CN107030700A - A kind of six axle welding industry robot anticollision control systems - Google Patents
A kind of six axle welding industry robot anticollision control systems Download PDFInfo
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- CN107030700A CN107030700A CN201710363812.6A CN201710363812A CN107030700A CN 107030700 A CN107030700 A CN 107030700A CN 201710363812 A CN201710363812 A CN 201710363812A CN 107030700 A CN107030700 A CN 107030700A
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- 238000003466 welding Methods 0.000 title claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000001149 cognitive effect Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002265 prevention Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/006—Safety devices
-
- 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
Abstract
A kind of six axle welding industry robot anticollision control systems, including computing backbone module, control module and the information acquisition module being sequentially connected, control module are connected by I/O mouthfuls with robot control module；Described information acquisition module is used for the signal for gathering real time position, movement velocity and the corner of robot surrounding enviroment and mechanical arm tail end；The computing backbone module uses and analyzed the various information obtained from information acquisition module and control module by comprehensive, the final position of real-time computer device people's mechanical arm tail end, cognitive surrounding enviroment state, and send the instruction for whether actively taking interruption or measures to keep clear to robot control system in real time by control module.The anticollision control system can maximum possible prevention injury accident generation, ensure workman personal safety, improve production security；Computing backbone module includes multiple concurrent operation modules and real-time operation module, robot control system is got a promotion in the performance of the complicated concurrent operation of processing.
Description
Technical field
The present invention relates to a kind of control system, more particularly to a kind of six axles welding industry robot anticollision control system.
Background technology
Due to many well-known advantages of robot, it is applied to many industrial circles, in munitions factory, work
Industry robot can be used for the occasions such as machining, punching press, charging, assembling；, can also danger removal robot row in explosive industry production
Except the dangerous situation of land mine or suspicious explosive；It can be said that industrial robot is paid attention to by enterprise and people more and more；Mesh
Before, China independently develops 6 class, 10 kinds of industrial robots, wherein 7 kinds of robots such as spray painting, spot welding, carrying, assembling, die casting reach
To international mid-term level, contactless robot performance's system reaches current international most advanced level.
Although robot technology is constantly improving, the advantage of industrial robot industrially is a lot, and existing robot is still
In the presence of following deficiency：
Industrial robot injury accident in use is happened occasionally, and particularly workman is in the range of the saddlebag winding thread of robot
The injury being subject to is such as：The part that workman may be moved by the moving component of robot such as motion arm or robot collide or
Hit, extruding, and the error due to people, Parts Breakdown, control system failure etc. caused by injure；In order to prevent robot to hinder
The generation of people's accident, frequently with interlocking guard rail, fixed protection column, the passive precautionary measures such as warning device, although we can be with
Avoid the robot of high-speed motion to touch people in many safety curtains of outside ambient As, but still can not fundamentally shut out
Exhausted people does not go to contact robot.
The reason for producing above accident one is that the environment of observation surrounding can't be seen, be listened in existing robot as people
And judge；Two be that many robots have certain deficiency on robot collision avoidance system, does not set up actively cognitive
Environment around the work of mechanism, i.e. robot None- identified whether there is people or people can be damaged and actively take interruption
Or measures to keep clear.
The content of the invention
It is an object of the invention to pin improvements over the prior art, there is provided a kind of anticollision control of six axles welding industry robot
System processed, to overcome the shortcomings of that above-mentioned prior art is present.
