CN110355759A - A kind of industrial robot gluing control system of view-based access control model - Google Patents
A kind of industrial robot gluing control system of view-based access control model Download PDFInfo
- Publication number
- CN110355759A CN110355759A CN201910606422.6A CN201910606422A CN110355759A CN 110355759 A CN110355759 A CN 110355759A CN 201910606422 A CN201910606422 A CN 201910606422A CN 110355759 A CN110355759 A CN 110355759A
- Authority
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- China
- Prior art keywords
- gluing
- motion controller
- robot
- based access
- glue spreading
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Classifications
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1694—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
Abstract
The invention discloses a kind of industrial robot gluing control systems of view-based access control model, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, image capture module, calculating and storage unit and execution module, wherein, teaching box is communicated with motion controller using serial ports, by sending control of the order data completion to Glue Spreading Robot, the coordinate information of taught point is read simultaneously, gluing Mission Operations parameter is manually entered, these task datas are packaged and are transferred to motion controller as task data, carry out the parsing and storage of task data；The beneficial effects of the present invention are: track off-line calculation is changed to calculate in real time, reduces the storage quantity of task data using TMS320F2812 as kernel control chip；Using vision positioning technology, the gluing requirement of product is met, exploitation can satisfy the Glue Spreading Robot of industrial demand, improve production efficiency and product quality, generate huge economic benefit and social benefit.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of industrial robot gluing control of view-based access control model
System.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Gluing technology is widely used in the bonding of electroacoustic field speaker diaphragm；With the reduction of electronic product size,
Coating technique difficulty increases, and completing coating technique using Glue Spreading Robot becomes effective way of raising gluing quality and production efficiency
Diameter.
Using artificial gluing, product quality is difficult to ensure and production efficiency is low, in order to preferably adapt to market economy hair
The needs of exhibition improve productivity, improve product quality, improve worker's working condition, thus it is proposed that a kind of view-based access control model
Industrial robot gluing control system.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial robot gluing control systems of view-based access control model, to solve above-mentioned back
Itd is proposed in scape technology using artificial gluing, product quality is difficult to ensure and production efficiency is low, in order to preferably adapt to market
The needs of economic development improve productivity, improve product quality, improve worker's working condition.
To achieve the above object, the invention provides the following technical scheme: a kind of industrial robot gluing control of view-based access control model
System processed, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, Image Acquisition
Module, calculating and storage unit and execution module, wherein
Teaching box is communicated with motion controller using serial ports, is completed by sending order data to Glue Spreading Robot
Control, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged conduct
Task data is transferred to motion controller, carries out the parsing and storage of task data；
The number that keyboard and display panel is shown by LED shows the working condition of current robot, is inputted by keyboard, complete
The control of pairs of Glue Spreading Robot, and the selection of job task parameter basic point；
Motion controller is the core of the control system, adds direction signal to control stepper motor to driver hair pulse, real
Existing robot end installs the operation of teaching track；
Workpiece is positioned by image capture module, calculating and storage unit, by the position of target gluing setting
Information is sent to the motion controller of Glue Spreading Robot by the serial ports of industrial computer, and motion controller issues control command,
The movement of gluing is completed by the execution module of Glue Spreading Robot.
As a preferred technical solution of the invention, the model TMS320F2812 of the motion controller.
As a preferred technical solution of the invention, the software design of the motion controller include hierarchical design,
Modularized design.
As a preferred technical solution of the invention, gluing machine is sent to by 232 serial ports of industrial computer
The motion controller of people.
As a preferred technical solution of the invention, the model VS-902 of the video camera.
As a preferred technical solution of the invention, described image collecting cassette is MV-U2000.
As a preferred technical solution of the invention, the interface of described image collecting cassette is USB 2.0.
Compared with prior art, the beneficial effects of the present invention are:
(1) track off-line calculation is changed to calculate in real time, is reduced as kernel control chip using TMS320F2812
The storage quantity of task data；
(2) vision positioning technology is used, the gluing requirement of product is met, exploitation can satisfy industrial demand
Glue Spreading Robot improves production efficiency and product quality, and generates huge economic benefit and social benefit.
