CN109434830A - A kind of industrial robot platform of multi-modal monitoring - Google Patents
A kind of industrial robot platform of multi-modal monitoring Download PDFInfo
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- CN109434830A CN109434830A CN201811320497.XA CN201811320497A CN109434830A CN 109434830 A CN109434830 A CN 109434830A CN 201811320497 A CN201811320497 A CN 201811320497A CN 109434830 A CN109434830 A CN 109434830A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A kind of industrial robot platform of multi-modal monitoring, including industrial robot control system, sensing system, control system, system integrating control system, Visual Tracking System and executing agency, sensing system is connect with industrial robot control system, industrial robot control system includes teaching machine, motion controller, three RGB video cameras are used for the shared working space of monitoring work personnel and industrial robot, ensure industrial robot collision-free motion in real time, two laser scanners that platform is mounted on respect to corner monitor ambient enviroment, the 360 degrees omnidirection view of common perception industrial robot peripheral region, the monitoring system combined by three RGB video cameras and two laser scanners.
Description
Technical field
The invention belongs to industrial robot field, in particular to a kind of industrial robot platform of multi-modal monitoring.
Background technique
As current industrial automatization level is higher and higher, occupy increasingly consequence in all trades and professions, their energy
Enough consummations accurately execute Various Complex task, these tasks may be that people is basic due to the limitation of environment or other factors
It is impossible.The application scenarios of industrial robot mainly have auto parts and components manufacture and assembly, mechanical automation manufacture, is toxic
Chemical products production, standard pipelining, the installation of high-risk environment equipment, the operation of nuclear radiation place, extreme environment operation etc..
But lack the setting that interacts to staff and industrial robot in the prior art, and can not be to being in industry
The staff of robot working space carries out effective protection.
Summary of the invention
The technical problem to be solved by the present invention is to how realize the safety for interacting and advising personnel of staff with industry
Protection, provides a kind of industrial robot platform of multi-modal monitoring to this present invention,
The technical solution of the present invention is as follows: a kind of industrial robot platform of multi-modal monitoring, including industrial robot control
System, sensing system, control system, system integrating control system, Visual Tracking System and executing agency, sensing system
It is connect with industrial robot control system,
Control system is by the data of system integrating control system receiving sensor system and Visual Tracking System and to work
Industry robot control system sends control instruction, and industrial robot control system controls executing agency, and sensing system is mounted on
In executing agency, monitor the position and posture of executing agency in real time, sensing system, Visual Tracking System also with industrial robot control
Working condition and monitoring ambient enviroment of the system connection processed for Real-time Feedback executing agency,
Wherein, industrial robot control system includes teaching machine, motion controller,
Wherein, control system includes industrial personal computer,
Wherein, Visual Tracking System includes RGB video camera, laser scanner, tracking camera, radio-frequency receiving-transmitting injection device,
Wherein, sensing system includes multiple six axle sensors, optical sensor, motion sensor, Hall current sensing
Device,
Wherein, executing agency includes mechanical part and partial power,
Wherein, three RGB video cameras are used for the shared working space of monitoring work personnel and industrial robot, ensure in real time
Industrial robot collision-free motion is mounted on platform with respect to two laser scanners in corner and monitors ambient enviroment, common to perceive
The 360 degrees omnidirection view of industrial robot peripheral region, the prison combined by three RGB video cameras and two laser scanners
Control system,
Monitoring system identifies in real time based on multi-modal personnel tracking and tracks the point cloud in shared working space, to keep away
Exempt from industrial robot and staff when work and collision, the collision with exterior object, according to current operation mode and in real time
The speed and compliance of environmental data adjust automatically industrial robot, identify the gesture of staff.
Beneficial effects of the present invention:
(1) according to current operation mode and real time environmental data, the speed and compliance of adjust automatically industrial robot, and
And identification to staff's gesture is realized, realize interaction；
(2) reliability of hardware is greatly improved using optical coupling isolation circuit；
(3) secondary communications are used, the flexible control to industrial robot is realized；
(4) executing agency uses parallelogram, increases total rigidity, increases system stability；.