The present invention is adopted the technical scheme that：A kind of six axle welding industry robot anticollision control systems, the system bag
Include computing backbone module, control module and information acquisition module, the control module by data/address bus respectively with computing maincenter
Module and information acquisition module connection, and connected and exchanged into row information with robot control module by I/O mouthfuls；
Described information acquisition module includes ultrasonic sensor, position sensor, velocity sensor and angular transducer；Institute's rheme
Put sensor and be located at each mechanical arm front end of welding industry robot, velocity sensor and angular transducer are located at mechanical arm axis joint
Junction, ultrasonic sensor is located at each middle side part of mechanical arm two；
Ultrasonic sensor is used for the signal for gathering robot surrounding enviroment, and whether search has barrier appearance；
Position sensor is used for the real time position for determining mechanical arm tail end welding gun；
Velocity sensor is used for motion and the rotary speed for determining each mechanical arm module of machine man-hour and axis joint；
Angular transducer is used to determine the angle that each mechanical arm is turned over, the manipulator motion space region of real-time positioning robot
Domain；
The computing backbone module includes multiple concurrent operation modules and a real-time operation module, and concurrent operation module is for being
Parallel computation provides hardware and software interface, and real-time control module is used and analyzed from the various of control module acquisition by comprehensive
Information, the final position of real-time computer device people's mechanical arm tail end welding gun, cognitive surrounding enviroment state, and it is real by control module
When sent to robot control system whether actively take interruption or measures to keep clear instruction；
The effect of the control module：
One is that the information for gathering information acquisition module send computing backbone module to carry out concurrent operation and real-time operation, to finally recognizing
Position, angle, movement velocity and the ambient condition information of fixed mechanical arm tail end welding gun are judged；
Two be to be sent to robot control module according to the computing of computing backbone module and the result judged and whether actively take interruption
Or the instruction of measures to keep clear；
Three be to enter row information with external network to exchange, or acceptor's work control command, or output current robot mechanical arm fortune
Dynamic path planning is to external equipment.
Its further technical scheme is：The concurrent operation module uses GPU graphics processors, and real-time operation module is adopted
Use cpu central processing unit；Concurrent operation module and real-time operation module are included in computing backbone module, it include relation or
It is on an actual individual：The two is on arm processor, or respectively two parts：Have respectively on circuit boards many
Individual GPU graphics processors and a cpu central processing unit；
The control module uses small-sized programmable controller PLC.
Further：The control module connects external network by data/address bus and constitutes internet exchange system, and one is to use
Communicated between computing module and control module；Two be to enter row information with external network to exchange, or acceptor's industry control system life
Order, or output current robot manipulator motion path planning to external equipment.
Embedded anticollision program in the small-sized programmable controller PLC of the control module.
Due to taking above-mentioned technical proposal, a kind of six axles welding industry robot anticollision control system of the present invention
Have the advantages that：
1. the machine that a kind of six axles welding industry robot anticollision control system of the present invention is gathered by information acquisition module
The information of people's mechanical arm tail end welding gun, convey computing backbone module computing, control module in time by calculate and judge result to
Robot control module sends the instruction for whether actively taking interruption or measures to keep clear, and the place of safety judgment mechanism of the system includes
The monitoring of state：Position, speed, I/O state, alarm, so that the generation of the prevention injury accident of maximum possible, reduction accident hair
Raw probability, ensures the personal safety of workman, improves the production security of enterprise；
2. a kind of six axles welding industry robot anticollision control system of the present invention is connected by I/O mouthfuls with robot control module
Tap into row information exchange；During work, when there is workman to be strayed into the range of the envelope of manipulator motion, the biography on robot arm
Sensor detects the environment and changed the presence of dangerous signal, and the signal is fed back into robot controller, robot control
Device processed detects distance of danger signal etc. and makes safety to this signal in time according to the speed of now mechanical arm, movement angle
Property processing, slow down robot movement velocity or low-angle operation in addition stop robot motion, so as to avoid security incident
Occur, when collision inevitably there occurs, warning device can also be triggered, be that injured employee sends emergency letter in the short time
Number；
3. described in computing backbone module include multiple concurrent operation modules and real-time operation module, make robot control system place
The performance of the complicated concurrent operation of reason gets a promotion, especially when robot is doing compound action, the feedback of output device people's posture
It can be improved significantly with control information speed；
4. a kind of six axles welding industry robot anticollision control system belongs to standalone module, all internal processes can upgrade
Update, other new-type functions can be extended by being reserved with more multiplex roles, increase more additional practicabilities, the experiment for school is taught
Learn environment when can training student develop program interest.
With reference to the accompanying drawings and examples to a kind of six axles welding industry robot anticollision control system of the present invention
Technical characteristic is further described.
