CN108673499A - A kind of measurement system - Google Patents
A kind of measurement system Download PDFInfo
- Publication number
- CN108673499A CN108673499A CN201810440978.8A CN201810440978A CN108673499A CN 108673499 A CN108673499 A CN 108673499A CN 201810440978 A CN201810440978 A CN 201810440978A CN 108673499 A CN108673499 A CN 108673499A
- Authority
- CN
- China
- Prior art keywords
- toolroom machine
- host
- measurement system
- compensation
- posture
- 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.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of measurement systems, including：To the host of communication link toolroom machine, and the communication link host is to transmit real time information to the range unit of the host, it enables the host carry out the position of the toolroom machine and the dynamic compensation of posture to the toolroom machine, makes the toolroom machine that can be equal at a distance from everywhere with target piece surface after dynamic adjusts.
Description
Technical field
The present invention relates to field of measuring technique, and in particular to arrives a kind of measurement system for toolroom machine.
Background technology
It is moved it is well known that mechanical arm is the action command formula write according to user, and the mechanical arm
On can set up range unit, to detect whether the 3D sizes that the three-dimensional dimension of practical object is provided with geometry engineering drawing generate difference
Away from；When generating gap, controller need to provide compensation mechanism and give the mechanical arm to carry out motion compensation.Especially is spraying or welding
It connects in operation, the construction quality of target piece can be effectively promoted by the compensation mechanism, to meet the quality requirements of target piece.
Specifically, as shown in Fig. 1, when carrying out spraying operation using mechanical arm 1, if target piece 9 is in curved surface,
The mechanical arm 1 need to be enabled to keep equidistant state with the target piece 9, spraying effect is made to be more uniformly distributed.
But the mobile route and posture of mechanical arm 1 can not carry out dynamic immediately in moving process and adjust, and the mesh
The practical three-dimensional dimension of mark object 9 will produce gap slightly with the 3D sizes that geometry engineering drawing is provided, and cause the target piece 9
8 surface of coating thickness t everywhere it is inconsistent, therefore in practical spraying operation, the mobile route and posture of the mechanical arm 1
It cannot be satisfied the demand of coating thickness uniformity.
Therefore, how the above-mentioned problems of the prior art is solved, is current industry project urgently to be resolved hurrily.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of measurement system
System.
To solve the problems, such as above-mentioned known techniques, system of the present invention provides a kind of measurement system, including：
Host passes through one toolroom machine of communication link；
And range unit, it is to enable the host to this to transmit real time information to the host for the communication link host
Toolroom machine carries out the position of the toolroom machine and the dynamic compensation of posture.
In measurement system above-mentioned, which includes mechanical arm.
In measurement system above-mentioned, which is to the static state of the position and posture that carry out the toolroom machine to the toolroom machine
Compensation；For example, the static compensation is in objective time interval, the position and posture for the toolroom machine (can be the pendulum of mechanical arm
Set mode) compensation rate.
In measurement system above-mentioned, the dynamic compensation be one have plural number fixed point destination path in, the toolroom machine in
When being moved on the destination path, the position in the respectively fixed point and the instant compensation rate of posture are located at for the toolroom machine.
In measurement system above-mentioned, which also includes controller, compensated into Mobile state the toolroom machine.
In measurement system above-mentioned, which is the operation of the inverse kinematics with the static compensation or dynamic compensation
Mode, to calculate the amount of movement of the toolroom machine.
In measurement system above-mentioned, which includes also data bank, to compare the real time information that the range unit is transmitted.
In measurement system above-mentioned, which is provided on the toolroom machine.
In measurement system above-mentioned, which is optical profile type.
In the present embodiment, toolroom machine shift position and pose compensation information select different sides according to actual painting environments
Formula can select static compensation either dynamic to compensate, if being not suitable for installation range unit in actual painting environments,
Need the work compensated come execution route with static compensation.The part that operating personnel are intended to spraying in advance does complete scanning, surveys
The distance for measuring each position, is stored in data bank, then when actually being sprayed, the control system of toolroom machine will be according to
The data of storage carries out operation and calculates the path after compensation；If range unit can be installed in actual painting environments,
It then can be with dynamically compensating the work compensated come execution route.
