CN111745685A - Sample preparation robot collision detection method and system and sample preparation system - Google Patents
Sample preparation robot collision detection method and system and sample preparation system Download PDFInfo
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- CN111745685A CN111745685A CN201910251410.6A CN201910251410A CN111745685A CN 111745685 A CN111745685 A CN 111745685A CN 201910251410 A CN201910251410 A CN 201910251410A CN 111745685 A CN111745685 A CN 111745685A
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- 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
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/286—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q involving mechanical work, e.g. chopping, disintegrating, compacting, homogenising
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Abstract
The invention discloses a collision detection method for a sample preparation robot, which comprises the following steps: s01, detecting the torque of the joint shaft corresponding to the driving motor in real time in the process of pitching the joint shaft executing pitching in the prototype robot; and S02, when the torque value is larger than a preset standard value, judging that the upper container of the sample preparation robot collides with the sample preparation system. The invention also discloses a sample preparation robot collision detection system corresponding to the collision detection method. The invention also discloses a sample preparation system, which comprises a bottle feeding unit, a sample preparation unit, a powder preparation screw cap unit, a sample preparation robot and the detection system, wherein the bottle feeding unit, the sample preparation unit and the powder preparation screw cap unit are arranged on the periphery of the sample preparation robot, the torque detection piece is arranged on a driving motor corresponding to the joint shaft, and the control unit is connected with the sample preparation robot. The detection method, the detection system and the sample preparation system have the advantages of accurate and reliable collision detection and the like.
Description
Technical Field
The invention mainly relates to the technical field of sample preparation, in particular to a sample preparation robot collision detection method, a sample preparation robot collision detection system and a sample preparation system.
Background
In the field of coal sample preparation of power plants, steel plants, cement plants and the like, the automatic sample preparation system gradually replaces the manual sample preparation in the prior art, so that the sample preparation process is free from manual intervention, a robot is introduced into the automatic sample preparation system, and the transparence, the intelligence and the sample preparation efficiency of the sample preparation system are improved.
As shown in fig. 1, the sample preparation robot 1 is a structure of a currently-used six-axis industrial robot, and includes six mechanisms (or joint axes) including a whole rotation mechanism 101, a whole pitching mechanism 102, a middle arm pitching mechanism 103, a middle arm rotation mechanism 104, a hand tool pitching mechanism 105, and a hand tool rotation mechanism 106, and a hand tool 107 (e.g., a clamping jaw) is installed at an end of the hand tool rotation mechanism 106, so as to realize operations of grabbing, transferring, dumping, placing, and the like of five containers, such as a large bottle, a small bottle, a barrel, a square barrel, a transfer container, and the like, wherein a coal sample is loaded in the containers, and the circulation of the coal sample in an up-and-down link is realized along with the operation of the robot. The driving motors corresponding to the six mechanisms are all servo motors, and the posture adjustment of the robot is realized through centralized control (the specific structure and the posture adjustment method are both in the prior art, and are not described herein again).
In the system of making a sample, the robot carries out the coal sample handling in each flow in-process, the transportation container is by hand instrument 107 centre gripping, the robot normally strictly carries out the orbit motion according to predetermineeing the instruction, but acceleration and deceleration is too big or container washing link (for example the effort of washing the brush makes the container misplace) when moving, all probably make container and hand instrument 107 take place certain skew, certain skew takes place for the robot TCP point for the container promptly, when the robot centre gripping container is placed the operation or is expected the operation of falling, the container probably takes place violent collision with the system of making a sample and leads to mechanical damage. In order to solve the above technical problem, the detection sensor is mounted on the hand tool 107 to detect whether there is a collision, but this solution has the following disadvantages:
1. the inability to detect objects in front of the hand tool 107 in all directions;
2. because the distance between the hand tool 107 and the sample preparation system is very small during normal operation, the sensor is very easy to cause false induction;
3. increasing the cost of the sensor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides an accurate and reliable sample preparation robot collision detection method, and correspondingly provides a sample preparation robot collision detection system and a sample preparation system with simple structures.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a sample preparation robot collision detection method comprises the following steps:
s01, detecting the torque of the joint shaft corresponding to the driving motor in real time during the pitching process of the joint shaft for executing the pitching motion in the sample preparation robot;
and S02, when the torque value is larger than a preset standard value, judging that the container on the hand tool of the sample preparation robot collides with the sample preparation system.