(5) double reduction gear structure promotes the operation precision of industrial robot further；
(6) dynamic capture system realizes the accurate tracking to industrial robot end effector, realizes effective calibration；
Detailed description of the invention
Fig. 1 is industrial robot system's block diagram of the invention；
Fig. 2 is the mechanical construction drawing of executing agency of the invention；
Fig. 3 is reducer structure figure of the invention；
Fig. 4 is dynamic capture system work flow diagram of the invention；
Specific embodiment
The present invention will be further described below with reference to the drawings.
A kind of industrial robot platform of multi-modal monitoring, including industrial robot control system, sensing system, manipulation
System, system integrating control system, Visual Tracking System and executing agency, sensing system and industrial robot control system
Connection,
Control system is by the data of system integrating control system receiving sensor system and Visual Tracking System and to work
Industry robot control system sends control instruction, and industrial robot control system controls executing agency, and sensing system is mounted on
In executing agency, monitor the position and posture of executing agency in real time, sensing system, Visual Tracking System also with industrial robot control
Working condition and monitoring ambient enviroment of the system connection processed for Real-time Feedback executing agency,
Wherein, industrial robot control system includes teaching machine, motion controller,
Wherein, control system includes industrial personal computer,
Wherein, Visual Tracking System includes RGB video camera, laser scanner, tracking camera, radio-frequency receiving-transmitting injection device,
Wherein, sensing system includes multiple six axle sensors, optical sensor, motion sensor, Hall current sensing
Device,
Wherein, executing agency includes mechanical part and partial power,
System integrating control system searches for existing industrial robot in local area network and is connected to corresponding motion controller,
It runs motion sensor and resets six axle sensors, motion sensor acquires the end effector posture information of executing agency to draw
The movement of industrial robot is led, and real-time display is on the screen of teaching machine.
Industrial robot communication is divided into two-stage: first order communication is the logical of control system and industrial robot control system
Letter, using serial communication technology or network communications technology；Second level communication is industrial robot control system and sensor system
Communication between system, Visual Tracking System, using the industrial field bus communication technology.
Wherein, mechanical part includes pedestal, connector, large arm, forearm, wrist, end effector and rotary joint, rotation
Turn joint be located between pedestal and connector, between connector and large arm, between large arm and forearm and wrist and end
Between actuator, pedestal is load-bearing basic components, is fixed on ground or bracket, and connector is the support member of large arm, is realized
The revolute function of robot, connector are rotated on pedestal, and large arm is the support member of forearm, and the swing of large arm changes end
The stroke of actuator in the horizontal direction is held, the evolution of end effector in vertical direction, wrist are realized in the pitching of forearm
The rotation angles and positions of the end effector rotary joint adjustment carrying target in portion.
The socket joint of the pedestal rotary joint perpendicular to the axis in ground couples, and socket joint is mounted on the base, and is large arm
Support is provided, large arm, forearm and the connecting rod for keeping wrist level are installed thereon, large arm, forearm mutually constitute parallel with connecting rod
Quadrangle increases the rigidity of entire arm, by the synergistic effect for parallelogram mechanism of connecting, meets the easily-controllable of wrist
Property, wrist is ring flange, and according to the different needs of user, vacuum chuck is coupled on ring flange.
The structure increases the rigidity of entire arm, and the interaction of parallelogram increases entire robot transmission system
The rigidity of system reduces robot caused by under starting and emergency stop and trembles, and stroke amplification reduces system inertia, save at
This, while the stability of system is increased, transfer robot utilizes the control of robot pose of " parallelogram " simplified principle
System, reduces the difficulty of process control, can shorten duty cycle and the R & D design cost of robot.
