CN107153380A - A kind of automation control system of industrial robot - Google Patents
A kind of automation control system of industrial robot Download PDFInfo
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- CN107153380A CN107153380A CN201710421279.4A CN201710421279A CN107153380A CN 107153380 A CN107153380 A CN 107153380A CN 201710421279 A CN201710421279 A CN 201710421279A CN 107153380 A CN107153380 A CN 107153380A
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- industrial robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of automation control system of industrial robot, including central processing unit, data acquisition unit, microprocessor, industrial robot, grip unit, sensing unit；Microprocessor is used to drive industrial robot motion according to movement instruction；Sensing unit includes multiple vision sensors, multiple laser sensors, multiple Temperature Humidity Sensors；Grip unit is used to realize the clamping and assembling to object to be assembled；Central processing unit is used to control grip unit to clamp for object to be assembled, many item datas collected by data acquisition unit receiving sensing unit, obtains position and the attitude information of object to be assembled, control industrial robot is according to the motion of setting path.The automation control system of the present invention realizes automatic crawl, automatic guiding, the automatic function of being directed at and be automatically inserted into assembling, effectively realizes the efficient assembling and assembling of product in industrial production line, improves industrial efficiency.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of automation control system of industrial robot.
Background technology
The raising of millwork peopleization level means to reduce to be fluctuated by labour market to be influenceed.Therefore, past
In several years, manufacturing industry all is being regenerated all over the world, native country was taken back the relatively low regional manufacturing industry of labor cost is once outsourced to.
In addition, with the maturation of robot technology, machine becomes easier to dispose and safeguarded, at the same it is also quicker and flexible, make product
Customization reaches higher level.
In terms of the control technology of robot, vision, laser lamp detection and the introducing of alignment sensor cause robot
AUTONOMOUS TASK is possibly realized.Robot control system had both needed a wide range of detection and positioning from crawl position to installation site,
Ensure again different positions and apart from when with higher positioning precision, to ensure the assembling precision and matter of final product
Amount.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of automation control system of industrial robot, the control
System can be according to the position of object to be assembled and apart from progress automatic detection and positioning, and realization is automatic to be captured, guides automatically, certainly
Dynamic alignment and the function of being automatically inserted into assembling, effectively realize the efficient assembling and assembling of product in industrial production line, carry significantly
High industrial efficiency.
The present invention solves technical problem and adopted the following technical scheme that：
A kind of automation control system of industrial robot, including：Central processing unit, data acquisition unit, microprocessor, industry
Robot, grip unit, sensing unit；
The microprocessor is connected with industrial robot, and the movement instruction for being sent according to central processing unit drives the industry
Robot motion；
The sensing unit includes：Multiple vision sensors, multiple laser sensors, multiple Temperature Humidity Sensors, visual sensing
Device is used for the vision data for gathering object to be assembled, and laser sensor is used for the range data for gathering object to be assembled, humiture
Sensor is used for the temperature and humidity data for gathering object to be assembled；
The grip unit is used to realize the clamping and assembling to object to be assembled according to the control of central processing unit；
The central processing unit is connected with data acquisition unit, microprocessor and grip unit, for control grip unit for
Object to be assembled is clamped, many item datas collected by the data acquisition unit receiving sensing unit, obtains to be installed
Position and attitude information with object, and position according to object to be assembled and attitude information send motion to microprocessor and refer to
Order, for controlling the industrial robot according to the motion of setting path, and drives grip unit to move.
Preferably, the vision sensor includes First look sensor, the second vision sensor, and the First look is passed
Sensor is located at the side center section of grip unit, the close-in measurement for carrying out 3 d pose to object to be assembled；It is described
Second vision sensor is located at the lateral section of grip unit, the remote survey for carrying out 3 d pose to object to be assembled
Amount.
Preferably, the laser sensor includes first laser sensor, second laser sensor, is respectively arranged on clamping single
On the side of member.
Preferably, the object to be assembled is two or more objects to be assembled.
Preferably, the artificial six-DOF robot of the industrial machine, eight degrees of freedom robot or ten degree of freedom robot.
Preferably, the central processing unit includes：
Control module, for controlling grip unit to clamp object to be assembled；
Planning module, the motion path of industrial robot is planned for the position according to object to be assembled and attitude information；
Display module, for providing Man Machine Interface.
Preferably, the control system also includes：
Communication module, the movement instruction for central processing unit to be sent is sent to the mobile terminal of user.