As a further improvement of the above technical solution:
in step S02, the preset standard value is k max (TA, TB); TA and TB are torque values corresponding to the starting point and the end point of the pitching motion of the driving motor of the joint shaft under the normal condition; k is a coefficient and has a value range of 1.0-2.0.
In step S01, the joint axis of the sample preparation robot performs one or more of a container grabbing process, a container placing process, a material pouring process, and a cleaning process during the sample preparation process corresponding to the pitching motion.
In step S02, when it is determined that the hand tool upper container of the sample preparation robot collides with the sample preparation system, the operation of the sample preparation robot is stopped.
The invention also discloses a system for detecting the collision of the sample preparation robot, which comprises
The torque detection part is used for detecting the torque of the joint shaft corresponding to the driving motor in real time in the process of pitching the joint shaft which executes pitching in the sample preparation robot; and
and the control unit is used for judging that the upper container of the hand tool of the sample preparation robot collides with the sample preparation system when the torque value is greater than a preset standard value.
As a further improvement of the above technical solution:
the control unit is connected with the alarm unit and used for sending an alarm signal to the alarm unit to give an alarm when the container on the hand tool of the sample preparation robot collides with the sample preparation system.
The invention further discloses a sample preparation system, which comprises a bottle feeding unit, a sample preparation unit, a powder preparation screw cap unit and a sample preparation robot, wherein the bottle feeding unit, the sample preparation unit and the powder preparation screw cap unit are arranged on the peripheral side of the sample preparation robot to form a closed area.
As a further improvement of the above technical solution:
the sample preparation robot is a six-axis industrial robot, and a joint shaft for executing pitching motion is a middle arm pitching mechanism.
The sample preparation unit comprises a primary sample preparation unit and a secondary sample preparation unit, and a safety barrier is arranged between the bottle feeding unit and the powder preparation screw cap unit; the bottle feeding unit, the primary sample preparation unit, the secondary sample preparation unit, the powder preparation screw cap unit and the safety enclosure are sequentially butted to form a closed area.
The closed area is rectangular or circular.
Compared with the prior art, the invention has the advantages that:
according to the sample preparation robot collision detection method, in the analysis process of the whole flow of the sample preparation robot, the collision process of the sample preparation robot is selected (namely pitching motion, a container is easy to collide), the torque real-time value of the joint shaft executing the pitching motion in the process is detected, and the real-time torque value is monitored and judged, so that accurate and reliable detection of collision is realized; according to the technical scheme, the motion path and the key detection amount of the robot are limited, so that the accurate reliability of detection is guaranteed, the program resource consumption can be saved, and the influence on other motion paths or the misjudgment caused by the motion paths is avoided.
The sample preparation robot collision detection system and the sample preparation system have the advantages of the method, and are simple in structure and reasonable in layout.
Drawings
Fig. 1 is a schematic structural view of a sample preparation robot.
FIG. 2 is a flow chart of the method of the present invention.
Fig. 3 is a schematic diagram of the sample preparation robot in the process of pitching motion.
FIG. 4 is a layout diagram of a sample preparation system of the present invention.
The reference numbers in the figures denote: 1. a sample preparation robot; 101. an integral swing mechanism; 102. an integral pitching mechanism; 103. a middle arm pitch mechanism; 104. a middle arm swing mechanism; 105. a hand tool pitch mechanism; 106. a hand tool swing mechanism; 107. a hand tool; 2. a bottle feeding unit; 3. a feeding unit; 4. a sample preparation unit; 401. a primary sample preparation unit; 402. a secondary sample preparation unit; 5. a powder making cover screwing unit; 6. a safety enclosure; 7. a control unit; 8. a torque detection member.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 2, the sample preparation robot collision detection method of the present embodiment includes the following steps:
s01, detecting the torque of the joint shaft corresponding to the driving motor in real time in the process of pitching the joint shaft executing pitching action in the sample preparation robot 1;
and S02, when the torque value is larger than a preset standard value, judging that the container on the hand tool 107 of the sample preparation robot 1 collides with the sample preparation system.