Wherein, partial power include encoder, decoding circuit, optical coupling isolation circuit, permanent magnet synchronous servo motor (PMSM),
Retarder and intelligent power control module (I PM), Hall current sensor acquire the U phase and V phase of permanent magnet synchronous servo motor
Electric current, feeds back to motion controller, and encoder feeds back permanent magnet synchronous servo motor to motion controller in real time by decoding circuit
Physical location, motion controller receive target position information by universal serial bus, and target position, physical location and actual current exist
Uniaxial logic control is done in motion controller, and optical coupling isolation circuit is passed through by the sequential scheduling output pulse width modulation of vector controlled
It is supplied to intelligent power control module and is converted to power control signal, optical coupling isolation circuit realizes control section circuit and power
Partial circuit is completely isolated, greatly improves the reliability of hardware, and intelligent power control module drives permanent magnet synchronous servo motor
The rotary joint of operating, permanent magnet synchronous servo motor output shaft and retarder, retarder and mechanical part connects, and retarder is transported
The control of movement controller, the fining adjustment of realization movement.
Wherein, three RGB video cameras are used for the shared working space of monitoring work personnel and industrial robot, ensure in real time
Industrial robot collision-free motion is mounted on platform with respect to two laser scanners in corner and monitors ambient enviroment, common to perceive
The 360 degrees omnidirection view of industrial robot peripheral region, the prison combined by three RGB video cameras and two laser scanners
Control system,
Monitoring system identifies in real time based on multi-modal personnel tracking and tracks the point cloud in shared working space, to keep away
Exempt from industrial robot and staff when work and collision, the collision with exterior object, according to current operation mode and in real time
The speed and compliance of environmental data adjust automatically industrial robot, identify the gesture of staff.
Wherein, point cloud corresponds to potential colliding object (such as staff, tool or cart), and passes through trace point mysorethorn
Existing industrial robot quick execution avoidance action,
Point cloud is the finite number point that the rigid body of object surrounds, these points form impact volume, lead to buffer radius extension
The braking time that impact volume calculates industrial robot is crossed, when industrial robot is mobile, impact volume can increase and contract in real time
It is small, and current movement speed and required deceleration including each joint are calculated in real time, determine best braking time, smoothly
Slow down executing agency rather than executes hard stop.
Wherein, operating mode includes the following three types:
Automatic mode: laser scanner do not detect staff close to shared working space, industrial robot according to
Set speed executes operation automatically；
Close to mode: laser scanner detects that staff enters shared working space and close to industrial robot, work
The speed that industry robot reduces continues automatic execution task, and in this mode, industrial robot receives work people by RGB video camera
The manipulation command that member is issued by gesture, to execute corresponding operation,
Specifically, in this mode, staff suspends the current operation of industrial robot by lifting upper arm, then pacify
Complete is moved near industrial robot, and staff is worked on by flat upper arm control industrial robot of lifting；
Interactive mode: industrial robot is positioned to allow for contacting with the direct body of staff, (for example... check industry
The component that robot is held), staff can directly contact the workpiece that industrial robot and industrial robot are being processed.
Above-mentioned mode carries out automatic and/or hand by the real time data of gesture and/or the monitoring system acquisition of staff
Dynamic switching.
Wherein, retarder is double reduction mechanism, including centre wheel, planetary gear, planetary gear, crank axle, Cycloidal Wheel, pinwheel
And output panel, the power transfer path of retarder are, power inputs (up time transmission) from right end, by centre wheel (input shaft)
Engaging with planetary gear makes planetary gear rotation；Planetary gear and crank axle are connected, and crank axle is installed on ring flange；Cycloidal Wheel is installed on
It on crank axle, and is engaged with pinwheel, Cycloidal Wheel is turned round by crankshaft drives planetary gear, and power is by the output that connect with planetary gear
Disk output.
