or assembled product)Occur in that position deviation, mechanical arm, and cannot due to that cannot obtain the positional information of the object to be operated Position correction is carried out, the situation for operation task failure occur is easy to.Currently, for carrying out range measurement to the object to be operated, Following several schemes are commonly used, one kind is to be based on ultrasonic ranging principle, low cost, but precision is typically only capable to reach Centimeter Level Not, and easily it is subject to echo interference;One kind is infrared distance measurement, and precision is relatively low, is gradually eliminated;One kind can be by shooting Head, is resolved using video information to position, but it is higher to operating environment requirements, and easily receives illumination effect;It is another Kind it is the range finder module based on laser, due to its high precision, it is long to survey distance range, to measurand without spies such as particular/special requirements Property, gradually it is applied in industrial production line at present.Certainty of measurement is not caused by casting aside e measurement technology difference in itself With outer, how by these position feedback informations, it is input in mechanical arm, and constitutes closed-loop control, is also a problem.Exist at present The mechanical arm commonly used in industrial production(Such as Fa Nake and the mechanical arm in peace river)Two kinds of input/output interfaces are generally reserved, with External equipment carries out data interaction.A kind of is the form based on safe I/O module, is commonly used to input/output switching amount, is not suitable for It is big in data volume, or the data interaction with successional non-switch amount property.Another kind is to be based on ModBus, Can, The data interaction pattern of the industrial bus such as EtherNet/IP, this kind of form can flexibly realize the interaction of mass data, exist at present It has been used widely in various industry spots.Even so, the range finding mould of the industrial machinery arm based on this kind of bus form Block is not researched and developed also and applied.
The content of the invention
The embodiment of the present invention provides a kind of industrial machinery arm range finder module, can access the industry for possessing EtherNet/IP interfaces With in mechanical arm, form outside closed-loop control, so auxiliary mechanical arm complete crawl that some need real time position feedback with The tasks such as assembling.
A kind of industrial machinery arm range finder module, including 635 nanometers of visible laser camera lenses, processor, key-press module, communications Module, embedded EtherNet IP modules and power module, 635 nanometers of described visible laser camera lenses are used to measure the camera lens End and testee between air line distance;Described processor is used for data processing and control;Described key-press module Including for increase apart from setting value numerical value increase key, for reduce apart from setting value numerical value reduce key and for set away from From the setting value key of setting value;Described embedded EtherNet IP modules are used to realize between the module and mechanical arm Data interaction;Described power module is used for 635 nanometers of described visible laser camera lenses, described processor, described presses Button module and described embedded EtherNet IP modules provide power supply;635 nanometers described in described processor control are visible Laser lens are measured to current distance, obtain measured value, and described processor carries out the measured value with apart from setting value Compare, the difference of gained is sent to described embedded EtherNet IP modules by described communication module, described is embedding Enter formula EtherNet IP modules and the difference is sent to mechanical arm in the form of EtherNet/IP agreements.
Preferably, described processor uses Contex M3 microprocessors.
Preferably, described communication module is RS232 communication modules or RS422 communication modules.
Preferably, the model EIP-341L of described embedded EtherNet IP modules.
Preferably, the model RWRFA1-5-232 of 635 nanometers of described visible laser camera lenses.
Preferably, the module is also included for controlling described processor to be sent out to 635 nanometers of described visible laser camera lenses Send the timer of the time interval of distance measuring instruction.
The beneficial effect of technical scheme:1. finding range is wide, and certainty of measurement is up to 0.5 millimeter;2. ring is measured Without particular/special requirement, adaptation environment is various, can be in multi-field extensive use in border;3. the range information of measurement is led in the form of deviation The form for crossing agreement is sent to the mechanical arm of external connection, and auxiliary mechanical arm completes closed-loop control, realizes based on position feedback The task such as carrying and crawl.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing skill The accompanying drawing to be used needed for art description is briefly described, it should be apparent that, drawings in the following description are only the present invention Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis These accompanying drawings obtain other accompanying drawings.
Fig. 1 is the theory diagram of industrial machinery arm range finder module provided in an embodiment of the present invention;
Fig. 2 is the control flow chart of industrial machinery arm range finder module provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.
As shown in Figures 1 and 2, a kind of industrial machinery arm range finder module, including 635 nanometers of visible laser camera lenses, treatment Device, key-press module, communication module, embedded EtherNet IP modules and power module.Wherein, described processor is used Contex M3 microprocessors, described communication module is RS232 communication modules, 635 nanometers of described types of visible laser camera lens Number it is RWRFA1-5-232, the module is also included for controlling described processor to 635 nanometers of described visible laser camera lenses Send the timer of the time interval of distance measuring instruction.