According to the sample preparation robot collision detection method, in the analysis process of the whole flow of the sample preparation robot 1, the collision process of the sample preparation robot 1 (namely pitching motion and container collision easily occur) is selected, the real-time torque value of a driving motor of a joint shaft executing the pitching motion in the process is detected, and the real-time torque value is monitored and judged, so that the accurate reliability of collision detection is realized; according to the technical scheme, the motion path and the key detection amount of the robot are limited, so that the accurate reliability of detection is guaranteed, the program resource consumption can be saved, and the influence on other motion paths or the misjudgment caused by the motion paths is avoided. In the present embodiment, since the intermediate arm pitch mechanism 103 executes the above-described pitch operation, the following configuration detects the intermediate arm pitch mechanism 103 as an object, but in other embodiments, it is needless to say that other joint axes such as the entire pitch mechanism 102 may be used.
In this embodiment, in step S02, the preset standard value is k × max (TA, TB); wherein TA and TB are torque values corresponding to the start point and the end point of the pitching motion of the driving motor of the intermediate arm pitching mechanism 103 under normal conditions; k is a coefficient and has a value range of 1.0-2.0. Because the driving motor has starting moment at the starting point or the ending point, or the bottle is taken, and the like, the moment value at the starting point or the ending point is usually the maximum in the whole pitching process. Therefore, the predetermined standard value is selected to be k max (TA, TB), and it is reasonable to take k to 1.5. Of course, in other embodiments, other fixed values may be selected.
As shown in fig. 3, assuming that when the sample preparation robot 1 places a container at a preset placement point (target point) inside the sample preparation system, the motion trajectory of the TCP point of the sample preparation robot 1 is a-B, where a is a starting point and B is a starting point, if the container and the hand tool 107 are offset, i.e. dislocated, during the operation from a to B, the container is likely to collide with the sample preparation system; in the process of running from A to B, the main driving shaft of the robot is the middle arm pitching mechanism 103, and other shafts are matched with the middle arm pitching mechanism 103 to finish linear motion from A-B; under normal conditions (no collision condition), the control system can read the torque of the driving motor (such as a servo motor) of the middle arm pitching mechanism 103 when the TCP of the sample preparation robot 1 is at the point a and the point B, and the torque parameter can be regarded as a constant; in the actual operation process, in the operation process from A to B, the control system reads the real-time torque parameter of the driving motor of the middle arm pitching mechanism 103 and compares the real-time torque parameter with the torque parameters of the point A and the point B, so that the judgment of whether the middle process is collided or not is obtained.
In this embodiment, in step S01, the sample preparation process corresponding to the pitching motion performed by the middle arm of the sample preparation robot 1 is a container grabbing or container placing or material pouring link or a cleaning link, which are links in which the container easily collides with the sample preparation system; and (3) judging that the container on the hand tool 107 of the sample preparation robot 1 collides with the sample preparation system, stopping the operation of the robot, and alarming and prompting faults on a human-computer interface of the sample preparation system to require human intervention.
The invention also discloses a system for detecting the collision of the sample preparation robot, which comprises a torque detection part 8, a torque detection part and a control part, wherein the torque detection part is used for detecting the torque of a joint shaft (such as a middle arm pitching mechanism 103) which executes pitching action in the sample preparation robot 1, and the torque of the joint shaft corresponding to a driving motor is detected in real time; and the control unit 7 is used for judging that the container on the hand tool 107 of the sample preparation robot 1 collides with the sample preparation system when the torque value is larger than a preset standard value.
The sample preparation robot collision detection system has the advantages of the method and is simple in overall structure.