The radial dimension relationship of retarder is as follows:
d1=d2+2(H1+h1),
Wherein, d1: retarder pinwheel diameter；d2: planetary gear outer profile diameter；H1: oil seal washer thickness；h1: pinwheel oil seal washer
Top wall thickness；
d2=2 (a'0+0.5da2+△1+h2),
a'0: the operating center distance of involute planetary wheel drive mechanism；da2: planetary gear outside diameter circle；△1: in planetary gear
Gap between hole；h2: planetary gear wall thickness；
d1=d3+2(H2+h3),
d3: diameter at planetary gear outer profile and deep groove ball bearing cooperation；H2: deep groove ball bearing thickness；h3: pinwheel and zanjon
Thickness at ball bearing cooperation；
d3=2 (a0+rSong 2+H3+h4)
rSong 2: crankshaft and tapered roller bearing fitted shaft radius；H3: tapered roller bearing thickness；h4: planetary gear inner hole and circle
Thickness at taper roller bearing cooperation；
D: pinwheel outer diameter；rrp: needle tooth radius；rfc: cycloidal gear teeth root radius；A: Cycloidal Wheel is driven eccentricity；dMain 2: it is defeated
Enter diameter at axis and Cycloidal Wheel inner hole；△2: Cycloidal Wheel inner hole and input shaft clearance；△3: Cycloidal Wheel and planetary gear sector are vertical
Column fit clearance；h5、h6: the inside and outside diameter of Cycloidal Wheel；H5: planetary gear sector strut length；h4: wall thickness at pinwheel largest outside diameter；
d4=2 (a'0+dSong 2+H3+h7)
dSong 2: crankshaft and tapered roller bearing cooperate axial extent；H3: tapered roller bearing thickness；h7: ring flange and circular cone roll
Thickness at sub- bearing fit；
The axial dimensional relationships of retarder are as follows:
l2=s1+2s2+2bc+s3
l2: pinwheel axial width；s1: sealing ring width；s2: deep groove ball bearing width；bc: Cycloidal Wheel width；s3: Cycloidal Wheel
Gasket width；
l1=△4+B2+2(s4+s5)+s6+△5,
△4: gap；B2: planetary gear transverse tooth thickness；s4: tapered roller bearing width；s5: cylinder roller bearing width；s6: Kong Yong
Retaining ring width；△5: flange dish gap；
Wherein, thermal camera, six axle sensors and infrared light supply, data collector, synchronous multi-line controller, L shape target
Mark, cross drone, spherical target and caliberating device form the dynamic capture system of industrial robot end effector, realize to work
The measurement of industry robot motion precision.
Four thermal cameras are fixed on platform, and six axle sensors are mounted on industrial robot end effector, infrared
Video camera is evenly arranged on measurement space above, and the characteristic point of end effector is captured by thermal camera, measures without blind spot；Six axis pass
Sensor obtains industrial robot end spaces posture, the fixed ball in industrial robot end as system terminal measuring device in real time
Shape target is established between system of processing and measuring system and is associated with, thus building industrial robot inside and outside parameter under visual coordinate system
Error model, cross drone realize that visual space self-calibration, L shape target auxiliary establish visual coordinate system, dynamic capture system number
According to processing can be divided into 4 key steps:
Step 1, self-calibration is completed using cross drone, enhances the matching of the visual space and working space of thermal camera
Property, improve the precision of measuring system；
Step 2, visual coordinate system is established using L shape target, completes the building of measuring system local Coordinate System；
Step 3, spherical target is fixed on industrial robot end, thermal camera is calculated by point of intersection capture
Spherical target space coordinate resolves ending coordinates system according to the position of end effector and Spherical Target target geometrical relationship, according to
The transition matrix of industrial robot body coordinate system and each joint coordinate system, obtains measurement coordinate system and industrial machine human body sits
Mark the transformational relation of system, the unification of realization amount coordinate system and the coordinate system of industrial robot body coordinate system；
Step 4, six axle sensors are mounted on the locating support of end effector, obtain end effector with respect to terrestrial coordinates
The data of the posture of system, thermal camera and six axle sensors pass through high speed Ethernet mouth respectively and serial communication is passed to industry control
Machine obtains the current real-time compensation amount of industrial robot by redundant data processing module, generates movement instruction and controls industrial machine
People adjusts running track；
Wherein, the three-dimensional hub-and-spoke configuration that spherical target is made of 5 high-precision reflection target balls, it is anti-that surface sprays high IR
Rate coating is penetrated, spherical labels itself have rotational invariance, not by thermal camera optical axis and mark point planar process vector angle
Limitation, what thermal camera captured under any angle is complete circular feature, sprays high infrared reflection rate on surface
Coating, thermal camera front end arranged coaxial infrared LED circular lamp, thermal camera are red to the sensibility of infrared reflection coating
Outer video camera realizes the acquisition of target ball image effective information in the case where less block, and is being conducive to edge feature and characteristic point just
It really extracts, the geometrical characteristic of target can not effectively be extracted under similar situation by avoiding thermal camera.
