CN113636348A - Glass transfer system for building installation - Google Patents
Glass transfer system for building installation Download PDFInfo
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- CN113636348A CN113636348A CN202110898612.7A CN202110898612A CN113636348A CN 113636348 A CN113636348 A CN 113636348A CN 202110898612 A CN202110898612 A CN 202110898612A CN 113636348 A CN113636348 A CN 113636348A
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- robot
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- motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
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- 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
Abstract
The invention discloses a glass transfer system for building installation, which comprises a double-transfer robot, a human-computer interface and a motion control module, wherein the human-computer interface comprises a file management module, a parameter setting module, a signal detection module and a monitoring communication module, and the motion control module comprises a motion algorithm module and a motion logic module. The invention carries out kinematics modeling and forward and backward solution according to the structural characteristics of a single robot forming a double-robot system, analyzes kinematics position and speed constraints which need to be met by the two robots in the double-robot system, adopts the joint space planning of a main robot to obtain movement planning parameters from the robots according to the constraint relation, researches the calibration of basic base coordinates of coordinated movement in the double-robot system, and is applied to auxiliary early-stage installation.
Description
Technical Field
The invention relates to the technical field of glass transfer, in particular to a glass transfer system for building installation.
Background
The glass is an amorphous inorganic non-metallic material, generally uses many inorganic minerals as main raw materials, in addition adds a small amount of auxiliary raw materials to make into, its main ingredient is silicon dioxide and other oxides, the main ingredient is silicate complex salt, it is an amorphous solid of the random structure, apply to the building extensively, it is used for insulating wind and light transmission, belong to the mixture, there are some metallic oxides or salt mixed and colored glass that show the color, and toughened glass made through the physical or chemical method, sometimes some transparent plastics are also called organic glass, in the building installation engineering, need to use the transport system to transport the glass.
The prior art has the following defects: the existing transfer system only transfers glass as a carrier through a single transfer robot, when the size of the transferred glass is large or the weight of the transferred glass is heavy, the transferred glass is easy to drop and crack, and the use limitation is large.
Disclosure of Invention
The invention provides a glass transfer system for building installation, which solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a glass transfer system for building installation comprises a double-transfer robot, a human-computer interface and a motion control, wherein the human-computer interface comprises a file management module, a parameter setting module, a signal detection module and a monitoring communication module, and the motion control comprises a motion algorithm module and a motion logic module;
a file management module: the method comprises the steps of displaying, editing and storing a working file, wherein the working file mainly stores a single-time user program, teaching point information contained in the program and working file attribute information;
a parameter setting module: parameters which are set differently according to different application occasions are stored as a plurality of files, so that the robot faces to multiple tasks;
the signal detection module: the system comprises a detection module, a signal processing module and a signal processing module, wherein the detection module is used for detecting a connection signal of the robot system and peripheral equipment;
the monitoring communication module: the system is used for monitoring the running state of the robot, monitoring the conditions of running errors, overload, jitter and the like and informing a user;
a motion algorithm module: the type planning robot needs the movement displacement, speed and time of each axis, mainly comprises the movement planning of joint space and Euclidean space;
a motion logic module: the motion command in response to user interface input or external signal execution mainly includes reading and writing of controller parameters and motion logic execution.
Preferably, the human-computer interface comprises user communication, system information display and user operation instruction receiving, motion control response and user instruction execution.
Preferably, all working files, system parameter files and error logs in the file management module are stored in an XML format, online and offline modification is supported, the parameter files comprise servo parameters, hand grasping parameters, stacking parameters, time parameters and global variable parameter documents of the robot, the error logs are operation error information of the robot in the operation process, and the error information comprises error codes and error time of errors and a solution method.
Preferably, the parameters in the parameter setting module include limit parameters, hand grasping parameters, position parameters, load weight and size.
Preferably, the signal detection module acquires a signal command transmitted and transmitted by the robot and peripheral equipment for completing a work task, and feedback information of a servo motor state and a limit sensor in the robot system.