From the foregoing, it will be observed that the measurement system of the present invention, mainly by the design of range unit communication link host, to enable host
Toolroom machine is compensated into Mobile state, thus the physical location of target piece and nozzle at mechanical arm end can be obtained, makes manipulator
After arm is dynamically adjusted, nozzle and target piece surface are equal the distance between everywhere, therefore compared to the prior art, even if real
The three-dimensional dimension of border target piece generates gap slightly, measurement system energy of the invention with the 3D sizes that geometry engineering drawing is provided
This error is compensated, makes toolroom machine after carrying out spraying operation, the consistency of thickness of the coating of target piece, thus can effectively promote spray
Apply the uniform reliability of thickness.
Description of the drawings
Fig. 1 is the schematic side view of the spraying operation of the prior art；
Fig. 2 is the stereoscopic schematic diagram that a kind of measurement system proposed by the present invention is applied to toolroom machine；
Fig. 3 is the schematic diagram of the static compensation mechanism of the host proposed by the present invention
Fig. 4 A are the schematic diagram of the dynamic compensation mechanism of the host proposed by the present invention；
The hypothesis schematic diagram for the destination path that Fig. 4 B are applied by measurement system proposed by the present invention；
Fig. 5 is the flow chart of the compensation mechanism of the controller of the measurement system of the present invention；
Fig. 6 is that the side view of the target piece and its coating surface after being carried out spraying operation using the measurement system of the present invention is shown
It is intended to.
As shown in the figure：
1- mechanical arms, 2- measurement systems, 3- toolroom machines, 6- coatings, 8- coatings；9- target pieces；
20- hosts, 21- range units；
30- nozzles；
20a- data bank；
A- real time informations, data after B- is compared, S1~S10 data buffer blocks；S51~S52 Bu Sudden；
L- destination paths, S- fixed points, P1- starting points, P2- terminals, t, d- coating layer thickness.
Specific implementation mode
The specific embodiment of the invention is described with reference to the accompanying drawings and embodiments,
The discribed structure of this specification attached drawing, ratio, size etc., only to coordinate the revealed content of specification,
So that person skilled in the art understands and reads, the enforceable qualifications of the present invention are not limited to, therefore do not have technology
On essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size can be generated not influencing the present invention
The effect of and the purpose that can reach under, should all still fall in the range of disclosed technology contents are covered.Meanwhile
Cited such as "upper" and "lower" term in this specification, are also only convenient for narration, rather than can implement to limit the present invention
Range, relativeness is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable model of the present invention
Farmland.
It is the stereoscopic schematic diagram that a kind of measurement system proposed by the present invention is applied to toolroom machine referring to Fig. 2.
As shown in Fig. 2, a kind of measurement system, including：One host 20 and a range unit 21.
20 system of host is to one toolroom machine 3 of communication link, to carry out the position of the toolroom machine 3 to the toolroom machine 3
And the static compensation of posture.
In the present embodiment, which includes mechanical arm, is equipped with nozzle 30 at end, and 20 system of host is
Computer equipment, if the host 20 includes controller, to carry out the static compensation of its position and posture to the toolroom machine 3.Further,
20 system of host coordinates the operation mode of inverse kinematics (inverse kinematic) by the static compensation, to calculate
The toolroom machine 3 amount of movement, for example, the cassette coordinate (X, Y, Z, RX, RY, RZ) of the mechanical arm is extrapolated the manipulator
The angle position (J1, J2, J3, J4, J5, J6) in each joint of arm, to calculate the amount of movement in each joint.
The static compensation is the compensation rate of position and posture for the toolroom machine 3 in objective time interval.For example,
The controller system of the host 20 can provide an input frame, and inserting each objective time interval for user, (it was indicated between the time
Every) position and posture compensation rate.Specifically, each objective time interval is defined as △ t, the compensation rate of position is defined as
(△xn, △ yn, △ zn)), the compensation rate of posture is defined as (△ rxn, △ ryn, △ rzn), wherein t0On the basis of time point, just
To be equal to and the positive integer more than 1, to establish table as follows：
In the present embodiment, the controller of the host 20 can calculate reality in each objective time interval according to table content
Border toolroom machine position and posture, as shown in Figure 3, wherein t0Coordinate (x0,y0,z0,rx0,ry0,rz0) it is used as start time point
And uncompensated value, and the original coordinate (x that each objective time interval is corresponding1,y1,z1,rx1,ry1,rz1), (x2,y2,z2,rx2,ry2,
rz2) ... wait for before not yet compensating toolroom machine position and posture.Furthermore user can be in the parameter of the controller of the host
Set objective time interval △ t.
Therefore, after the controller of the host 20 calculates the physical location of the toolroom machine 3 and the cassette coordinate of posture, then lead to
The angle position that inverse kinematics extrapolate each joint of the toolroom machine 3 is crossed, to calculate the amount of movement in each joint.
