CN109531542A - Robot adds slag operational method, system, motion trail planning method, system - Google Patents
Robot adds slag operational method, system, motion trail planning method, system Download PDFInfo
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- CN109531542A CN109531542A CN201811469673.6A CN201811469673A CN109531542A CN 109531542 A CN109531542 A CN 109531542A CN 201811469673 A CN201811469673 A CN 201811469673A CN 109531542 A CN109531542 A CN 109531542A
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/10—Supplying or treating molten metal
- B22D11/108—Feeding additives, powders, or the like
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of robot and adds slag operating system, which includes: perception subsystem, for real-time detection crystallizer state, the status information of ambient enviroment and manually to the operation information of robot, and by the information input perceived to decision-making subsystem；Decision-making subsystem, for carrying out the teaching operation for adding slag motion profile by robot；Real-time detection crystallizer state, the status information of ambient enviroment during teaching, the status information and the operation information that perceive are analyzed, and take out the mapping relations between status information and operation；According to the mapping relations and the crystallizer state, the status information of ambient enviroment taken out, the control signal of robot manipulating task motion profile is generated；Executive subsystem, for completing to add slag operation by the track of planning according to the control signal.The present invention overcomes disadvantages of the existing technology, realize the intelligence that crystallizer adds slag operating system.
Description
Technical field
The invention belongs to continuous cast mold plus slag fields, and in particular to a kind of robot adds slag operating system and motion profile
Planing method.
Background technique
Crystallizer protecting residue has lubrication, prevents molten steel from contacting generation secondary oxidation with air, absorbing being mingled in molten steel
The effects of object.Therefore, in continuous casting process in strict control crystallizer covering slag thickness, so that covering slag is uniformly added in molten steel liquid
It is extremely important on face to improvement slab quality.
Crystallizer adds the conventional method of slag to be manually to be manually added, there are heavy workload, working environments for this mode badly,
The disadvantages of bloom production unstable quality.Occurred the equipment of some automatic slags in recent years, such as automatic slag machine people, reduced
Damage problems of the high temperature with high dust adverse circumstances to human body, improve the quality of production of steel billet to a certain extent.But current
Slag adding machine device people predominantly automates, and not yet realizes intelligence, i.e., plus slag track is failed by motion path planned in advance
Intelligence is carried out to the actual demand of covering slag according to crystallizer state and adds slag in real time, and the Motion trajectory of robot needs
It is realized, is operated more complicated by programming.
Summary of the invention
In view of the above deficiencies of the prior art, the purpose of the present invention is to provide a kind of robots to add slag operator
Method, system, motion trail planning method, system constrain for realizing according to crystallizer state virtual condition and site environment, into
Row intelligence adds slag in real time, to further increase the uniformity of covering slag addition.
In order to achieve the above objects and other related objects, the present invention provides a kind of robot and adds slag operation track planning side
Method, the planing method include:
The teaching operation for adding slag motion profile is carried out by robot；Real-time detection during teaching crystallizer state,
The status information of ambient enviroment analyzes the status information and the operation information that perceive, take out status information with
Mapping relations between operation；
According to the mapping relations and the crystallizer state, the status information of ambient enviroment taken out, machine is generated
The control signal of device people's Working motion track.
Optionally, the mapping relations between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
In order to achieve the above objects and other related objects, the present invention also provides a kind of robots to add slag operation track planning system
System, the planning system include:
First mode running unit, for carrying out the teaching operation for adding slag motion profile by robot；Real-time detection exists
Crystallizer state, the status information of ambient enviroment during teaching carry out the status information perceived and operation information
Analysis takes out the mapping relations between status information and operation；
Second mode running unit, for according to the mapping relations and the crystallizer state, the surrounding taken out
The status information of environment generates the control signal of robot manipulating task motion profile.
Optionally, the mapping relations between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
In order to achieve the above objects and other related objects, the present invention also provides a kind of robots to add slag operating system, this is
System includes:
Subsystem is perceived, for real-time detection crystallizer state, the status information of ambient enviroment and manually to robot
Operation information, and by the information input perceived to decision-making subsystem；
Decision-making subsystem, for executing the method for planning track；
Executive subsystem, for completing to add slag operation by the track of planning according to the control signal.
Optionally, the perception subsystem includes visual sensor and force sensor；Wherein the visual sensor is used
In the status information for acquiring the perception mold liquid level and ambient enviroment, the force sensor perceives each joint of robot
Torque.
In order to achieve the above objects and other related objects, the present invention also provides a kind of robots to add slag operational method, the party
Method includes:
Real-time detection crystallizer state, the status information of ambient enviroment and manually to the operation information of robot；
By the crystallizer state, the status information of ambient enviroment and manually the operation information of robot is divided
Analysis takes out the mapping relations between status information and operation, and generates robot with mapping relations according to the state information
The control signal of motion profile；
It is completed to add slag operation according to the control signal.