Detailed description of the invention
Fig. 1 is motion controller block diagram of the invention；
Fig. 2 is motion controller software architecture diagram of the invention；
Fig. 3 is that task data of the invention forms format.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, the present invention provides a kind of technical solution: a kind of industrial robot painting of view-based access control model
Glue control system, including motion controller, keyboard and display panel, teaching box, motor driver, video camera, Image Acquisition box, image
Acquisition module, calculating and storage unit and execution module, wherein
Teaching box is communicated with motion controller using serial ports, is completed by sending order data to Glue Spreading Robot
Control, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged conduct
Task data is transferred to motion controller, carries out the parsing and storage of task data；
The number that keyboard and display panel is shown by LED shows the working condition of current robot, is inputted by keyboard, complete
The control of pairs of Glue Spreading Robot, and the selection of job task parameter basic point；
Motion controller is the core of the control system, and the model TMS320F2812 of motion controller is sent out to driver
Pulse adds direction signal to control stepper motor, realizes that robot end installs the operation of teaching track；
Workpiece is positioned by image capture module, calculating and storage unit, by the position of target gluing setting
Information is sent to the motion controller of Glue Spreading Robot by 232 serial ports of industrial computer, and motion controller issues control life
It enables, the movement of gluing is completed by the execution module of Glue Spreading Robot.
The model TMS320F2812 of motion controller, the resources of chip is abundant, and highest dominant frequency is up to 150MHZ, data
Processing capacity is strong, while having expanded the FLASH and RAM of control chip, is suitble to industry big data, and the storage of multitask is met
The requirement of Glue Spreading Robot；It is now as follows to motion controller resource allocation:
1. memory distribution:
Since the motion controller will meet the industrial requirement of Glue Spreading Robot, the storage in TMS320F2812 piece
Resource is far from enough, therefore has extended out FLASH and RAM, and FLASH program storage distributes interrupt vector table and procedure subject；RAM
It is careful not to be not intended to since the FLASH of TMS320F2812 has encryption function for data buffer zone and custom variable space
The write-in program in encryption space；
2. interrupt distribution:
There are three the interruptions that this system uses: timer 1 interrupts；SCI serial ports receives in interruption and the response of DSP external keyboard
It is disconnected；
Each functions of modules distribution inside 3.DSP:
Task manager: TMS320F2812 possesses task manager A and task manager B, and each task manager has two
A independent timer can issue the PWM wave of 4 road different frequencies, for controlling the revolving speed of four stepper motors；
Serial communication interface SCI: controller is communicated with teaching box, complete Glue Spreading Robot job task teaching with
And the downloading of task data；
Jtag interface: advanced simulated properties hardware interface can carry out online program debugging, be not take up system resource, benefit
The DSP emulator provided with PC machine and TI, so that it may with the runs software in PC machine, carry out the debugging efforts of program；
CAN communication interface: the interface be spare interface, for motion controller upgrading do it is spare；
4.I/O mouthfuls reserved:
I/O mouthfuls have been reserved in motion controller, elasticity can be needed to increase hardware device such as according to production: heating,
Absorption, cleft hand etc.；
5. signal processing:
TMS320F2812 uses static CMOS technology, and for 1 logic-level voltages of level close to 3.3V, logic level is close
In 0V, and Transistor-Transistor Logic level output HIGH voltage is greater than 2.4V, and output level is less than 0.4V, therefore needs to carry out level conversion, thus really
Protect the communication of DSP and peripheral chip.