In this embodiment, the sample preparation robot further comprises an alarm unit, and the control unit 7 is connected to the alarm unit (such as an audible and visual alarm) and is configured to send an alarm signal to the alarm unit to alarm when it is determined that the container on the hand tool 107 of the sample preparation robot 1 collides with the sample preparation system.
As shown in fig. 4, the present invention further discloses a sample preparation system, which includes a bottle feeding unit 2, a material feeding unit 3, a sample preparation unit 4, a milling screw cap unit 5 and a sample preparation robot 1, wherein the bottle feeding unit 2, the material feeding unit 3, the sample preparation unit 4 and the milling screw cap unit 5 are installed on the periphery of the sample preparation robot 1 to form a closed area, and the sample preparation robot collision detection system further includes the sample preparation robot collision detection system, wherein the torque detection part 8 is installed on a driving motor of a joint shaft (such as the middle arm pitching mechanism 103) which executes pitching motion in the sample preparation robot 1, and the control unit 7 is connected with the sample preparation robot.
The sample preparation system of the invention also has the advantages of the collision detection system of the sample preparation robot, and has simple structure and reasonable layout.
In the embodiment, the sample preparation robot 1 is a six-axis industrial robot, the sample preparation unit 4 comprises a primary sample preparation unit 401 and a secondary sample preparation unit 402, and a safety barrier 6 is arranged between the bottle feeding unit 2 and the powder preparation screw cap unit 5; the bottle feeding unit 2, the feeding unit 3, the primary sample preparation unit 401, the secondary sample preparation unit 402, the powder preparation screw cap unit 5 and the safety enclosure 6 are sequentially butted to form a closed area, wherein the closed area is rectangular, the layout is reasonable, and the occupied area is small; the docking method of each unit and the shape of the closed region are not limited, and in other embodiments, different docking methods and other layout methods such as a circular shape may be selected according to actual conditions. The bottle inlet unit 2 consists of a sample bottle caching component and a bottle outlet component, about 40 sample bottles can be cached in total, and a large bottle or a small bottle can be selected according to requirements; the feeding unit 3 consists of a feeding operation table and a weighing platform, and is mainly a material pouring inlet of a user, and the weighing platform can record the feeding weight of the user; the primary sample preparation unit 401 mainly comprises a feeding assembly, a crushing assembly and a quality determining assembly, can select whether a sample is crushed according to the feeding granularity, and has the main functions of crushing a raw coal sample into a 6mm coal sample, and separating 1-4 parts of full-moisture sample through quality determining and reduction, wherein one part of sample preparation and one part of sample preparation are performed; the sample preparation and sample preparation can enter the next stage for circulation; the secondary sample preparation unit 402 consists of a secondary crushing component, a storing and searching and division component and a drying component, wherein 6mm coal samples can be crushed into 3mm coal samples through crushing, storing and searching and dividing are performed to obtain storing and searching samples and drying samples, and the drying samples are dried on line to remove moisture so as to facilitate sample preparation in a subsequent link; the milling rotary cover unit 5 is composed of a division unit machine-made powder unit, 700g of coal samples entering the unit are subjected to rotary division, 400g of coal samples are divided and enter the milling assembly for analysis sample preparation, 1 part of cleaning sample is obtained, and 1-3 parts of analysis sample are obtained. It should be noted here that the bottle feeding unit 2, the feeding unit 3, the primary sample preparation unit 401, the secondary sample preparation unit 402, and the powder preparation screw cap unit 5 all belong to conventional components in a robot sample preparation system, and the specific structures and the working principles thereof are the prior art, and only the conventional functions thereof are applied in this embodiment, which is not described in detail.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A sample preparation robot collision detection method is characterized by comprising the following steps:
s01, detecting the torque of the joint shaft corresponding to the driving motor in real time during the pitching process of the joint shaft for executing the pitching motion in the sample preparation robot (1);
and S02, when the torque value is larger than a preset standard value, judging that the container on the hand tool (107) of the sample preparation robot (1) collides with a sample preparation system.