Optionally, the mapping relations between the status information and operation are as follows:
Mapping relations between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
As described above, a kind of robot of the invention adds slag operational method, system, motion trail planning method, system, tool
Have it is following the utility model has the advantages that
The present invention can realize that intelligent accurate adds slag in real time according to crystallizer status；It is easy to operate easy without programming
Row；The present invention is based on the empirical law of the mankind plus slag control robots to carry out adding slag operation, makes plus the flexibility of slag operation is stronger；Gram
Take that labor workload of the existing technology is big, fails to carry out real-time intelligent according to the virtual condition and demand of crystallizer state
The disadvantages of adding slag and complicated robot teaching programming, realize the intelligence that crystallizer adds slag operating system, and robot
Dynamic fortune trajectory planning has the characteristics that easy to operate without programming.
Detailed description of the invention
Fig. 1 is motion trail planning method flow chart of the present invention；
Fig. 2 is that the system of slag adding machine device people of the present invention forms figure；
Fig. 3 is the Three Degree Of Freedom industrial robot mechanism schematic diagram of the embodiment of the present invention；
Fig. 4 is the Three Degree Of Freedom industrial robot parameter declaration figure of the embodiment of the present invention；
Fig. 5 is the Three Degree Of Freedom industrial robot motion trajectory diagram of the embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
Please refer to Fig. 1~5.It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to match
The revealed content of specification is closed, so that those skilled in the art understands and reads, is not intended to limit the invention implementable
Qualifications, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size,
In the case where not influencing the effect of present invention can be generated and the purpose that can reach, should all still fall in disclosed technology
In the range of appearance can cover.Meanwhile cited such as "upper", "lower", "left", "right", " centre " and " one " in this specification
Term, be merely convenient to being illustrated for narration, rather than to limit the scope of the invention, the change of relativeness or
Adjustment, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, the present invention, which provides a kind of robot, adds slag operation track planning method, which includes:
The teaching operation for adding slag motion profile is carried out by robot；Real-time detection during teaching crystallizer state,
The status information of ambient enviroment analyzes the status information and the operation information that perceive, take out status information with
Mapping relations between operation；
According to the mapping relations and the crystallizer state, the status information of ambient enviroment taken out, machine is generated
The control signal of device people's Working motion track.
Wherein, the definition teaching operation for carrying out adding slag motion profile by robot；Real-time detection is in teaching process
Middle crystallizer state, the status information of ambient enviroment analyze the status information and the operation information that perceive, are abstracted
Mapping relations between the information that does well and operation are mode of learning；Definition is according to the mapping relations that take out and described
Crystallizer state, the status information of ambient enviroment, the control signal for generating robot manipulating task motion profile is operating mode.
Mapping relations in an embodiment, between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
The present invention also provides a kind of robots to add slag operation track planning system, which includes:
First mode running unit, for carrying out the teaching operation for adding slag motion profile by robot；Real-time detection exists
Crystallizer state, the status information of ambient enviroment during teaching carry out the status information perceived and operation information
Analysis takes out the mapping relations between status information and operation；
Second mode running unit, for according to the mapping relations and the crystallizer state, the surrounding taken out
The status information of environment generates the control signal of robot manipulating task motion profile.
Mapping relations in an embodiment, between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
As shown in Fig. 2, the present invention also provides a kind of robots to add slag operating system, which includes perception subsystem, determines
Plan subsystem and executive subsystem；
Wherein, the perception subsystem, for real-time detection crystallizer state, the status information of ambient enviroment and artificial
To the operation information of robot, and by the information input perceived to decision-making subsystem.
In an embodiment, the sensory perceptual system includes visual sensor and force sensor, wherein the visual sensing
Device is used to acquire the status information of the perception mold liquid level and ambient enviroment, and force sensor perception robot respectively closes
The torque of section.
The decision-making subsystem has the function of study, for add the teaching of slag motion profile to grasp by robot
Make；Real-time detection crystallizer state, the status information of ambient enviroment during teaching, by the status information perceived with
Operation information is analyzed, and the mapping relations between status information and operation are taken out；According to the mapping relations taken out
With the crystallizer state, the status information of ambient enviroment, the control signal of robot manipulating task motion profile is generated.
The executive subsystem, including there is the robot body of dragging tutorial function and be set to adding for robot end
Slag device is used to complete to add slag operation by the track of planning according to the control signal, to realize that the intelligence of covering slag adds in real time
Enter.
The present invention also provides a kind of robots to add slag operational method, this method comprises:
Real-time detection crystallizer state, the status information of ambient enviroment and manually to the operation information of robot；
By the crystallizer state, the status information of ambient enviroment and manually the operation information of robot is divided
Analysis takes out the mapping relations between status information and operation, and generates robot with mapping relations according to the state information
The control signal of motion profile；
It is completed to add slag operation according to the control signal.