Preferably, in the monitoring communication module, after the user is notified, the user decides how to process the next step.
Preferably, the motion logic module accurately executes the user operation instruction, and can simultaneously cope with various emergency conditions, so as to ensure the safety of equipment and personnel.
Preferably, the transfer robot includes two adjustment gesture joints, realizes sign indicating number glass in the plane to and the gesture adjustment when single robot sign indicating number glass, four joints drive the RV reduction gear drive by exchanging servo motor, and big arm joint department design installation balancing spring device reduces big arm servo motor and needs the output torque.
The invention has the technical effects and advantages that:
the invention carries out kinematics modeling and forward and backward solution according to the structural characteristics of a single robot forming a double-robot system, analyzes kinematics position and speed constraints which need to be met by the two robots in the double-robot system, adopts the joint space planning of a main robot to obtain movement planning parameters from the robots according to the constraint relation, researches the calibration of basic base coordinates of coordinated movement in the double-robot system, and is applied to auxiliary early-stage installation.
Drawings
FIG. 1 is a general schematic of the present invention;
FIG. 2 is a flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the invention provides a glass transfer system for building installation, the glass transfer system comprises a double transfer robot, a human-computer interface and a motion control, the human-computer interface comprises a file management module, a parameter setting module, a signal detection module and a monitoring communication module, and the motion control comprises a motion algorithm module and a motion logic module;
a file management module: the method comprises the steps of displaying, editing and storing a working file, wherein the working file mainly stores a single-time user program, teaching point information contained in the program and working file attribute information;
a parameter setting module: parameters which are set differently according to different application occasions are stored as a plurality of files, so that the robot faces to multiple tasks;
the signal detection module: the system comprises a detection module, a signal processing module and a signal processing module, wherein the detection module is used for detecting a connection signal of the robot system and peripheral equipment;
the monitoring communication module: the system is used for monitoring the running state of the robot, monitoring the conditions of running errors, overload, jitter and the like and informing a user;
a motion algorithm module: the method mainly comprises the steps of planning the movement of each axis of the robot, the speed and the time of the movement of each axis of the robot, mainly comprising the movement planning of joint space and Euclidean space, establishing a relation between the space movement and the joint space movement, realizing two-way conversion, wherein the kinematics does not analyze the moment of the joint force and needs to analyze the dynamics of the robot, and comprises positive dynamics and inverse dynamics;
a motion logic module: responding to a motion command input by a user interface or an external signal to execute response, mainly comprising reading and writing of controller parameters and executing of motion logic, dividing the double robots into a master robot and a slave robot, analyzing kinematic constraint between the master robot and the slave robot, wherein the trajectory planning of the coordinated transport of the double robots requires that the tail end positions of the double robots are kept highly synchronous, namely the kinematic constraint is met at the same time, and for the application of the robots to the project, the postures of the double robots during the coordinated transport cannot be adjusted, so that the following motion planning and the next chapter error compensation only aim at the coordinated analysis of the positions of the double robots, the trajectory planning in joint space is carried out on the master robot, then a formula is applied, the space pose of the slave robot is obtained from the dispersed space pose of the master robot, and finally each joint angle corresponding to the slave robot is obtained according to the kinematic inverse solution, the position and speed relationship must be satisfied in the dual robot transfer.
Further, in the above technical solution, the human-machine interface includes a user interface for communicating with and displaying system information, and receiving a user operation instruction, and a motion control interface for responding to and executing the user instruction.