The single phase alternating current power supply of 220V is converted to the dc source of 12V and 3.3V by above-mentioned power module.12V power supplys 635 nanometers of visible laser camera lenses are supplied to use, 5V power supplys be supplied to simultaneously Contex M3 microprocessors, key-press module and EIP-341L modules are used.
635 nanometers of above-mentioned visible laser camera lenses(Model RWRFA1-5-232), for measuring camera lens end and being tested The air line distance of object.The hot spot of visible laser is 16 square millimeters of circular light spot, to the color and light on testee surface Clean degree is without particular/special requirement(Smooth object surface for ater is, it is necessary to paste the reflection plaster of non-black), to light levels without Particular/special requirement(In order to ensure precision and stability, it is to avoid strong direct sunlight).The certainty of measurement of the laser lens is 0.5 milli Rice, measurement range is 0.05 to 5 meter, and the measured range data for obtaining is exported by RS232 interfaces and gives Contex M3 micro- places Reason device carries out subsequent treatment.
Above-mentioned key-press module include three independent buttons, including for increase apart from setting value numerical value increase key, Numerical value for reducing apart from setting value reduces key and the setting value key for setpoint distance setting value;The input of each button Push button signalling all in the form of rising edge triggering, is inputed to Contex M3 microprocessors by signal.Three correspond to number respectively Value increases, numerical value reduces, three functions of setting value.Assuming that set value is P millimeters, number increasing button correspond to, Arranges value P is set to P=P+1 millimeters;Numerical value reduces button and correspond to, and arranges value P is set into P=P-1 millimeters;Setting is set Button, by current measured value R, is set as current setting value P, i.e. P=R.Range finder module normal work designed by the present invention Afterwards, by current measured value R, after carrying out making difference operation with current setting value P, by C=R-P, difference C is passed through into EtherNet/ IP agreement is transferred to mechanical arm, and auxiliary mechanical arm completes external closed-loop motion.
Above-mentioned Contex M3 microprocessors are used to complete the data processing and control to whole system.Outside the processor 25MHz crystal oscillators are connect, by after internal frequency multiplication, CPU operation dominant frequency is 120MHz.On the one hand, Contex M3 processors send instruction Visible laser camera lens is given, current distance is read;On the other hand, by after the difference C that computing obtains distance, being passed through RS232 Serial ports is sent to EIP-341L modules, and by EIP-341L modules by Ethernet interface, will in the form of EtherNet/IP agreements Its mechanical arm for being sent to outside.
The model EIP-341L of above-mentioned embedded EtherNet IP modules, for causing that the range finder module is supported EtherNet/IP agreements, to complete the data interaction of range finder module and mechanical arm.EIP-341L modules have embedded EtherNet/ IP agreement, it is only necessary to carry out easy configuration to it by RS232 interfaces, makes it be operated in slave station according to set network parameter Pattern.After the completion of EIP-341L module initializations, directly by RS232 interfaces, the module is transmitted data to, the module By automatic addition EtherNet/IP agreements, the inquiry and reading of outside EtherNet/IP main websites are waited.EIP-341L module energy According to external equipment Auto-matching two kinds of speed of 10M and 100M, while supporting input and the output buffer of 256 bytes respectively. The module default configuration IP address is 192.168.0.15, and subnet mask is 255.255.255.0, and default gateway is 192.168.0.1, these network parameters can also be configured by the RS232 interfaces of EIP-341L, to meet actual application Demand.
The workflow of the range finder module:1, Contex M3 microprocessors every 50ms send a laser ranging instruct to Laser lens, after the completion of laser lens range finding, automatically by current measurement data R(Unit is millimeter)Return to Contex M3 micro- Processor;2, Contex M3 treatment calculates difference data C according to the current data R and setting data P of system;3, if outward Portion connects equipment(Such as mechanical arm)Have been coupled on the Ethernet interface of EIP-341L, and mechanical arm is configured to The master station mode of EtherNet/IP, slave station mode is configured to by EIP-341L, then now, Contex M3 microprocessors can will be every The secondary difference data C being calculated, in the form of EtherNet/IP agreements, is sent to external connection apparatus mechanical arm, so that auxiliary Help mechanical arm to complete closed-loop control, realize the tasks such as the carrying based on position feedback, crawl.
Using the range finder module of the design, finding range is wide, and certainty of measurement is up to 0.5 millimeter;Measuring environment is wanted without special Ask, adaptation environment is various, can be in multi-field extensive use;The range information that will be measured in the form of the deviation by agreement in the form of Send to the mechanical arm of external connection, auxiliary mechanical arm completes closed-loop control, realize carrying and crawl based on position feedback etc. Task.
The above embodiments merely illustrate the technical concept and features of the present invention, its object is to allow person skilled in the art Scholar will appreciate that present disclosure and implement according to this that it is not intended to limit the scope of the present invention.It is all according to the present invention The equivalent change or modification that spirit is made, should all be included within the scope of the present invention.