Brief description of the drawings
Fig. 1：A kind of six axles welding industry robot anticollision control system structured flowchart of the present invention（Six axles are welded in Fig. 1
The robot control module for connecing industrial robot is electrically connected by each spindle motor servomechanism with each spindle motor in robot arm end
Connect）.
Embodiment
A kind of six axle welding industry robot anticollision control systems, the system includes computing backbone module, control module
And information acquisition module, the control module is connected with computing backbone module and information acquisition module respectively by data/address bus,
And connected and exchanged into row information with robot control module by I/O mouthfuls；
Described information acquisition module includes ultrasonic sensor, position sensor, velocity sensor and angular transducer；Institute's rheme
Put sensor and be located at each mechanical arm front end of welding industry robot, velocity sensor and angular transducer are located at mechanical arm axis joint
Junction, ultrasonic sensor is located at each middle side part of mechanical arm two；
Ultrasonic sensor is used for the signal for gathering robot surrounding enviroment, and whether search has barrier appearance；
Position sensor is used for the real time position for determining mechanical arm tail end welding gun；
Velocity sensor is used for motion and the rotary speed for determining each mechanical arm module of machine man-hour and axis joint；
Angular transducer is used to determine the angle that each mechanical arm is turned over, the manipulator motion space region of real-time positioning robot
Domain；
The computing backbone module includes multiple concurrent operation modules and a real-time operation module, and concurrent operation module is for being
Parallel computation provides hardware and software interface, and real-time control module is used and analyzed from the various of control module acquisition by comprehensive
Information, the final position of real-time computer device people's mechanical arm tail end welding gun, cognitive surrounding enviroment state, and it is real by control module
When sent to robot control system whether actively take interruption or measures to keep clear instruction；
The effect of the control module：
One is that the information for gathering information acquisition module send computing backbone module to carry out concurrent operation and real-time operation, to finally recognizing
Position, angle, movement velocity and the ambient condition information of fixed mechanical arm tail end welding gun are judged；
Two be to be sent to robot control module according to the computing of computing backbone module and the result judged and whether actively take interruption
Or the instruction of measures to keep clear；
Three be to enter row information with external network to exchange, or acceptor's work control command, or output current robot mechanical arm fortune
Dynamic path planning is to external equipment.
The concurrent operation module uses GPU graphics processors, and real-time operation module uses cpu central processing unit；Concurrent operation
Module and real-time operation module are included in computing backbone module, and it includes relation or on an actual individual：The two
On arm processor, or respectively two parts：There are multiple GPU graphics processors and a CPU respectively on circuit boards
Central processing unit；
The control module uses small-sized programmable controller PLC.
The control module connects external network by data/address bus and constitutes internet exchange system, and one is to be used for computing module
Communicated between control module；Two be to enter row information with external network to exchange, or acceptor's work control command, or output
The path planning of current robot manipulator motion is to external equipment.
Embedded anticollision program in the small-sized programmable controller PLC of the control module.
A kind of six axles welding industry robot anticollision control system operation principle of the present invention and each functions of modules are such as
Under：
（1）When surrounding environment changes in mechanical arm tail end welding gun motion process, information acquisition module will be monitored in time
The position and movable information of environment change information and mechanical arm feed back to control module by I/O mouthfuls；
（2）Control module passes information to computing backbone module and carries out concurrent operation and real-time operation, to the machine finally assert
Position, angle, movement velocity and the ambient condition information of tool arm end welding gun are judged, and are sent to robot control module
Whether interruption or the instruction of measures to keep clear are actively taken；
（3）The control instruction that robot control module sends according to control module, whether control drive mechanism is as actively taking
Interruption or the operation of measures to keep clear.
Robot control system is mounted to the computing backbone module on one piece of circuit board, control module, data/address bus, letter
Cease acquisition module.
Computing backbone module is used to carry out the related computing of robot control, is that one kind has large-scale parallel operational capability
Calculating hub processor：One is the sensing data or other computing dependency numbers for computing transmitted by data/address bus
According to；Two be that row are as exported operation result formation control command to control module by data/address bus and other module connection communications
Or receive the data message for computing of control module transmission.
