CN112060074A - Delta robot control system based on machine vision - Google Patents
Delta robot control system based on machine vision Download PDFInfo
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- CN112060074A CN112060074A CN202010705093.3A CN202010705093A CN112060074A CN 112060074 A CN112060074 A CN 112060074A CN 202010705093 A CN202010705093 A CN 202010705093A CN 112060074 A CN112060074 A CN 112060074A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—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
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Abstract
The invention relates to the technical field of industrial robots, in particular to a Delta robot control system based on machine vision, which comprises a PLC control module, a machine vision module, a servo driving module, a cargo conveying module, a pneumatic module and a human-computer interaction module, wherein the PLC control module is connected with the machine vision module, the servo driving module, the cargo conveying module, the pneumatic module and the human-computer interaction module; the machine vision module is used for acquiring the goods category and position information in real time and transmitting the information to the PLC control module for data processing; the servo driving module is used for driving the three-axis parallel robot to realize the grabbing and stacking of goods; the goods conveying module is used for conveying goods and feeding back the current position of the goods; the pneumatic module provides power for the tail end of the robot; the human-computer interaction module is an operation display terminal of the robot palletizer system.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a Delta robot control system based on machine vision.
Background
With the rapid development of the robot technology and the need of industrial transformation and upgrading, the change of the robot replacing the manual work to complete the loading, unloading and assembling tasks is happening on the automatic assembly line, and particularly in the production process of electronics, food, medicine and the like, the Delta robot is often used for rapidly completing the repeated production links of packaging, detection, transfer and the like due to the characteristics of high speed, light load and high strength; the Delta robot captures a target object generally through a teaching programming or vision system, the spatial position of a capture center is determined by three parallel servo axes, the operations of carrying, moving and the like of the target object are realized, and a Delta robot control system determines the performance of the operation.
The vision is that an object presents an image on the retina of human eyes under the irradiation of visible light, the image is converted into a pulse signal and transmitted to the brain, the brain processes and analyzes the pulse signal, the machine vision technology generally utilizes an industrial camera to obtain an object image and converts the object image into a digital signal, and then the computer image processing technology is used for analyzing and storing the digital signal.
Therefore, the Delta robot control system combined with the machine vision is designed, the shape, the color and other characteristic information of the materials are identified through the vision, the robot is further used for realizing the sorting function of different materials, and the Delta robot control system has wide application prospect and popularization value in the aspect of goods sorting.
Disclosure of Invention
Aiming at the situation and overcoming the defects of the prior art, the invention aims to provide a Delta robot control system based on machine vision, which considers that the shape specification and the position of each cargo are different and the sorting requirement of the Delta robot is also different.
The technical purpose of the invention is realized by the following technical scheme:
a Delta robot control system based on machine vision comprises a PLC control module, a machine vision module, a servo driving module, a cargo conveying module, a pneumatic module and a human-computer interaction module, wherein the PLC control module is connected with the machine vision module, the servo driving module, the cargo conveying module, the pneumatic module and the human-computer interaction module; the machine vision module is used for acquiring the goods category and position information in real time and transmitting the information to the PLC control module for data processing; the servo driving module is used for driving the three-axis parallel robot to realize the grabbing and stacking of goods; the goods conveying module is used for conveying goods and feeding back the current position of the goods; the pneumatic module provides power for the tail end of the robot; the human-computer interaction module is an operation display terminal of the robot palletizer system.
Further, the PLC control module adopts a CompactLogix 5370L 3 series controller, and the specific model is 1769-L30 ERM.
Further, the PLC control module receives pulse signals of a photoelectric encoder of the cargo conveying module, a digital high-speed input module is not arranged in a main body of the 1769-L30ERM controller, a 12-port 1769-HSC high-speed input port can be selected, the PLC control module also needs to control an electromagnetic valve of the pneumatic module, an 8-port 1769-OB8 digital output module is selected, the output voltage range of the port is 20.4V-26.4V, and the voltage category is 24V DC pull-out type.
Furthermore, the machine vision module can adopt an In-Sight Micro 1020 machine vision system to integrate an industrial camera, a lens and an image acquisition card, so that the time for model selection of each part is greatly reduced.
Furthermore, the servo driving module can adopt a Kinetix5500 servo driver, the specific model is 2198-H008-ERS, the servo driving module can be matched with a CompactLogix series controller to realize motion integrated control of the robot, the driver can provide digital feedback through a single cable, and a load observer real-time adjustment technology is used.
