CN111203893A

CN111203893A - Intelligent shearing robot

Info

Publication number: CN111203893A
Application number: CN201811396021.4A
Authority: CN
Inventors: 张亮; 龚程程; 徐宝林
Original assignee: Tianjin Polytechnic University
Current assignee: Tianjin Polytechnic University
Priority date: 2018-11-22
Filing date: 2018-11-22
Publication date: 2020-05-29

Abstract

The invention discloses an intelligent shearing robot. Including imaging and feedback of the cut object and the environment. And through the analysis of the image, sending a control and cutting instruction to a motion control system of the robot, and controlling a cutting mechanism to cut. The system adopts a modular design and mainly comprises a motion control system, a man-machine interaction system and a shearing manipulator mechanical arm system. The motion control system selects an STM32 single chip microcomputer as a core device to realize a shearing manipulator motion control program, an image processing program, a data storage program and a response program; the key of the man-machine interaction system is a serial port for connecting the control system with the shearing manipulator control system, and the control of a man-machine control interface on the shearing manipulator can be realized by reading and writing information of the serial port for remote operation and monitoring; the mechanical arm system consists of all joint controllers of the mechanical arm, a power executing mechanism and a shearing end effector and is used for shearing a sheared object. The product is convenient to operate and accords with the concept of energy conservation and emission reduction.

Description

Intelligent shearing robot

Technical Field

The invention relates to an intelligent shearing robot, in particular to a robot which can shear objects which cannot be sheared by manpower and can lead an operator to be far away from a dangerous environment. The method comprises the steps that a video camera device which is in real-time communication with a notebook computer is used for shooting a cut object, the obtained image signal is processed through image software and displayed on the notebook computer, an operator sends a control command to a motion control system of the robot according to the image signal, the motion control system enables the cutting robot to reach a proper position after receiving the relevant command, the operator sends the cutting command on the computer, and a cutting mechanism of an end effector is controlled to cut, so that convenience and safety guarantee are provided for the operator.

Background

At present, shearing work is indispensable in social production and daily life. Most manual cutting is inefficient, requires labor and is simply and repeatedly tedious. For example: some of the straps, cords, etc. are cut during the production process. The labor intensity of a plurality of shearing operations is high, and time and labor are wasted. For example: the branches and canes are cut off in field operation. Some cutting operations cannot even be done by hand. For example: shearing the reinforcing steel bars of the building. In some dangerous environments, manual shearing is not suitable. For example: in anti-terrorism, the wires of terrorist bombs are cut. In some narrow spaces, manual cutting work is difficult to perform. For example: when earthquake relief is carried out, reinforcing steel bars, anti-theft windows and the like in the ruins of collapsed buildings are cut off. The traditional manual shearing technology is not only high in operation difficulty and low in shearing efficiency, but also high in danger coefficient, and is not beneficial to personal safety of operators.

In the development of the present society, a robot integrating high, new and advanced technologies such as automation, machinery, artificial intelligence computers and the like becomes an important force for pushing the "industrial 4.0" process. The intelligent shearing robot meets the 'industrial 4.0' era background, and an operator analyzes an image transmitted back by a video camera device in real-time communication with a notebook computer, and sends a control command and a shearing command to a motion control system of the robot, so that the shearing robot reaches a proper position and controls a shearing mechanism of an end effector to shear. The application of intelligent shearing robot improves the operating efficiency greatly, saves a large amount of labour cost and time, can cut the article that the manpower can not be cuted, lets operating personnel keep away from the hazardous environment. And the intelligent shearing mechanical arm can make the shearing operation faster and more accurate, has stronger adaptability, and has better social and economic benefits and larger market development prospect.

Disclosure of Invention

In order to overcome the defects of the traditional manual shearing mode, the invention provides an intelligent shearing robot which is used for shearing work which is difficult to be finished by manpower.

The technical scheme adopted by the invention for solving the technical problems is as follows: an intelligent shearing robot is characterized in that a system is in a modular design and mainly comprises a motion control system, a man-machine interaction system, a shearing manipulator mechanical arm system, a wireless communication system and a vision system. The system is characterized in that an STM32 single chip microcomputer is selected as a core device of the motion control system and is used for realizing a shearing manipulator motion control program on an STM32 single chip microcomputer system, such as a steering engine rotation angle and speed control program, an image processing and data storage program and a response program at each joint, including a man-machine interaction system control response program and the like; the key of the design of the human-computer interaction system is a serial port which is a connecting channel between the human-computer control system and the shearing manipulator control system, and the control of a human-computer control interface on the shearing manipulator can be realized by reading and writing serial port information for remote operation and monitoring; the shearing manipulator mechanical arm system consists of all joint controllers of a mechanical arm, a power executing mechanism and a shearing end executor and is used for shearing a sheared object.