The computing backbone module and control module connected by internet exchange system, can be communicated in intermodule；Number
Can also be by connecting Ethernet (Ethernet), acceptor's work control command, or output current robot movement according to bus
Route planning etc. is to external equipment；But not limited to this.
Robot control system where computing backbone module is applied in the Sports Field of robot arm, by connecing
The attitude information such as the positional information or acceleration of the robot being subject to processing transmitted by control module, angular speed, after computing is carried out
The accurate location of output current robot mechanical arm tail end welding gun, motion path and current kinetic in the certain time planned
The information such as the countermeasure of environment.
Concurrent operation module is included in computing backbone module, for handling concurrent operation.Using GPU
(GraPh1csProcessingunit) graphics processor carries out concurrent operation；The quantity of concurrent operation module has multiple refer to simultaneously
The quantity of row module is more than one, and preferable case has up to a hundred；When concurrent operation module number is more, robot control system exists
The performance of the complicated concurrent operation of processing can be elevated, especially in the scene that robot is moved, the feedback of output device people's posture
Can be elevated with control information speed；Wherein GPU is responsible for the extensive particle filter in the self-positioning algorithm of parallel processing, defeated in real time
Go out the reference position of robot in the environment.
Real-time operation module is included in computing backbone module, using CPU (CentralProcessingunit) centers
Processor enters to handle real-time operation, so as to which in the scene that robot control system is used for robot motion, synthesis is used
The various information obtained with analysis from data/address bus, the final filtered position of real-time computer device people, cognitive surrounding enviroment
State, and passage path provides real-time speed command with velocity planning algorithm.
Concurrent operation module and real-time operation module are included in the computing backbone module, it is described can be with including relation
Be on an actual individual, i.e. both on arm processor；Can also be respectively two parts, such as in circuit board
On have multiple GPU and CPU, complete operation respectively as concurrent operation module and real-time operation module.
The core of control module is can to provide the microcontroller of real-time operation and control function, is to be used to control machine people move
Dynamic or action module, by gathering and the sensing data acquired in processing data acquisition module, control machine people adjustment posture；
Data required for being gathered by communication interface control data acquisition module, either send control command or receive to be controlled
The feedback of the information of molding block, control module realizes control command needed for control function by data/address bus from computing backbone module
Obtain, but not limited to this, control module can also voluntarily handle data acquisition module of its control and be gathered in the preferred case
Data after send control command.
Control module is by data/address bus and other module connection communications, such as the robotary after output processing is related
Data, or receive computing backbone module transmission control instruction information.
In the preferred case using PLC as control module, control module is one or more for obtaining machine for controlling
The data acquisition module of device people posture and positional information.
The data acquisition module is used to obtain the external environment condition of robot and the information of oneself state, by perception robot
The sensing elements such as angular speed, acceleration, positioning are constituted；The data acquisition module can be in each robot control system
One or more, when more than one, the function that each data acquisition module is responsible for may be the same or different.
The data acquisition module includes at least one of following：Inertia measurement mould for obtaining robot pose information
Block, the locating module for obtaining robot location's information；Inertia measuring module is used to gather posture of the robot in movement
Information and correction robot pose, attitude information include the information such as current speed, orientation or the angle of rotation of robot, correction
Robot pose includes the orientation angle that conversion is currently moved.
Data/address bus is used to connect each module included in the system, and connection external network so that all modules
It can be communicated by data/address bus and data exchange, and the external network connected by data/address bus is believed with the external world
Breath is exchanged.
Internet exchange system is functionally similar to network-bus, the computing backbone module that is connected by internet exchange system and
Control module, can be communicated in intermodule.Data/address bus can also by connect Ethernet (Ethernet) with as shown in fig. 1
The external network gone out enters row information exchange, for example, acceptor's work control command, or the route of output current robot movement are advised
Draw and wait to external equipment, but not limited to this, computing backbone module sends control instruction to control module, control by data/address bus
Module passes through data/address bus distribution of machine people status data to computing backbone module.