Embodiment described above only expresses one embodiment of the present invention, and but it cannot be understood as to this
The limitation of invention scope.It should be pointed out that for those of ordinary skill in the art, in the premise for not departing from present inventive concept
Under, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of industrial robot platform of multi-modal monitoring, including industrial robot control system, sensing system, manipulation system
System, system integrating control system, Visual Tracking System and executing agency, sensing system and industrial robot control system connect
It connects, industrial robot control system includes teaching machine, motion controller, and control system includes industrial personal computer, Visual Tracking System packet
RGB video camera, laser scanner, tracking camera, radio-frequency receiving-transmitting injection device are included, sensing system includes multiple six axis sensings
Device, optical sensor, motion sensor, Hall current sensor, executing agency include mechanical part and partial power,
Three RGB video cameras are used for the shared working space of monitoring work personnel and industrial robot, ensure industrial machine in real time
People's collision-free motion, two laser scanners for being mounted on platform with respect to corner monitor ambient enviroment, perceive industrial machine jointly
The 360 degrees omnidirection view of people peripheral region, the monitoring system combined by three RGB video cameras and two laser scanners.
2. a kind of industrial robot platform of multi-modal monitoring according to claim 1, it is characterised in that: monitoring system base
Point cloud in multi-modal personnel tracking, identification in real time and tracking shared working space, to avoid industrial robot when work
With staff and collision, collision with exterior object, according to current operation mode and real time environmental data adjust automatically work
The speed and compliance of industry robot, identify the gesture of staff.
3. a kind of industrial robot platform of multi-modal monitoring according to claim 2, it is characterised in that point cloud is corresponding latent
Colliding object, and industrial robot quick execution avoidance action show by trace point mysorethorn, puts cloud as the rigid body packet of object
The finite number point enclosed, these points form impact volume to buffer radius extension, calculate industrial robot by impact volume
Braking time, when industrial robot is mobile, impact volume can increase and reduce in real time, and calculating in real time includes each joint
Current movement speed and required deceleration, determine best braking time, smoothly slow down executing agency rather than execute hard stop
Only.
4. a kind of industrial robot platform of multi-modal monitoring according to claim 3, it is characterised in that operating mode packet
Include following three kinds: automatic mode: laser scanner does not detect staff close to shared working space, and industrial robot is pressed
Operation is executed automatically according to set speed；
Close to mode: laser scanner detects that staff enters shared working space and close to industrial robot, industrial machine
Device people reduces speed and continues automatic execution task, and in this mode, industrial robot receives staff by RGB video camera and leads to
The manipulation command of gesture sending is crossed, to execute corresponding operation；
Interactive mode: industrial robot is positioned to allow for contacting with the direct body of staff, and staff can directly contact
The workpiece that industrial robot and industrial robot are being processed.
5. a kind of industrial robot platform of multi-modal monitoring according to claim 4, it is characterised in that close to mode
Under, staff suspends the current operation of industrial robot by lifting upper arm, and then safe to be moved to industrial robot attached
Closely, staff is worked on by flat upper arm control industrial robot of lifting.
6. a kind of industrial robot platform of multi-modal monitoring according to claim 1, which is characterized in that retarder two
Grade deceleration mechanism, including centre wheel, planetary gear, planetary gear, crank axle, Cycloidal Wheel, pinwheel and output panel, the power of retarder
Transmission path is that power is inputted from right end, and engaging by centre wheel with planetary gear makes planetary gear rotation；Planetary gear and crank axle are solid
Even, crank axle is installed on ring flange；Cycloidal Wheel is installed on crank axle, and is engaged with pinwheel, and Cycloidal Wheel is driven by crank axle
Dynamic planetary gear revolution, power are exported by the output panel connecting with planetary gear.