The robot control system has the advantages that the robot can be controlled by utilizing the image transmitted back by the video camera device, so that the working efficiency is improved, the danger of operators during work is reduced, the labor cost and time are saved, the shearing work can be completed more quickly and accurately, and the robot control system has wide application value and market prospect.

Drawings

FIG. 1 is a system overview block diagram

FIG. 2 is a flow chart of the main program of the shearing robot software

FIG. 3 is a main flow chart of the cutting robot control software

Detailed Description

The following description of specific embodiments with reference to the drawings further illustrates how the invention may be implemented.

In fig. 1, an intelligent shearing robot, whose system is designed in a modular manner, mainly includes a motion control system, a human-computer interaction system, a shearing manipulator arm system, a wireless communication system, and a vision system. When the robot starts to work, the cut object is shot by the video camera device, the video camera device is in real-time communication with a notebook computer, and an image signal obtained by shooting is displayed on the notebook computer after being processed by image software. The operator of the robot sends control instructions to the motion control system of the robot on the computer. After the motion control system receives the relevant instructions, 4 wheels of the chassis are driven to enable the shearing robot to reach a proper position. And then planning the track of the mechanical arm according to a forward and backward kinematics calculation formula, and controlling each joint of the mechanical arm to run according to the calculated motion track. When the mechanical arm reaches a proper shearing position, the end effector is opened to form a certain angle. After that, the end effector adjusts the space attitude, and after reaching the proper attitude, the operator sends a shearing instruction on the computer to control the shearing mechanism of the end effector to shear. If the cut object is cut within a limited time, the cutting mechanism of the end effector is opened and the robot is reset. And if the shearing operation cannot be finished within the limited time, the driving steering engine of the end effector increases the rotating speed and carries out shearing again. If the object to be cut cannot be cut within a limited time, the cutting mechanism of the end effector is opened, and the robot is reset. The system is characterized in that the motion control system selects an STM32 single chip microcomputer as a core device and is used for realizing a shearing manipulator motion control program on an STM32 single chip microcomputer system, such as a steering engine rotation angle and speed control program, an image processing and data storage program and a response program at each joint, including a man-machine interaction system control response program and the like; the key of the design of the human-computer interaction system is a serial port which is a connecting channel between the human-computer control system and the shearing manipulator control system, and the control of a human-computer control interface on the shearing manipulator can be realized by reading and writing serial port information for remote operation and monitoring; the shearing manipulator mechanical arm system consists of all joint controllers of a mechanical arm, a power executing mechanism and a shearing end executor and is used for shearing a sheared object.

In fig. 1, in order to satisfy the requirement that the shearing manipulator has the capability of well adapting to the complexity of the shearing object and the specificity of the shearing environment, and the mechanical structure has the characteristics of simplicity, compactness, flexibility, large motion range, easy control and the like, a multi-joint type manipulator is adopted, and the shearing manipulator with the degree of freedom of 4 is selected. The shearing manipulator is formed by serially connecting joints such as a waist part, a large arm, a small arm, a wrist and the like. One end of the waist joint is connected with the base, the base is fixed on a chassis with wheels, and the other end of the waist joint is provided with an end effector. Besides, the shearing manipulator is also provided with an STM32 single-chip microcomputer control system, an upper computer control system, a Zigbee wireless communication module, a steering engine and a power supply. The upper computer sends an instruction to the lower computer STM32 single chip microcomputer through the Zigbee wireless communication module, the STM32 single chip microcomputer sends a PWM signal to control the operation of the steering engine after receiving the instruction, so that the mechanical arm moves the end effector to the shearing target position, and the end effector shears an object. The STM32 has strong data processing capacity, provides hardware support and precise output high-speed pulse for realizing complex logic operation and motion control algorithm, can well control a digital steering engine, can use zigbee equipment for wireless serial data communication, and realizes the characteristics of data transmission and remote control at a certain distance between a human-computer interaction interface at a PC end and a control system.

