CN110549341A - industrial robot coordinate positioning system and method - Google Patents
industrial robot coordinate positioning system and method Download PDFInfo
- Publication number
- CN110549341A CN110549341A CN201910902671.XA CN201910902671A CN110549341A CN 110549341 A CN110549341 A CN 110549341A CN 201910902671 A CN201910902671 A CN 201910902671A CN 110549341 A CN110549341 A CN 110549341A
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- robot
- module
- data processing
- range finder
- processing module
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Classifications
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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
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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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
Abstract
The invention relates to a coordinate positioning system and method of an industrial robot, which comprises a laser range finder, a data processing module, a robot module and a communication module, wherein the data processing module is connected with the laser range finder and the robot module through the communication module, and the laser range finder is fixed on an end executing mechanism of the robot. The following procedure is performed: a. the data processing module monitors the request of the robot module, when the request is received, the data processing module controls the acquisition laser range finder to measure the distance of the workpiece, the step b is executed, and monitoring is continued if the request is not received; b. the data processing module compares the preset coordinate system with the distance of the coordinate origin, calculates the moving distance and converts the moving distance into a format which can be recognized by the robot module; c. the data processing module sends the data of the moving distance to the robot module, and the robot module moves the workpiece to preset coordinates. The invention has the advantages that: the adaptability to the field environment is strong, and the intelligent positioning of the robot coordinate is realized.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a robot coordinate positioning system and a positioning method of a range finder.
Background
The robot industry has developed rapidly in recent years (especially the development of industrial robots in modern manufacturing factories), the traditional teaching mode is simple and has low requirements on operators, but the intelligence degree of the robot is severely limited, and the current coordinate positioning mainly comprises three methods of manual teaching, offline programming and sensor assistance. For a robot with coordinates changing frequently, methods of manual teaching and offline programming become extremely complicated and are obviously not feasible, and in order to meet the requirement of robot intellectualization, a method by means of a sensor can be adopted.
In the prior art, a coordinate system of a robot is usually determined by a machine vision method through sensor positioning, but the machine vision has high requirements on light of a working environment, and the positioning accuracy cannot be ensured in a severe environment.
Disclosure of Invention
the invention aims to overcome the defects in the prior art and provides an industrial robot coordinate positioning system and method.
The utility model provides an industrial robot coordinate positioning system, includes laser range finder, data processing module, robot module and communication module, and data processing module passes through communication module and connects laser range finder and robot module, and laser range finder is fixed in on the terminal actuating mechanism of robot.
The method for realizing the industrial robot coordinate positioning system comprises the following processes:
a. The data processing module monitors the request of the robot module, when the request is received, the data processing module controls the acquisition laser range finder to measure the distance of the workpiece, the step b is executed, and monitoring is continued if the request is not received;
b. The data processing module compares the preset coordinate system with the distance of the coordinate origin, calculates the moving distance and converts the moving distance into a format which can be recognized by the robot module;
c. The data processing module sends the data of the moving distance to the robot module, and the robot module moves the workpiece to preset coordinates.
Compared with the prior art, the invention has the advantages that: (1) the laser range finder is adopted, so that the adaptability to the field environment is strong, the cost is low, and the precision can meet the working requirements of the robot; (2) and the positioning information is converted into a data format of the robot by adopting a mode of matching the robot and the industrial personal computer, so that the intelligent positioning of the robot coordinate is realized.
Detailed Description
An industrial robot coordinate positioning system comprises a phase type laser range finder, an industrial personal computer serving as a data processing module, a robot and a communication module.