Furthermore, the goods transfer module can adopt a PowerFlex525 frequency converter as a control device of a conveyor belt motor, can adopt an LPD3806-360BM-G5-24C incremental photoelectric rotary encoder as a feedback device of the conveyor belt, can adopt a CM103 sealed motor as a power device of the conveyor belt, and adopts the PowerFlex525 frequency converter, wherein a pre-charging relay is embedded in the frequency converter, surge current can be greatly inhibited, the data of the frequency converter can be conveniently configured and controlled through a network, the resolution ratio of the LPD3806-360BM-G5-24C incremental photoelectric rotary encoder is 360 lines, the power supply voltage is 24V, the PLC power supply can directly supply power, and a shielding layer is additionally arranged on the signal lines.
Further, the human-computer interaction module can adopt 1500 terminal products in the PanelView Plus 6 series, and the specific model is the PanelView Plus 1500.
Further, the pneumatic module can adopt a 4V210-06 solenoid valve as the on-off state of a control air source, a CV-15HS generator as a vacuum generator and ZPT50HN/S as a vacuum chuck.
In conclusion, the invention has the following beneficial effects:
the Delta robot control system based on the machine vision realizes the organic combination of the programmable control technology, the machine vision technology and the servo drive technology, has good openness and high stability, and has certain popularization value;
secondly, the Delta robot control system based on machine vision can realize the functions of starting, temporarily setting, stopping, setting speed, selecting running modes and the like of the control system through an operation interface of a human-computer interaction module, and is convenient and flexible to control;
the Delta robot control system based on machine vision realizes closed-loop control on a transmission belt through a photoelectric encoder of a cargo conveying module, and realizes quick and accurate sorting of cargos;
and fourthly, the Delta robot control system based on the machine vision has a simple structure and strong expansibility and is suitable for various goods sorting occasions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, and are not to be considered limiting of the invention, in which:
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic diagram of a PLC control module according to the present invention;
FIG. 3 is a schematic diagram of a pneumatic module of the present invention;
FIG. 4 is a schematic diagram of a machine vision module of the present invention;
FIG. 5 is a schematic diagram of a servo drive module of the present invention shown in FIG. 1;
FIG. 6 is a schematic diagram of a servo drive module of the present invention shown in FIG. 2;
fig. 7 is a schematic diagram of a cargo transfer module and a human-computer interaction module according to the present invention.
In the figure, 1, a PLC control module; 2. a machine vision module; 3. a servo drive module; 4. a cargo transfer module; 5. a pneumatic module; 6. and a man-machine interaction module.
Detailed Description
The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings of fig. 1 to 7. The structural contents mentioned in the following embodiments are all referred to the attached drawings of the specification.
Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
Example 1: a Delta robot control system based on machine vision, as shown in fig. 1, the system comprising: the system comprises a PLC control module 1, a human-computer interaction module 6, a machine vision module 2, a pneumatic module 5, a cargo transfer module 4 and a servo drive module 3, wherein the PLC control module 1 is connected with the human-computer interaction module 6, the machine vision module 2, the pneumatic module 5, the cargo transfer module 4 and the servo drive module 3 and is used for obtaining operation data of each device and controlling each execution device; the human-computer interaction module 6 is used for realizing the control and the state display of the system; the machine vision module 2 is used for detecting the type of goods and the coordinate information thereof in real time and transmitting the information to the PLC control module 1; the pneumatic module 5 provides power for the tail end of the robot; the goods transmission module 4 is used for transmitting goods and feeding back the current position information of the goods; the servo driving module 3 is used for driving the robot joint to move and carrying goods.
As shown in fig. 2, a 1769-L30ERM controller is adopted as a controller of the system, the controller is integrated with two EtherNet/IP interfaces, data interaction with the machine vision module 2 is realized by an EtherNet port IP1, data interaction with a servo driver of a control M1 motor is realized by an EtherNet port IP2, and data transmission of the three is in accordance with an EtherNet/IP industrial EtherNet communication protocol.
As shown in FIG. 2, as the pulse input terminal of the photoelectric encoder in the cargo conveying module 4, the A0-of the 1769-HSC high-speed input port is used as the B phase input of the photoelectric encoder, the A0+ is used as the A phase input of the photoelectric encoder, the DC COM terminal is used for receiving 0V voltage and is used as the common terminal of the high-speed input module, and the DC 24V is used for receiving 24V voltage and is used for ensuring the normal operation of the module.
As shown in FIG. 2, as an end effector of the Delta robot, OUT1 of the 1769-OB8 expansion module is used as a control port of a pneumatic solenoid valve for controlling the gripping of a pneumatic sucker, a DC COM terminal is used for connecting 0V voltage as a common terminal of a digital output module, and DC 24V is used for connecting 24V voltage for ensuring the normal work of the module.