The range unit 21 is the communication link host 20 to transmit real time information A to the host 20, such as Fig. 4 A institutes
Show, the host 20 is enabled to carry out the position of the toolroom machine 3 and the dynamic compensation of posture to the toolroom machine 3.
In this present embodiment, which is optical profile type, such as penetrates infrared ray, the appropriate side such as laser or other visions
Formula detects distance, is set on the toolroom machine 3.
Furthermore the host 20 is also transmitted i.e. with comparing the range unit 21 comprising data bank 20a as shown in Figure 4 A
When information A.
The dynamic compensation is in the destination path L for having plural number fixed point S one, and the toolroom machine 3 is in the target road
When being moved on diameter L, the position on respectively fixed point S and the instant compensation rate of posture are located at for the toolroom machine 3, such as Fig. 4 B institutes
Show.For example, when installing the range unit 21 on the toolroom machine 3 (or the mechanical arm front end), when the toolroom machine 3 starts to process
When the movement of operation, which starts the controller that actual position and posture are transmitted to the host 20, for the control
Device processed carries out instant dynamic compensation.
In the present embodiment, before the toolroom machine 3 starts to process operation, the Schilling toolroom machine 3 is not had at least once
The previous operations of the idle running (the path running according to processing operation) of target piece 9 (as shown in Figure 6), to enable the range unit 21
Reference is obtained, and the reference is stored in the data bank 20a of the host 20, wherein the reference is to include
In the destination path L that one has plural number fixed point S, the toolroom machine 3 on destination path L when being dallied, the toolroom machine 3
In on respectively fixed point S position and posture.
The setting in the detecting period of range unit 21 is to enable the controller of host 20 to have time enough to calculate to mend
Position after repaying and posture, wherein user can set the data bank 20a of the host on the operation interface of the measurement system 2
Fixed point S (or in data buffer blocks S1~S10, as shown in Figure 4 A) quantity and the range unit 21 detecting period
Parameter, for example, the quantity of fixed point S (or data buffer blocks S1~S10) may be set to 10 groups, and the range unit 21
The detecting period may be set to 1 millisecond (ms).
As shown in Figure 4 B, the destination path L of the mechanical arm of the toolroom machine 3 may be defined as a straight line or other shapes, from
Coordinate (the X of starting point P11,Y1,Z1,RX1,RY1,RZ1) arrive terminal P2 coordinate (X2,Y2,Z2,RX2,RY2,RZ2).First, should
Toolroom machine 3 need to be run along destination path L skies, have off position and posture to obtain 10 groups (as above quantity of set fixed point S)
Reference, be stored in data buffer blocks S1~S10 (as shown in Figure 4 A).Wait for 10 groups of data buffer blocks S1~S10
Data fill up after, toolroom machine 3 executes move since stationary state.In the motion process of toolroom machine 3, when host 20
Controller fixed point S (or data in data bank 20a is read in each detecting period (as above set be 1ms)
Buffer blocks S1~S10) data when, the range unit 21 data (the real time information A) that it can be measured insert the money
Expect in data buffer blocks S1~S10 in the 20a of library, to enable the host 20 by the data buffer blocks S1 in data bank 20a
~S10 compares the real time information A that the range unit 21 is transmitted, and it is data B after comparing to enable the 20 read data of host, and
The path of the toolroom machine 3 is carried out according to data after the comparison and the instant dynamic of posture compensates.
Referring to Fig. 5, the control flow of the controller of host 20 provided by the invention is：Step S51, if start compensation machine
System；Step S52, judges compensation way；Such as " 0 " indicates static compensation, and " 1 " indicates that dynamic compensates；Absolute coordinates pattern
Linear movement instruction (LINE_ABS), for example, " X2,Y2,Z2,RX2,RY2,RZ2S100 ", wherein S100 systems indicate the toolroom machine
The movement speed of 3 (or mechanical arms).
In conclusion the measurement system 2 of the present invention is by according to preset position and pose compensation amount (i.e. static compensation)
And/or through the range unit 21 obtain physical location and posture with the position for dynamically compensating the toolroom machine 3 and posture, then with
Position and posture cooperation inverse kinematics after static compensation and/or dynamic compensation calculate the toolroom machine 3 in motion process
Mechanical arm each joint angle, to calculate the amount of movement in each joint.