In fig. 2, the system is powered on at the beginning, an initial program runs, so that an STM32 single chip microcomputer system of the shearing robot and a related program of a human-computer interaction system on a PC computer are initialized, the shearing robot firstly moves from a non-working state pose to a working state initial pose, the shearing manipulator starts working, a camera shoots a target, and an acquired image is processed by an STM32 chip and transmitted to the human-computer interaction system. The target image is displayed on a PC computer, and the operator judges the image data. And determining a motion control mode of the shearing mechanical arm, controlling an STM32 control system through a key of a man-machine interaction system, sending a PWM signal to a steering engine at the joint of the shearing mechanical arm by the STM32 control system, and enabling the shearing mechanical arm to move to reach a target point according to a preset track. The robot arm comprises a shoulder joint, an elbow joint, a wrist joint and the like, so that the end effector is positioned at a position basically consistent with the target height, and then the waist joint is rotated, so that the end effector can reach the proper shearing position of the target at the highest speed. If the robot does not reach the target position correctly, the operator controls the waist joint, the shoulder joint, the shaft joint and the wrist joint respectively, the end effector is continuously adjusted to the target position, for the pose of the shearing manipulator, the MATLAB calculates each joint angle and joint coordinates according to a positive and negative kinematics formula, and the operator inputs the joint angles and the joint coordinates to the human-computer interaction system to send instructions, so that the operation of the track is ensured. The man-machine interaction system controls the end effector, firstly controls a holder of the end effector to reach a proper shearing position, then the upper computer controls a shearing mechanism of the end effector to effectively shear, the shearing operation is completed, and the resetting is finished.

In fig. 3, a control system of the shearing robot sends a command, and the STM32 receives the command and sends PWM signals to steering engines of all joints of the shearing robot arm. The shearing mechanical arm moves according to the track determined by the track planning, namely the mechanical arm is adjusted to enable the end effector to be at a position basically consistent with the height of the target, and then the end effector can reach a proper shearing position of the target at the fastest speed in the rotating waist joint. If the target position is not reached correctly, the operator controls the waist joint, the shoulder joint, the shaft joint and the wrist joint respectively and continues to adjust to the target position. And finally the appropriate shear point is reached. An operator sends a state instruction to the end effector through the man-machine interaction system, so that the shearing mechanism of the end effector is opened, and the angle between the cutting edges of the two scissors is 45 degrees. An operator controls the shearing mechanism to shear at the rotating speed of 60 degrees per second through keys of the man-machine interaction system. The shearing mechanism shears the object in less than 1 second, and the shearing operation is finished. If the shearing operation is not completed on time, the angular speed of the steering engine is accelerated by using a difference compensation method. And continuing to cut, stopping cutting by the cutting mechanism no matter whether the cutting mechanism cuts off the object within 1 second, opening, resetting to the initial state, and exiting from the cutting operation mode.

Due to the adoption of the structure, the invention provides the design of the intelligent shearing robot, the design is simple, the shearing result is accurate, the insecurity and the complexity of the traditional manual shearing are avoided, the product performance is stable, and the application is wide. And the system greatly improves the working efficiency, saves a large amount of labor cost and time, can analyze the image sent back by the video camera device and send a control instruction to the robot, so that the shearing operation is faster and more accurate, the adaptability is stronger, and the system has wide market value and application prospect.

Claims

1. An intelligent shearing robot is characterized in that the motion control system selects an STM32 single chip microcomputer as a core device and is used for realizing a shearing manipulator motion control program on an STM32 single chip microcomputer system, such as a steering engine rotation angle and speed control program, an image processing and data storage program and a response program at each joint, wherein the system comprises a man-machine interaction system control response program and the like; the key of the design of the human-computer interaction system is a serial port which is a connecting channel between the human-computer control system and the shearing manipulator control system, and the control of a human-computer control interface on the shearing manipulator can be realized by reading and writing serial port information for remote operation and monitoring; the shearing manipulator mechanical arm system consists of all joint controllers of a mechanical arm, a power executing mechanism and a shearing end executor and is used for shearing a sheared object.

2. An intelligent robot as claimed in claim 1, wherein when the robot starts working, the video camera device takes a video of the object to be cut, the video camera device communicates with a notebook computer in real time, the image signal obtained by the camera is processed by image software and displayed on the notebook computer, the operator of the robot sends a control command to the motion control system of the robot, the motion control system receives the relevant command, drives 4 wheels of the chassis to make the cutting robot reach a proper position, then makes a trajectory plan of the mechanical arm according to a positive and negative kinematics formula, controls the joints of the mechanical arm to run according to the calculated motion trajectory, and when the mechanical arm reaches a proper cutting position, the end effector opens to a certain angle, and thereafter, the end effector adjusts the spatial attitude, after the proper posture is achieved, an operator sends a shearing instruction on the computer to control the shearing mechanism of the end effector to shear, if the sheared object is sheared within a limited time, the shearing mechanism of the end effector is opened, the robot is reset, if the shearing operation cannot be completed within the limited time, the driving steering engine of the end effector increases the rotating speed to shear again, and if the sheared object cannot be sheared within the limited time, the shearing mechanism of the end effector is opened, and the robot is reset.