The control instruction that control module is sent includes moving that routing information, robot that computing maincenter is calculated will be carried out
Instruct, current positioning result etc..
Distribution of machine people's status data refers to the reflection robot pose after collecting and handle by control module and position
Data message, by the processing of control module, certain work can be shunted for computing backbone module.
The system also includes extensive interface, and the extensive interface is used for communication with the outside world and connects other can be used for
The module of robot control system, so as to reach expanding machinery people's control system scale, expands robot control system function
Purpose；The extensive interface includes but is not limited to the network port, wave point, USB interface, high-definition interface and other industry
The communication interface of circle.
Claims (4)
1. a kind of six axles welding industry robot anticollision control system, it is characterised in that：The system include computing backbone module,
Control module and information acquisition module, the control module by data/address bus respectively with computing backbone module and information gathering mould
Block is connected, and is connected and exchanged into row information with robot control module by I/O mouthfuls；
Described information acquisition module includes ultrasonic sensor, position sensor, velocity sensor and angular transducer；Institute's rheme
Put sensor and be located at each mechanical arm front end of welding industry robot, velocity sensor and angular transducer are located at mechanical arm axis joint
Junction, ultrasonic sensor is located at each middle side part of mechanical arm two；
Ultrasonic sensor is used for the signal for gathering robot surrounding enviroment, and whether search has barrier appearance；
Position sensor is used for the real time position for determining mechanical arm tail end welding gun；
Velocity sensor is used for motion and the rotary speed for determining each mechanical arm module of machine man-hour and axis joint；
Angular transducer is used to determine the angle that each mechanical arm is turned over, the manipulator motion space region of real-time positioning robot
Domain；
The computing backbone module includes multiple concurrent operation modules and a real-time operation module, and concurrent operation module is for being
Parallel computation provides hardware and software interface, and real-time control module is used and analyzed from the various of control module acquisition by comprehensive
Information, the final position of real-time computer device people's mechanical arm tail end welding gun, cognitive surrounding enviroment state, and it is real by control module
When sent to robot control system whether actively take interruption or measures to keep clear instruction；
The effect of the control module：
One is that the information for gathering information acquisition module send computing backbone module to carry out concurrent operation and real-time operation, to finally recognizing
Position, angle, movement velocity and the ambient condition information of fixed mechanical arm tail end welding gun are judged；
Two be to be sent to robot control module according to the computing of computing backbone module and the result judged and whether actively take interruption
Or the instruction of measures to keep clear；
Three be to enter row information with external network to exchange, or acceptor's work control command, or output current robot mechanical arm fortune
Dynamic path planning is to external equipment.
2. a kind of six axles welding industry robot as claimed in claim 1 anticollision control system, it is characterised in that：It is described parallel
Computing module uses GPU graphics processors, and real-time operation module uses cpu central processing unit；Concurrent operation module and in real time fortune
Calculate module to be included in computing backbone module, it includes relation or on an actual individual：The two is in arm processor
On, or respectively two parts：There are multiple GPU graphics processors and a cpu central processing unit respectively on circuit boards；
The control module uses small-sized programmable controller PLC.
3. a kind of six axles welding industry robot as claimed in claim 1 anticollision control system, it is characterised in that：The control
Module connects external network by data/address bus and constitutes internet exchange system, and one is to be used to enter between computing module and control module
Row communication；Two be to enter row information with external network to exchange, or acceptor's work control command, or output current robot mechanical arm
The path planning of motion is to external equipment.
4. a kind of six axles welding industry robot as claimed in claim 3 anticollision control system, it is characterised in that：The control
Embedded anticollision program in the small-sized programmable controller PLC of module.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111727414A (en) * | 2018-12-27 | 2020-09-29 | 配天机器人技术有限公司 | Robot control method, control system, robot and storage device |
| CN113231735A (en) * | 2021-04-15 | 2021-08-10 | 大族激光科技产业集团股份有限公司 | Cutting head obstacle avoidance method and device, computer equipment and medium |
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