Furthermore the measurement system 2 of the present invention is inputted configured with relevant parameter and table for user, with through startup compensation
The instruction of mechanism reaches physical location (or path) and the purpose of pose compensation.
As shown in fig. 6, when the toolroom machine 3 carries out spraying operation, if target piece 9 is in arbitrary surface or plane, and should
Target piece 9 is set on the platform of the toolroom machine 3, even if the practical three-dimensional dimension of the target piece 9 is carried with geometry engineering drawing
The 3D sizes of confession generate gap, measurement system 2 slightly can dynamically adjust the nozzle 30 or the target piece of the toolroom machine 3 immediately
The position of 9 (i.e. the platforms of gearing) and posture, to be in equidistant state between enabling the nozzle 30 and 9 surface of target piece each,
Therefore in practical spraying operation, the toolroom machine 3 coordinate the measurement system 2 compensation mechanism, make the toolroom machine 3 mobile route and
Posture can meet the demand of coating thickness uniformity, thus the thickness d of 6 surface of coating of the target piece 9 everywhere can be presented one
It causes.
Above-described embodiment system is to be illustrated the principles and effects of the present invention, and is not intended to limit the present invention.Appoint
What the person skilled in the art can modify to above-described embodiment without prejudice under spirit and scope of the invention.Cause
The rights protection scope of this present invention is answered listed by claim as be described hereinafter.
Claims (10)
1. a kind of measurement system, which is characterized in that including：
Host passes through one toolroom machine of communication link；
And range unit, it is to enable the host to the work to transmit real time information to the host for the communication link host
Tool machine carries out the position of the toolroom machine and the dynamic compensation of posture.
2. a kind of measurement system according to claim 1, which is characterized in that the toolroom machine includes mechanical arm.
3. a kind of measurement system according to claim 1, which is characterized in that the host is to be carried out to the toolroom machine
The position of the toolroom machine and the static compensation of posture.
4. a kind of measurement system according to claim 3, which is characterized in that the static compensation be in objective time interval,
The compensation rate of position and posture for the toolroom machine.
5. a kind of measurement system according to claim 1, which is characterized in that the dynamic compensation is that have plural number fixed one
In the destination path of point, the toolroom machine is located at the respectively fixed point when being moved on the destination path, for the toolroom machine
On position and posture instant compensation rate.
6. a kind of measurement system according to claim 1, which is characterized in that the host includes also controller, with to institute
Toolroom machine is stated to compensate into Mobile state.
7. a kind of measurement system according to claim 1, which is characterized in that the host is by static compensation or the dynamic
The operation mode of compensation cooperation inverse kinematics, to calculate the amount of movement of the toolroom machine.
8. a kind of measurement system according to claim 1, which is characterized in that the host also includes data bank, to compare
The real time information that the range unit is transmitted.
9. a kind of measurement system according to claim 1, which is characterized in that the range unit is provided at the toolroom machine
On.
10. a kind of measurement system according to claim 1, which is characterized in that the range unit is optical profile type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810440978.8A CN108673499A (en) | 2018-05-10 | 2018-05-10 | A kind of measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810440978.8A CN108673499A (en) | 2018-05-10 | 2018-05-10 | A kind of measurement system |
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| Publication Number | Publication Date |
|---|---|
| CN108673499A true CN108673499A (en) | 2018-10-19 |
Family
ID=63805670
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810440978.8A Pending CN108673499A (en) | 2018-05-10 | 2018-05-10 | A kind of measurement system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111251290A (en) * | 2018-11-30 | 2020-06-09 | 汉翔航空工业股份有限公司 | System and method for compensating selectable path of mechanical arm |
| CN112078253A (en) * | 2020-09-11 | 2020-12-15 | 谢瑞 | Spraying system and spraying method |
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| CN105772295A (en) * | 2016-05-24 | 2016-07-20 | 李富平 | Automobile spraying equipment capable of inducing spraying distance |
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| 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 |
| US20160067732A1 (en) * | 2014-09-09 | 2016-03-10 | Kabushiki Kaisha Yaskawa Denki | Application device, application robot, and application method |
| CN105772295A (en) * | 2016-05-24 | 2016-07-20 | 李富平 | Automobile spraying equipment capable of inducing spraying distance |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111251290A (en) * | 2018-11-30 | 2020-06-09 | 汉翔航空工业股份有限公司 | System and method for compensating selectable path of mechanical arm |
| CN112078253A (en) * | 2020-09-11 | 2020-12-15 | 谢瑞 | Spraying system and spraying method |
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