As shown in FIG. 3, MOV-01 of the pneumatic module 5 is used as an air supply starting valve, 4V210-06 is a five-way two-position solenoid valve, a P port is connected with an air supply input, a B port is connected with an air supply output, the opening and closing of the air supply are controlled by a solenoid valve coil, a 0V port is used for receiving 0V voltage, and a 24V port is connected with an output port OUT1 of a 1769-L30ERM controller. ZPT50HN/S is pneumatic suction cup, and the required air source is negative pressure, so the air source needs to be converted from positive pressure to negative pressure by CV-15HS vacuum generator, and the pneumatic suction cup can suck the goods to realize the transportation of the goods.
As shown in fig. 4, the POE power supply mode adopted by the machine vision module 2 is a EtherNet/IP communication protocol, so that a port of the EtherNet/IP should be connected to a P1 port of the POE power supply device, that is, power is supplied to the vision device, and data interaction is realized between the vision device and the controller.
As shown in fig. 5, the power supply mode of the K1 servo driver of the servo drive module 3 is 220V alternating current, and the working modes of the direct current brake ports dc.1 and dc.2 are 0V differential pressure brake, so that two ports need to be connected with 24V direct current, thereby ensuring the normal operation of the servo driver; the selected servo driver is integrated with two EtherNet/IP interfaces, an Ethernet port IP2 is connected with an Ethernet port IP2 of the controller, and the other port is connected with an Ethernet port of the K2 servo driver; u, V, W, PE ports of the K1 servo driver are respectively connected to corresponding interfaces of the M1 servo motor; each port of the digital input end of the K1 servo driver is respectively connected with the digital output port of the M1 servo motor; positive and negative ports of a motor braking port of the K1 servo driver are respectively connected with a braking input port of the M1 servo motor; the positive end and the negative end of a motion feedback port of the K1 servo driver are respectively connected with a motion feedback port of the M1 servo motor. The same power supply mode of the K2 servo driver of the servo driving module 3 is 220V alternating current, and a direct current brake port is connected with 24V direct current; the Ethernet port of the selected servo driver K2 is connected with the Ethernet port of the servo driver K1, and the other port is connected with the Ethernet port of the servo driver K3; u, V, W, PE ports of the K2 servo driver are respectively connected to corresponding interfaces of the M2 servo motor; each port of the digital input end of the K2 servo driver is respectively connected with the digital output port of the M2 servo motor; positive and negative ports of a motor braking port of the K2 servo driver are respectively connected with a braking input port of the M2 servo motor; the positive end and the negative end of a motion feedback port of the K2 servo driver are respectively connected with a motion feedback port of the M2 servo motor.
As shown in fig. 6, all wiring of the K3 servo driver is the same as that of the K1 and K2 servo drivers of fig. 5, and description thereof will not be repeated. M1, M2 and M3 servo motors are installed at the upper end of the Delta robot, and the motion of the driven arm is controlled by the driving arm, so that the robot can accurately move. The model of the Delta robot only needs to associate three servo motors in Studio5000 programming software to establish three real axes and construct a real axis motion set, establish three virtual axes in the software and construct a motion set of a Cartesian coordinate system, and only needs to use coordinate conversion instructions to realize the association of the real axis motion set to the virtual axis Cartesian motion set during function realization.
As shown in fig. 7, the PowerFlex525 frequency converter supplies power by 220V ac, and the dc brake STOP port works by 24V brake, so that the STOP port needs to be connected to 24V dc to ensure the normal operation of the frequency converter; the selected servo driver is integrated with two EtherNet/IP interfaces, one Ethernet port is accessed into the human-computer interaction equipment, and the other Ethernet port is connected with the Ethernet port of the K3 servo driver; the frequency converter obtains a control signal of the 1769-L30ERM controller through EtherNet/IP industrial Ethernet communication to directly control the running speed and the moving direction of the conveyor belt motor. Meanwhile, the LPD3806-360BM-G5-24C incremental photoelectric encoder is used as a feedback signal to be transmitted to a 1769-L30ERM controller to obtain the running speed and the moving distance of the conveyor belt, and the current position of the goods is obtained through the cooperation with a vision module.
As shown in fig. 7, the PanelView Plus 1500 touch screen is integrated with an EtherNet/IP interface, is connected with the frequency converter of the cargo transfer module 4 through a twisted pair, is simple and convenient in wiring, and can perform direct data interaction with the PLC controller through an EtherNet/IP communication protocol. The touch screen can be used for designing a control interface through FactoryTalk View Studio software, including initialization, pause and stop control of a system, starting, stopping, resetting and the like of a robot, can obtain state information such as the current position of the tail end of the robot, the running speed of a conveyor belt and the like in real time, can debug the system in a single step, and can also prompt and record alarm information triggered by a PLC (programmable logic controller).