Optionally, the mapping relations between the status information and operation are as follows:
Mapping relations between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are machine
The torque vector in each joint of device people, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,
t2,...,tnFor each joint torque of robot.
Embodiments of the present invention are illustrated using specific numerical value below, but is not limited to following
Embodiment.Robot body is illustrated by taking a planar three freedom industrial robot as an example, schematic diagram of mechanism such as Fig. 3,
Design parameter is as follows:
Connecting rod geometric parameter: L1=1m, L2=1m, L3=0.5m；
Connecting rod quality parameter: m1=1kg, m2=1kg, m3=0.5kg；
Joint torque parameter: τ1max=45N.m, τ2max=20N.m, τ3max=5N.m；
Initial pose: x0=0.4m, y0=2.2m, qT0=80°；
Target point: xg=-1.9, yg=-0.5；
Barrier point coordinate: xob=-0.5, yob=2.1.
It is illustrated in figure 4 the figure explanation of above-mentioned parameter, coordinate origin, the initial pose of robot are indicated in figure
And target point, the space that motion limit shows robot moves cannot be beyond the dashed circle region, the circle of solid line
Shape region is that barrier zone, that is, robot should avoid the region in motion planning.
Fig. 5 is the motion profile generated using above-mentioned planing method.As seen from the figure, robot can with cut-through at
Function reaches target point, and motion path is smooth curve.
That the present invention overcomes labor workloads of the existing technology is big, fail according to the virtual condition of crystallizer state and
Demand carries out the disadvantages of real-time intelligent adds slag and complicated robot teaching programming, realizes the intelligence that crystallizer adds slag operating system
Energyization, and the Motion trajectory of robot have the characteristics that it is easy to operate without programming.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.For this
For the technical staff in field, the invention may be variously modified and varied.Therefore, have in technical field such as usual
All equivalent modifications or change that skill is completed without departing from the spirit and technical ideas disclosed in the present invention, Reng Yingyou
Claim of the invention is covered.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (8)
1. a kind of robot adds slag operation track planning method, which is characterized in that the planing method includes:
The teaching operation for adding slag motion profile is carried out by robot；Real-time detection crystallizer state, surrounding during teaching
The status information of environment analyzes the status information and the operation information that perceive, takes out status information and operation
Between mapping relations；
According to the mapping relations and the crystallizer state, the status information of ambient enviroment taken out, robot is generated
The control signal of Working motion track.
2. a kind of robot according to claim 1 adds slag operation track planning method, which is characterized in that the state letter
Mapping relations between breath and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are robot
The torque vector in each joint, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,t2,...,tn
For each joint torque of robot.
3. a kind of robot adds slag operation track planning system, which is characterized in that the planning system includes:
First mode running unit, for carrying out the teaching operation for adding slag motion profile by robot；Real-time detection is in teaching
Crystallizer state, the status information of ambient enviroment in the process analyze the status information and the operation information that perceive,
Take out the mapping relations between status information and operation；
Second mode running unit, for according to the mapping relations and the crystallizer state, ambient enviroment taken out
Status information, generate robot manipulating task motion profile control signal.
4. a kind of robot according to claim 3 adds slag operation track planning system, which is characterized in that the state letter
Mapping relations between breath and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are robot
The torque vector in each joint, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,t2,...,tn
For each joint torque of robot.
5. a kind of robot adds slag operating system, which is characterized in that the system includes:
Subsystem is perceived, for real-time detection crystallizer state, the status information of ambient enviroment and manually to the behaviour of robot
Make information, and by the information input perceived to decision-making subsystem；
Decision-making subsystem, for executing method for planning track as claimed in claim 1 or 2；
Executive subsystem, for completing to add slag operation by the track of planning according to the control signal.
6. a kind of robot according to claim 5 adds slag operating system, which is characterized in that the perception subsystem includes
Visual sensor and force sensor, wherein the visual sensor is for acquiring the perception mold liquid level and ambient enviroment
Status information, the torque in force sensor perception each joint of robot.
7. a kind of robot adds slag operational method, which is characterized in that this method comprises:
Real-time detection crystallizer state, the status information of ambient enviroment and manually to the operation information of robot；
By the crystallizer state, the status information of ambient enviroment and manually the operation information of robot is analyzed,
The mapping relations between status information and operation are taken out, and generate robot motion with mapping relations according to the state information
The control signal of track；
It is completed to add slag operation according to the control signal.
8. a kind of robot according to claim 7 adds slag operational method, which is characterized in that the status information and operation
Between mapping relations are as follows:
Mapping relations between the status information and operation are as follows:
T(t1,t2,..,tn)=F (S (m), S (e))
Wherein, mapping function of the F between crystallizer state, the status information of ambient enviroment and robot manipulation, T are robot
The torque vector in each joint, S (m) are the function of state of crystallizer, and S (e) is the function of state of ambient enviroment, t1,t2,...,tn
For each joint torque of robot.
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