Preferably, the communication module is WiFi communication module, 3G/4G communication modules or zigbee communication modules.
Compared with prior art, the present invention has the advantages that：
1. the automation control system of the industrial robot of the present invention, can be according to the position of object to be assembled and apart from progress certainly
Dynamic detection and positioning, the automatic crawl of realization, the automatic function of guiding, be directed at and be automatically inserted into automatically assembling, effectively realize work
The efficient assembling and assembling of industry product on production line, substantially increase industrial efficiency.
2. the automation control system of the industrialization robot of the present invention, sensing unit includes：It is multiple vision sensors, many
Individual laser sensor, multiple Temperature Humidity Sensors, vision sensor include First look sensor, the second vision sensor, swash
Optical sensor includes first laser sensor, second laser sensor, the 3rd laser sensor, can analyze and examine in all directions
The distance and position relation of industrial robot and object to be assembled is surveyed, posture of accurately adjusting the distance is estimated, ensureing essence
While exactness, efficiency of assembling is improved, cost of labor has been saved.
Brief description of the drawings
Fig. 1 is a kind of module diagram of the automation control system of industrial robot of the embodiment of the present invention 1；
Fig. 2 is a kind of module diagram of the automation control system of industrial robot of the embodiment of the present invention 2.
Embodiment
In order that the purpose, technical scheme and advantage of the embodiment of the present invention are more clearly understood that, with reference to embodiment and accompanying drawing,
Embodiments of the invention are further described in detail.Here, the present invention illustrative examples and illustrate be used for explain
The present invention, but it is not as a limitation of the invention.
Embodiment 1
As shown in figure 1, a kind of automation control system of industrial robot of the present embodiment, including：Central processing unit 1, data
Collecting unit 2, microprocessor 3, industrial robot 4, grip unit 5, sensing unit 6.
The microprocessor 3 is connected with industrial robot 4, and the movement instruction for being sent according to central processing unit 1 drives
The industrial robot motion.
The sensing unit 6 includes：Multiple vision sensors 61, multiple laser sensors 62, multiple Temperature Humidity Sensors
63, vision sensor 61 is used for the vision data for gathering object to be assembled, and laser sensor 62 is used to gather object to be assembled
Range data, Temperature Humidity Sensor 63 is used for the temperature and humidity data for gathering object to be assembled.
The grip unit 5 is used to realize the clamping and assembling to object to be assembled according to the control of central processing unit 1.Institute
State central processing unit 1 to be connected with data acquisition unit 2, microprocessor 3 and grip unit 5, for controlling grip unit 5 for treating
Assembling object is clamped, and many item datas collected by the receiving sensing unit 6 of data acquisition unit 2 obtain to be installed
Position and attitude information with object, and position according to object to be assembled and attitude information send motion to microprocessor 3 and refer to
Order, for controlling the industrial robot 4 according to the motion of setting path, and drives grip unit 5 to move.
Embodiment 2
As shown in Fig. 2 a kind of automation control system of industrial robot of the present embodiment, including：Central processing unit 1, data
Collecting unit 2, microprocessor 3, industrial robot 4, grip unit 5, sensing unit 6, communication module 7.
The microprocessor 3 is connected with industrial robot 4, and the movement instruction for being sent according to central processing unit 1 drives
The industrial robot motion.
The sensing unit 6 includes：Multiple vision sensors 61, multiple laser sensors 62, multiple Temperature Humidity Sensors
63, vision sensor 61 is used for the vision data for gathering object to be assembled, and laser sensor 62 is used to gather object to be assembled
Range data, Temperature Humidity Sensor 63 is used for the temperature and humidity data for gathering object to be assembled.
Specifically, vision sensor 61 includes First look sensor 611, the second vision sensor 612, and described first regards
Feel that sensor 611 is located at the side center section of grip unit, the closely survey for carrying out 3 d pose to object to be assembled
Amount；Second vision sensor 612 is located at the lateral section of grip unit, for carrying out 3 d pose to object to be assembled
Telemeasurement.Laser sensor 62 includes first laser sensor 621, second laser sensing 622 and is respectively arranged on grip unit
Side on.