The software design of motion controller includes hierarchical design, modularized design；Hierarchical design improves each layer software program
Independence, each layer of software be only capable of calling a low level software provide interface and service；Using modularized design: same
Layer intermodule onrelevant, the conjugation of intermodule is as far as possible by the way of data combination；Controller software system is divided into management
Layer and control layer two layers of software, management level include man-machine interface show, the downloading of program, task teaching, task choosing, emergency stop,
Reset etc., the requirement of real-time of the generic task is not high, and the subprogram by increasing management level can further increase the function of system
Energy；The control layer of system includes gluing control, real-time interpolation motion control, speed control, control of switching value etc., such software
Interface belongs to the called function of bottom, and for completing response management layer functions, motion controller software systems further include being
The initialization of system, the transmission of data, the parsing of data packet and the pretreatment for moving patching plug program etc., these software configuration functions
Perfect operation for each management level software of Glue Spreading Robot and control layer software provides advantageous support.
Initialization subroutine and main program:
System initialization routine completes the initialization of each functional module, includes: task manager A, task manager B
Initialization；The initialization of serial ports SCI register；Keyboard and display panel initialization；The initialization of global variable；Initialize serial ports setting
Its baud rate 115200bps, data format are no parity check, 8 data bit, 1 stop position；Motion controller passes through response keyboard
The control to operating personnel to Glue Spreading Robot is realized in the interruption of display board and teaching box, and the main circulating program of system is not by
Detect global variable disconnectedly, realize the calling to management layer functions, at the same management level software can according to the requirement of mission and mandate,
Further execution subroutine and control layer software routines, thus the top-down scheduling of program structure realized, so that
The software program process of motion controller is simple, and software maintenance is convenient.
Teaching motion module:
Task teaching is carried out to Glue Spreading Robot, facilitates control of the operator to Glue Spreading Robot, therefore teaching mould
The software of block is a part important in Glue Spreading Robot motion controller software, and in teaching module, there are two types of modules
It is selected for user: teaching mode and coordinate model；Teaching mode is to be controlled on robot motion to task track in real time a bit,
One section of line segment is made of two points, then is the starting point and terminal of teaching line segment when teaching；One section of circular arc is by non-colinear
Three points composition, then any point on starting point, terminal and the arc track of teaching circular arc is only needed when teaching；For
Ensure the efficiency and precision of teaching, continuous movement and crawl teaching are divided under teaching mode, uses the side of continuous teaching first
Formula guides the end of Glue Spreading Robot to reach target position, then uses the mode of crawl teaching so that the end of Glue Spreading Robot
End be accurately positioned, while reading the coordinate information, it is also necessary to be packaged the information in addition coating technique information with
Kinematic parameter is set, teaching is achieved the purpose that with this, coordinate model refers to that input coordinate value, Glue Spreading Robot are read by serial communication
Take coordinate value, guidance Glue Spreading Robot to specified position.
Coating technique task module:
Glue Spreading Robot should be resetted first after device power-up, after Glue Spreading Robot finds the actual zero point of system,
Workpiece clamping on objective table, if fixture is to install for the first time, is needed the operation by keyboard and display panel by operating personnel,
Basic point adjustment is carried out to Glue Spreading Robot, is otherwise directly entered the operation of task choosing；By the operation of control panel, institute is selected
Corresponding task is transferred to mission bit stream in RAM from FLASH, presses operation key Glue Spreading Robot and starts the task of fulfiling assignment,
Glue Spreading Robot is firstly moved to certain altitude above the gluing starting point of entire task before gluing, then enables gluing
Signal opens gluing controller, carries out gluing.
The formulation of controller and teaching box communication protocol:
The formulation of controller and teaching box communication protocol is one very important group in Glue Spreading Robot control system
At part, operating personnel can complete the information editing of gluing job task by way of teaching, and therefore, it is necessary to customize fortune
The communication protocol of movement controller and teaching box, the conveniently interaction between Glue Spreading Robot control；The formulating rules of agreement are both
It should facilitate to data packet group packet, should also be conducive to parsing of the Glue Spreading Robot to data packet, while to have certain fault-tolerant
Property, anti-interference when improve data transfer can verify data, judge the data correctness of transmission；Teaching box
Interaction with Glue Spreading Robot includes two kinds, and one is the order issued to Glue Spreading Robot, another kind is and Glue Spreading Robot
Between the task data transmitted；Order, which is included in, carries out robot debugging, track teaching, request data upload and data downloading etc.