2. The collision detecting method for a sampling robot according to claim 1, wherein in step S02, the preset criterion value is k max (TA, TB); TA and TB are torque values corresponding to the starting point and the end point of the pitching motion of the driving motor of the joint shaft under the normal condition; k is a coefficient and has a value range of 1.0-2.0.
3. The sample preparation robot collision detection method according to claim 1, wherein in step S01, the sample preparation robot (1) performs one or more of a container grabbing process, a container placing process, a material pouring process, and a cleaning process in a sample preparation process corresponding to the pitching operation.
4. The collision detection method for the sample preparation robot according to claim 1, 2 or 3, wherein in step S02, when it is determined that the container on the hand tool (107) of the sample preparation robot (1) collides with the sample preparation system, the operation of the sample preparation robot (1) is stopped.
5. A collision detection system of a sample preparation robot is characterized by comprising
The torque detection piece (8) is used for detecting the torque of the joint shaft corresponding to the driving motor in real time in the process of pitching the joint shaft which executes pitching in the sample preparation robot (1); and
and the control unit (7) is used for judging that the container on the hand tool (107) of the sample preparation robot (1) collides with the sample preparation system when the torque value is larger than a preset standard value.
6. The system for detecting the collision of the sample preparation robot as claimed in claim 5, further comprising an alarm unit, wherein the control unit (7) is connected with the alarm unit and is used for sending an alarm signal to the alarm unit to alarm when judging that the container on the hand tool (107) of the sample preparation robot (1) collides with the sample preparation system.
7. The utility model provides a system appearance system, is including advancing bottle unit (2), pan feeding unit (3), system appearance unit (4), powder process spiral cover unit (5) and system appearance robot (1), advance bottle unit (2), pan feeding unit (3), system appearance unit (4) and powder process spiral cover unit (5) install in system appearance robot (1) week side is in order to form closed region, its characterized in that, still include according to claim 5 and 6 system appearance robot collision detection system, wherein torque detection spare (8) are installed on the driving motor of the joint axis of carrying out pitching motion in system appearance robot (1), control unit (7) with system appearance robot (1) links to each other.
8. The system according to claim 7, characterized in that the sampling robot (1) is a six-axis industrial robot and the articulated axis performing the pitching motion is a middle arm pitching mechanism.
9. The system according to claim 7 or 8, characterized in that the sample preparation unit (4) comprises a primary sample preparation unit (401) and a secondary sample preparation unit (402), and a safety barrier (6) is arranged between the bottle feeding unit (2) and the pulverizing cap screwing unit (5); the bottle feeding unit (2), the feeding unit (3), the primary sample preparation unit (401), the secondary sample preparation unit (402), the powder making screw cap unit (5) and the safety enclosure (6) are sequentially butted to form a closed area.
10. The system of claim 9, wherein the enclosed area is rectangular or circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251410.6A CN111745685A (en) | 2019-03-29 | 2019-03-29 | Sample preparation robot collision detection method and system and sample preparation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910251410.6A CN111745685A (en) | 2019-03-29 | 2019-03-29 | Sample preparation robot collision detection method and system and sample preparation system |
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| CN111745685A true CN111745685A (en) | 2020-10-09 |
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| CN201910251410.6A Pending CN111745685A (en) | 2019-03-29 | 2019-03-29 | Sample preparation robot collision detection method and system and sample preparation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113887380A (en) * | 2021-09-28 | 2022-01-04 | 淮北矿业股份有限公司淮北选煤厂 | Intelligent sample preparation system for coal samples |
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2019
- 2019-03-29 CN CN201910251410.6A patent/CN111745685A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113887380A (en) * | 2021-09-28 | 2022-01-04 | 淮北矿业股份有限公司淮北选煤厂 | Intelligent sample preparation system for coal samples |
| CN113887380B (en) * | 2021-09-28 | 2022-04-26 | 淮北矿业股份有限公司淮北选煤厂 | Intelligent sample preparation system for coal samples |
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