The grip unit 5 is used to realize the clamping and assembling to object to be assembled according to the control of central processing unit 1.Institute
State central processing unit 1 to be connected with data acquisition unit 2, microprocessor 3 and grip unit 5, for controlling grip unit 5 for treating
Assembling object is clamped, and many item datas collected by the receiving sensing unit 6 of data acquisition unit 2 obtain to be installed
Position and attitude information with object, and position according to object to be assembled and attitude information send motion to microprocessor 3 and refer to
Order, for controlling the industrial robot 4 according to the motion of setting path, and drives grip unit 5 to move.Object to be assembled is two
Individual or more than two objects to be assembled.The artificial six-DOF robot of industrial machine, eight degrees of freedom robot or ten frees degree
Robot.
Central processing unit 1 includes：Control module 11, for controlling grip unit to clamp object to be assembled；Planning
Module 12, the motion path of industrial robot is planned for the position according to object to be assembled and attitude information；Display module 13,
For providing Man Machine Interface.Communication module 7, the movement instruction for central processing unit 1 to be sent is sent to the shifting of user
Dynamic terminal.The communication module 7 is WiFi communication module, 3G/4G communication modules or zigbee communication modules.
Specifically, the object to be assembled is two or more, for example, be inserted into after the second object alignment to be assembled
First object to be assembled of the second object to be assembled, in this case, grip unit 5 clamp the first object to be assembled, pass
Feel the measurement data that unit 6 gathers the second object to be assembled, after being handled through central processing unit 1, obtain the second object to be assembled
Position and attitude information data, then control industrial robot 4 to drive grip unit 5 to move by microprocessor 3, so that clamping is single
The first object to be assembled clamped by member 5 is assembled in the second object to be assembled.
When the distance of the first object to be assembled and the second object to be assembled is less than the first given threshold, the second vision is utilized
612 pairs of sensor, second object to be assembled is closely observed, and observation information is fed back into the central processing unit
1, the part posture information for obtaining the described second object to be assembled is calculated according to the observation information.
Multiple laser sensors gather the second object to be assembled and sensed relative to first laser sensor 621 to second laser
The range information of device 622, and the central processing unit 1 is given by the feedback of the information collected, the central processing unit 1 is according to laser
The information of sensor feedback, which is calculated, obtains the described second object to be assembled, the posture information on three degree of freedom, the obtained
The part posture information of two objects to be assembled, you can obtain the three-dimensional pose information of the described second object to be assembled, the center
Processor 1 enters professional etiquette again according to the three-dimensional pose information of the second object to be assembled for the path of the industrial robot 4
Draw, and control instruction is sent to robot microprocessor 3, control industrial robot 4 is adjusted, until the second vision sensor
Deviation between the three-dimensional position and expected pose of 612 the second objects to be assembled detected, and the multiple laser sensing
Deviation between measured value and desired value that device is arrived is less than the second given threshold.
The automation control system of the industrial robot of the present invention, can be according to the position of object to be assembled and apart from progress
Automatic detection and positioning, realize automatic crawl, automatic guiding, the automatic function of being directed at and be automatically inserted into assembling, effectively realize
The efficient assembling and assembling of product, substantially increase industrial efficiency in industrial production line.Sensing unit includes：It is multiple to regard
Feel sensor, multiple laser sensors, multiple Temperature Humidity Sensors, vision sensor is regarded including First look sensor, second
Feel sensor, laser sensor includes first laser sensor, second laser sensor, the 3rd laser sensor, can be entirely square
The analysis of position ground and the distance and position relation of detection industrial robot and object to be assembled, posture of accurately adjusting the distance carry out estimation and sentenced
It is disconnected, while accuracy is ensured, efficiency of assembling is improved, cost of labor has been saved.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of automation control system of industrial robot, it is characterised in that including：Central processing unit, data acquisition unit,
Microprocessor, industrial robot, grip unit, sensing unit；
The microprocessor is connected with industrial robot, and the movement instruction for being sent according to central processing unit drives the industry
Robot motion；
The sensing unit includes：Multiple vision sensors, multiple laser sensors, multiple Temperature Humidity Sensors, visual sensing
Device is used for the vision data for gathering object to be assembled, and laser sensor is used for the range data for gathering object to be assembled, humiture
Sensor is used for the temperature and humidity data for gathering object to be assembled；
The grip unit is used to realize the clamping and assembling to object to be assembled according to the control of central processing unit；
The central processing unit is connected with data acquisition unit, microprocessor and grip unit, for control grip unit for
Object to be assembled is clamped, many item datas collected by the data acquisition unit receiving sensing unit, obtains to be installed
Position and attitude information with object, and position according to object to be assembled and attitude information send motion to microprocessor and refer to
Order, for controlling the industrial robot according to the motion of setting path, and drives grip unit to move.