While the invention has been described in further detail with reference to specific embodiments thereof, it is not intended that the invention be limited to the specific embodiments thereof; for those skilled in the art to which the present invention pertains and related technologies, the extension, operation method and data replacement should fall within the protection scope of the present invention based on the technical solution of the present invention.
Claims (8)
1. A Delta robot control system based on machine vision is characterized in that: the device comprises a PLC control module (1), a machine vision module (2), a servo driving module (3), a cargo conveying module (4), a pneumatic module (5) and a man-machine interaction module (6), wherein the PLC control module (1) is connected with the machine vision module (2), the servo driving module (3), the cargo conveying module (4), the pneumatic module (5) and the man-machine interaction module (6); the machine vision module (2) is used for acquiring goods category and position information in real time and transmitting the information to the PLC control module (1) for data processing; the servo driving module (3) is used for driving the three-axis parallel robot to realize the grabbing and stacking of goods; the goods conveying module (4) is used for conveying goods and feeding back the current position of the goods; the pneumatic module (5) provides power for the tail end of the robot; and the human-computer interaction module (6) is an operation display terminal of the robot palletizer system.
2. A machine vision based Delta robot control system as claimed in claim 1 wherein: the PLC control module (1) adopts a CompactLogix 5370L 3 series controller, and the specific model is 1769-L30 ERM.
3. A machine vision based Delta robot control system as claimed in claim 2 wherein: the PLC control module (1) receives a pulse signal of a photoelectric encoder of the goods conveying module (4), a digital high-speed input module is not arranged in a 1769-L30ERM controller body, a 12-port 1769-HSC high-speed input port can be selected, the PLC control module (1) also needs to control an electromagnetic valve of the pneumatic module (5), an 8-port 1769-OB8 digital output module is selected, the output voltage range of the port is 20.4V to 26.4V, and the voltage category is 24V DC pull-out type.
4. A machine vision based Delta robot control system as claimed in claim 3 wherein: the machine vision module (2) can adopt an In-Sight Micro 1020 machine vision system, and integrates an industrial camera, a lens and an image acquisition card, so that the time for model selection of each part is greatly reduced.
5. A machine vision based Delta robot control system as claimed in claim 4 wherein: the servo drive module (3) can adopt a Kinetix5500 servo driver, the specific model is 2198-H008-ERS, the servo drive module can be matched with a CompactLogix series controller to realize motion integrated control of the robot, the driver can provide digital feedback through a single cable, and a load observer real-time adjustment technology is used.
6. A machine vision based Delta robot control system as claimed in claim 5 wherein: the goods transfer module (4) can adopt a PowerFlex525 frequency converter as a control device of a conveyor belt motor, can adopt an LPD3806-360BM-G5-24C incremental photoelectric rotary encoder as a feedback device of the conveyor belt, can adopt a CM103 sealed motor as a power device of the conveyor belt, and the PowerFlex525 frequency converter is embedded with a pre-charging relay which can restrain surge current to a great extent, and is conveniently configured and controlled through a network, the resolution ratio of the LPD3806-360BM-G5-24C incremental photoelectric rotary encoder is 360 lines, the power voltage is 24V, the PLC power supply can directly supply power, and a shielding layer is additionally arranged on the signal lines.
7. A machine vision based Delta robot control system as claimed in claim 6 wherein: the human-computer interaction module (6) can adopt 1500 terminal products in a PanelView Plus 6 series, and the specific model is the PanelView Plus 1500.
8. A machine vision based Delta robot control system as claimed in claim 5 wherein: the pneumatic module (5) can adopt a 4V210-06 electromagnetic valve as the on-off state of a control air source, a CV-15HS generator as a vacuum generator and ZPT50HN/S as a vacuum chuck.
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| CN202010705093.3A CN112060074A (en) | 2020-07-21 | 2020-07-21 | Delta robot control system based on machine vision |
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| CN210417172U (en) * | 2019-06-13 | 2020-04-28 | 华南理工大学 | Delta robot high-speed food sorting and packaging system based on EtherCAT bus |
| CN210701217U (en) * | 2019-10-15 | 2020-06-09 | 西北农林科技大学 | Tomato grading robot control system |
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2020
- 2020-07-21 CN CN202010705093.3A patent/CN112060074A/en active Pending
Patent Citations (8)
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| CN104589357A (en) * | 2014-12-01 | 2015-05-06 | 佛山市万世德机器人技术有限公司 | Control system and method of DELTA robots based on visual tracking |
| CN106530939A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Control system and control method for multi-robot teaching and practical training platform |
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