The communication module adopts a serial bus RS 232-USB interface, the phase type laser range finder is fixed on the same horizontal line position of a robot tail end execution mechanism and is connected with an industrial personal computer through the communication module serial bus RS 232-USB interface, the industrial personal computer is used as a data processing module, when the robot has a data acquisition request, the request is sent to the industrial personal computer, the industrial personal computer sends a signal to the phase type laser range finder through the serial bus, the phase type laser range finder uses the frequency of a radio wave band to perform amplitude modulation on a laser beam and determine the phase delay required by modulated light to and fro measuring a line, the distance represented by the phase delay can be converted according to the wavelength of the modulated light, the distance is converted according to the phase difference of the returned laser, and the distance is fed back to the industrial personal computer.
visual C + + programming software is installed on the industrial personal computer, on one hand, a request of the robot is monitored through a Socket command, when the request is received, data measured by the laser range finder are collected, a preset coordinate system and a preset distance of a coordinate origin are compared, a moving distance is calculated, the moving distance is converted into a format which can be identified by the robot, and the format is transmitted to the robot.
Communication module can also be RS232 serial communication and industrial Ethernet connection, and RS232 is used for the communication between laser range finder and the industrial computer, and the distance data information that surveys laser range finder conveys the industrial computer to, and the robot module is KUKA robot, and control system is KRC4, and communication protocol is Ethernet KRL, is connected with the industrial computer through industrial Ethernet, carries out the transmission of signal and data.
The industrial robot coordinate positioning system executes the following steps to complete the control process:
Step S1, initializing the laser range finder and the industrial personal computer;
Step S2, after the initialization is finished, the monitoring service and the positioning service are started;
Step S3, monitoring the robot through a Socket command, wherein the robot is a client of the industrial personal computer;
step S4, waiting for a FLAG signal of the robot, and determining whether FLAG = = TRUE in real time, if FLAG = = TRUE, executing step S5, and if not, continuing to execute the S3 monitoring program;
step S5, after receiving a data request command of the robot, the industrial personal computer sends a measurement signal to the laser range finder, and the laser range finder measures the distance of the processed workpiece;
And step S6, the laser range finder feeds the measured distance value back to an industrial personal computer, the industrial personal computer converts the data into a format of the robot and transmits the data to the robot, the robot module moves the workpiece to a preset coordinate, and the robot is monitored all the time in the transmission process.
Claims (7)
1. industrial robot coordinate positioning system, including laser range finder, data processing module, robot module and communication module, data processing module passes through communication module connects laser range finder and robot module, the laser range finder is fixed in on the terminal actuating mechanism of robot.
2. An industrial robot coordinate positioning system according to claim 1, characterized by: the laser range finder is a phase laser range finder.
3. an industrial robot coordinate positioning system according to claim 1, characterized by: the robot module is a KUKA robot, and the control system is KRC 4.
4. an industrial robot coordinate positioning system according to claim 1, characterized by: the communication module comprises an RS232 serial communication-USB interface.
5. An industrial robot coordinate positioning system according to claim 1, characterized by: the communication module comprises RS232 serial communication and industrial Ethernet connection, the RS232 is used for communication between the laser range finder and the data processing module, and the industrial Ethernet is used for communication between the data processing module and the robot module.
6. An industrial robot coordinate positioning system according to claim 1, characterized by: the data processing module is an industrial personal computer.
7. Method of implementing an industrial robot coordinate positioning system according to claim 1, comprising the following procedures:
a. the data processing module monitors the request of the robot, controls and collects the distance of the laser range finder to measure the workpiece when the request is received, executes the step b, and continues monitoring when the request is not received;
b. The data processing module compares the preset coordinate system with the distance of the coordinate origin, calculates the moving distance and converts the moving distance into a format which can be recognized by the robot module;
c. the data processing module sends the data of the moving distance to the robot module, and the robot module moves the workpiece to preset coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902671.XA CN110549341A (en) | 2019-09-24 | 2019-09-24 | industrial robot coordinate positioning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902671.XA CN110549341A (en) | 2019-09-24 | 2019-09-24 | industrial robot coordinate positioning system and method |
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| CN110549341A true CN110549341A (en) | 2019-12-10 |
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| CN201910902671.XA Pending CN110549341A (en) | 2019-09-24 | 2019-09-24 | industrial robot coordinate positioning system and method |
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Application publication date: 20191210 |
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| RJ01 | Rejection of invention patent application after publication |