2. the automation control system of industrial robot according to claim 1, it is characterised in that the vision sensor
Including First look sensor, the second vision sensor, the First look sensor is located at the side pars intermedia of grip unit
Point, the close-in measurement for carrying out 3 d pose to object to be assembled；Second vision sensor is located at grip unit
Lateral section, the telemeasurement for carrying out 3 d pose to object to be assembled.
3. the automation control system of industrial robot according to claim 1, it is characterised in that the laser sensor
Including first laser sensor, second laser sensor, it is respectively arranged on the side of grip unit.
4. the automation control system of industrial robot according to claim 1, it is characterised in that the object to be assembled
For two or more objects to be assembled.
5. the automation control system of industrial robot according to claim 1, it is characterised in that the industrial robot
For six-DOF robot, eight degrees of freedom robot or ten degree of freedom robot.
6. the automation control system of industrial robot according to claim 1, it is characterised in that the central processing unit
Including：
Control module, for controlling grip unit to clamp object to be assembled；
Planning module, the motion path of industrial robot is planned for the position according to object to be assembled and attitude information；
Display module, for providing Man Machine Interface.
7. the automation control system of industrial robot according to claim 1, it is characterised in that the control system is also
Including：
Communication module, the movement instruction for central processing unit to be sent is sent to the mobile terminal of user.
8. the automation control system of industrial robot according to claim 7, it is characterised in that the communication module is
WiFi communication module, 3G/4G communication modules or zigbee communication modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421279.4A CN107153380A (en) | 2017-06-07 | 2017-06-07 | A kind of automation control system of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421279.4A CN107153380A (en) | 2017-06-07 | 2017-06-07 | A kind of automation control system of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107153380A true CN107153380A (en) | 2017-09-12 |
Family
ID=59795983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710421279.4A Withdrawn CN107153380A (en) | 2017-06-07 | 2017-06-07 | A kind of automation control system of industrial robot |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107796311A (en) * | 2017-10-16 | 2018-03-13 | 江苏唯侓机器人科技有限公司 | A kind of automated manufacturing control system of accurate positioning |
| CN109605381A (en) * | 2019-01-29 | 2019-04-12 | 欧米瑞（广东）智能制造有限公司 | Three-dimensional positioning material taking system and material taking method |
| CN111175770A (en) * | 2020-02-24 | 2020-05-19 | 南京理工大学 | Automatic container gripping device and method based on point laser ranging |
| CN111421528A (en) * | 2020-03-24 | 2020-07-17 | 广州市轻工职业学校 | Industrial robot's automated control system |
| CN111618833A (en) * | 2020-04-27 | 2020-09-04 | Oppo（重庆）智能科技有限公司 | Method and device for assembling components, storage medium, and electronic device |
| CN114708993A (en) * | 2022-04-06 | 2022-07-05 | 中国核电工程有限公司 | MOX fuel bundle assembling method and device |
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| CN104044131A (en) * | 2013-03-15 | 2014-09-17 | 株式会社安川电机 | Robot System, Calibration Method, And Method For Producing To-be-processed Material |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107796311A (en) * | 2017-10-16 | 2018-03-13 | 江苏唯侓机器人科技有限公司 | A kind of automated manufacturing control system of accurate positioning |
| CN109605381A (en) * | 2019-01-29 | 2019-04-12 | 欧米瑞（广东）智能制造有限公司 | Three-dimensional positioning material taking system and material taking method |
| CN111175770A (en) * | 2020-02-24 | 2020-05-19 | 南京理工大学 | Automatic container gripping device and method based on point laser ranging |
| CN111175770B (en) * | 2020-02-24 | 2023-08-18 | 南京理工大学 | Automatic container grabbing device and method based on point laser ranging |
| CN111421528A (en) * | 2020-03-24 | 2020-07-17 | 广州市轻工职业学校 | Industrial robot's automated control system |
| CN111618833A (en) * | 2020-04-27 | 2020-09-04 | Oppo（重庆）智能科技有限公司 | Method and device for assembling components, storage medium, and electronic device |
| CN114708993A (en) * | 2022-04-06 | 2022-07-05 | 中国核电工程有限公司 | MOX fuel bundle assembling method and device |
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Application publication date: 20170912 |