Claims (6)

1. a kind of industrial machinery arm range finder module, it is characterised in that including:
635 nanometers of visible laser camera lenses, for measuring the air line distance between the end of the camera lens and testee;
Processor, for data processing and control;
Key-press module, including reduce for increasing the numerical value increase key apart from setting value, the numerical value for reducing apart from setting value Key and the setting value key for setpoint distance setting value;
Communication module;
Embedded EtherNet IP modules, for realizing the data interaction between the module and mechanical arm;
Power module, for 635 nanometers of described visible laser camera lenses, described processor, described button module and institute The embedded EtherNet IP modules stated provide power supply;
635 nanometers of described visible laser camera lenses of described processor control are measured to current distance, obtain measured value, institute With apart from setting value be compared the measured value by the processor stated, and the difference of gained is sent to by described communication module Described embedded EtherNet IP modules, described embedded EtherNet IP modules are with the shape of EtherNet/IP agreements The difference is sent to mechanical arm by formula.
2. a kind of industrial machinery arm range finder module as claimed in claim 1, it is characterised in that described processor is used Contex M3 microprocessors.
3. a kind of industrial machinery arm range finder module as claimed in claim 1, it is characterised in that described communication module is RS232 communication modules or RS422 communication modules.
4. a kind of industrial machinery arm range finder module as claimed in claim 1, it is characterised in that described is embedded The model EIP-341L of EtherNet IP modules.
5. a kind of industrial machinery arm range finder module as claimed in claim 1, it is characterised in that described 635 nanometers are visible The model RWRFA1-5-232 of laser lens.
6. a kind of industrial machinery arm range finder module as claimed in claim 1, it is characterised in that the module is also included for controlling The described processor of system sends the timer of the time interval of distance measuring instruction to 635 nanometers of described visible laser camera lenses.
CN201710153041.8A 2017-03-15 2017-03-15 A kind of industrial machinery arm range finder module Pending CN106926273A (en)

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Application Number Priority Date Filing Date Title
CN201710153041.8A CN106926273A (en) 2017-03-15 2017-03-15 A kind of industrial machinery arm range finder module

Publications (1)

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CN106926273A true CN106926273A (en) 2017-07-07

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1525953A2 (en) * 2003-10-02 2005-04-27 Fanuc Ltd Correction data checking system for robots
CN101433887A (en) * 2008-12-16 2009-05-20 奇瑞汽车股份有限公司 Glue coating apparatus for glass of entire vehicle and method for producing glue
CN201548694U (en) * 2009-12-03 2010-08-11 河海大学 Short distance ultrasound measurement module
CN202114713U (en) * 2011-05-31 2012-01-18 博世电动工具(中国)有限公司 Electric tool with non-contact distance measurement device
CN103722549A (en) * 2013-12-31 2014-04-16 重庆交通大学 Heavy-load precise double-arm manipulator with arms cooperating with each other in space
CN104668620A (en) * 2014-09-11 2015-06-03 重庆市宇一机械有限公司 Intelligent high-altitude drilling device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1525953A2 (en) * 2003-10-02 2005-04-27 Fanuc Ltd Correction data checking system for robots
CN101433887A (en) * 2008-12-16 2009-05-20 奇瑞汽车股份有限公司 Glue coating apparatus for glass of entire vehicle and method for producing glue
CN201548694U (en) * 2009-12-03 2010-08-11 河海大学 Short distance ultrasound measurement module
CN202114713U (en) * 2011-05-31 2012-01-18 博世电动工具(中国)有限公司 Electric tool with non-contact distance measurement device
CN103722549A (en) * 2013-12-31 2014-04-16 重庆交通大学 Heavy-load precise double-arm manipulator with arms cooperating with each other in space
CN104668620A (en) * 2014-09-11 2015-06-03 重庆市宇一机械有限公司 Intelligent high-altitude drilling device

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