In the case of use；After data refer to that a teaching task is completed, glue spreader is sent by data transmission by the mission bit stream
In device people's motion controller, motion controller is analyzed and is pre-processed according to the data sent, is stored in the form of task
Get up.
Task data analysis and storage:
About task, the definition of pel, figure point, task refers to Glue Spreading Robot end institute in operational process of glue spreader
The entire gluing track passed through, is the set of pel, these pels can be connection, is also possible to unconnected, and pel is
Track is abstract during finger gluing, it includes line segment, circular arc and array point；Pel element, which refers to, obtains the basic of primitive information
Figure point, a line segment are made of starting point and end point, three points of a circular arc no longer same straight line composition, array point by
One point composition, starting point, intermediate point, arc point, end point etc. can be divided by being further abstracted to these point classification, in gluing
During signal once enables and stops, pel point includes at least a starting point and an end point, or is single array point；
During teaching, operating personnel can complete the storage of taught point coordinate information, while operating personnel is defeated by teaching box
Enter the information of coating technique information and kinematic parameter；By the data information of constitutional diagram point, coordinate, the gluing work of pel can be found out
Skill parameter, operating parameter；Gluing machine is contained in the task data that teaching box is transferred on Glue Spreading Robot motion controller
Essential information parameter, the operating parameter of equipment and coating technique parameter etc. required for people's gluing track is fitted；Gluing machine
People's motion controller first should parse the data that transmission comes, by the mission bit stream storage after parsing to motion control
In the FLASH of device；The analysis of task data includes the combination of the pel point of point needed for the parsing of data packet, pel, coating technique
Parameter extraction, the extraction of pel operating parameter etc..
The model VS-902 of video camera.
Image Acquisition box is MV-U2000, and the device of digital picture is converted into as the simulated image data for acquiring camera
Image data is ultimately transferred to Real time vision and is stored by part, Image Acquisition box using 2.0 interface of USB.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of industrial robot gluing control system of view-based access control model, which is characterized in that including motion controller, keyboard & display
Plate, teaching box, motor driver, video camera, Image Acquisition box, image capture module, calculating and storage unit and execution module,
Wherein,
Teaching box is communicated with motion controller using serial ports, by sending control of the order data completion to Glue Spreading Robot
System, while the coordinate information of taught point is read, gluing Mission Operations parameter is manually entered, these task datas are packaged to be used as and are appointed
Business data are transferred to motion controller, carry out the parsing and storage of task data；
The number that keyboard and display panel is shown by LED shows the working condition of current robot, inputted by keyboard, completes pair
The control of Glue Spreading Robot, and the selection of job task parameter basic point；
Motion controller is the core of the control system, adds direction signal to control stepper motor to driver hair pulse, realizes machine
Device people end is installed by the operation of teaching track；
Workpiece is positioned by image capture module, calculating and storage unit, by the location information of target gluing setting
The motion controller of Glue Spreading Robot is sent to by the serial ports of industrial computer, motion controller issues control command, by applying
The execution module of glue robot completes the movement of gluing.
2. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described
The model TMS320F2812 of motion controller.
3. a kind of industrial robot gluing control system of view-based access control model according to claim 2, it is characterised in that: described
The software design of motion controller includes hierarchical design, modularized design.
4. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: pass through
232 serial ports of industrial computer are sent to the motion controller of Glue Spreading Robot.
5. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described
The model VS-902 of video camera.
6. a kind of industrial robot gluing control system of view-based access control model according to claim 1, it is characterised in that: described
Image Acquisition box is MV-U2000.
7. a kind of industrial robot gluing control system of view-based access control model according to claim 6, it is characterised in that: described
The interface of Image Acquisition box is USB 2.0.
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Application publication date: 20191022 |
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