7. a kind of industrial robot platform of multi-modal monitoring according to claim 1, it is characterised in that thermal camera,
Six axle sensors and infrared light supply, data collector, synchronous multi-line controller, L shape target, cross drone, spherical target and mark
The dynamic capture system for determining device composition industrial robot end effector, realizes the measurement to industrial robot operation precision.
Four thermal cameras are fixed on platform, and six axle sensors are mounted on industrial robot end effector, infrared photography
Machine is evenly arranged on measurement space above, and the characteristic point of end effector is captured by thermal camera, measures without blind spot；Six axle sensors
As system terminal measuring device, industrial robot end spaces posture, the fixed Spherical Target in industrial robot end are obtained in real time
Mark, establishes between system of processing and measuring system and is associated with, thus building industrial robot inside and outside parameter error under visual coordinate system
Model, cross drone realize that visual space self-calibration, L shape target auxiliary establish visual coordinate system.
8. a kind of industrial robot platform of multi-modal monitoring according to claim 7, it is characterised in that dynamic captures system
The processing of system data can be divided into 4 key steps:
Step 1, self-calibration is completed using cross drone, enhances the visual space of thermal camera and the matching of working space,
Improve the precision of measuring system；
Step 2, visual coordinate system is established using L shape target, completes the building of measuring system local Coordinate System；
Step 3, spherical target is fixed on industrial robot end, thermal camera calculates spherical shape by point of intersection capture
Target space coordinate resolves ending coordinates system, according to industry according to the position of end effector and Spherical Target target geometrical relationship
The transition matrix of robot body coordinate system and each joint coordinate system obtains measurement coordinate system and industrial robot body coordinate system
Transformational relation, the unification of the coordinate system of realization amount coordinate system and industrial robot body coordinate system；
Step 4, six axle sensors are mounted on the locating support of end effector, obtain end effector with respect to terrestrial coordinate system
The data of posture, thermal camera and six axle sensors pass through high speed Ethernet mouth respectively and serial communication is passed to industrial personal computer, lead to
Redundant data processing module is crossed, the current real-time compensation amount of industrial robot is obtained, movement instruction is generated and controls industrial robot tune
Whole running track.
9. a kind of industrial robot platform of multi-modal monitoring according to claim 1, it is characterised in that Electricity Department subpackage
Include encoder, decoding circuit, optical coupling isolation circuit, permanent magnet synchronous servo motor (PMSM), retarder and intelligent power control
Module (IPM), Hall current sensor acquire the U phase and V phase current of permanent magnet synchronous servo motor, feed back to motion controller,
Encoder feeds back permanent magnet synchronous servo motor physical location to motion controller in real time by decoding circuit, and motion controller passes through
Universal serial bus receives target position information, and target position, physical location and actual current do uniaxial logic in motion controller
Control is modulated by the sequential scheduling output pulse width of vector controlled and is supplied to intelligent power control module by optical coupling isolation circuit
And power control signal is converted to, optical coupling isolation circuit realizes that control section circuit and power section circuit are completely isolated, greatly
The reliability of hardware is improved, intelligent power control module drives permanent magnet synchronous servo motor operating, permanent magnet synchronous servo motor
The rotary joint of output shaft and retarder, retarder and mechanical part connects, and retarder is realized dynamic by the control of motion controller
The fining of work adjusts.
10. a kind of industrial robot platform of multi-modal monitoring according to claim 1, it is characterised in that: control system
By system integrating control system receiving sensor system and the data of Visual Tracking System and to industrial robot control system
Control instruction is sent, industrial robot control system controls executing agency, and sensing system is mounted in executing agency, supervises in real time
The position and posture of executing agency is controlled, sensing system, Visual Tracking System are also connect for real with industrial robot control system
When feedback executing agency working condition and monitoring ambient enviroment.
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| CN109807690A (en) * | 2019-03-29 | 2019-05-28 | 青岛大学 | A kind of metal cutting process system |
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| CN111055282A (en) * | 2019-12-26 | 2020-04-24 | 中国航空工业集团公司北京长城航空测控技术研究所 | Self-stabilization auxiliary structure for repairing and manufacturing parts in marine bumpy environment |
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