Example 1
The positioning accuracy of the single robot is mechanical error, including manufacturing assembly and deformation error, the positioning accuracy requirement is not high for realizing glass carrying and stacking, the single robot is not subjected to motion parameter error compensation, the motion control of the double robots is mainly in motion coordination between the double robots, the kinematic constraint is satisfied in the coordinated motion, the double robots are required to control the internal force of an object within a reasonable range, the kinematic constraint condition is required to be satisfied by a double robot system, wherein the relation between base coordinates is the basis of the coordinated motion of the double robots, so the base coordinate relation error and the tail end position error of the double robots caused by uneven load distribution can seriously affect the coordinated motion of the double robots, the base installation accuracy requirement is high because the robot is a plane connecting rod robot which cannot compensate the error in the Y-axis direction, and the double base coordinate calibration is performed by using a laser tracker, and the internal force is eliminated through impedance control by adding external loop force feedback control on the basis of position control.
Further, in the above technical solution, all working files, system parameter files, and error logs in the file management module are stored in an XML format, and support online and offline modification, the parameter files include servo parameters, hand grasping parameters, palletizing parameters, time parameters, and global variable parameter files of the robot, the error logs are operation error information of the robot during operation, and the error information includes error codes and error time of errors, and a solution.
Further, in the above technical solution, the parameters in the parameter setting module include a limit parameter, a gripping parameter, a position parameter, a load weight, and a size.
Further, in the above technical solution, the signal detection module acquires a signal command transmitted and transmitted by the robot and peripheral equipment to complete a work task, and feedback information of a servo motor state and a limit sensor inside the robot system.
Further, in the above technical solution, in the monitoring communication module, after the user is notified, the user decides how to process the next step.
Furthermore, in the above technical solution, the motion logic module accurately executes a user operation instruction, and simultaneously can cope with various sudden situations, and ensure the safety of equipment and personnel, the motion mode of the motion controller itself includes point location motion, JOG motion, GEAR motion, Follow motion, PT motion and PVT motion mode, wherein each axis can move independently in the JOG mode, and the motion axis only needs to set motion parameters such as target speed, acceleration/deceleration, and smoothing coefficient, the motion is maintained after moving to the target speed according to the designated acceleration, the target speed can be changed during the motion, and when stopping, the acceleration to zero is performed according to the designated deceleration, so that the motion controller is commonly used in the robot manual teaching process, the manual target speed can be set, when a key corresponding to the motion direction of a certain axis is pressed, the JOG mode is started, when the key is released, for the automatic operation of the motion program after the teaching is completed, the method needs to realize multi-axis synchronous motion, generally uses PT motion or PVT motion, the PVT motion needs to directly or indirectly give position, speed and time parameters of a section of motion process, a motion control card automatically performs interpolation according to a cubic curve, the mode can ensure continuous speed and acceleration, a controller provides thirty-two PVT table storage data points, each data table opens 1024 storage spaces for cycle use, the PT motion needs to give the position of a series of section motion and the required corresponding time, the motion control card performs interpolation according to a quadratic curve, the mode can ensure continuous speed, although the acceleration has jump, the influence of the jump of the acceleration can be weakened by reducing the speed sampling interval time, the double-robot coordinated motion process of the project needs to perform real-time compensation on the motion of a slave robot according to the force error between the master robot and the slave robot, the automatic operation adopts the PT mode.
Further, in above-mentioned technical scheme, the transfer robot includes two adjustment gesture joints, realize sign indicating number glass in the plane, and the gesture adjustment when single robot sign indicating number glass, four joints drive the RV reduction gear drive by AC servo motor, big arm joint department design installation balancing spring device, reduce big arm servo motor and need output torque, glass's two kinds of ways of putting in order of keeping flat and putting immediately can be realized to this kind of configuration, and can realize grabbing the formula down and prevent damaging the glass coating film, through on satisfying the demand basis, rationally optimize the length and the quality of arm, avoid selecting the machine part of special model, reduce cost, accelerate research and development speed, but this kind of serial-type robot is to machining and assembly required precision than higher.
Example 2
When the double robots are installed, the laser tracker is adopted for assistance, the laser tracker mainly comprises a laser interference distance measuring and automatic tracking angle measuring range finder, three axes of the laser interference distance measuring and automatic tracking angle measuring range finder are composed of a laser beam, a rotating mirror and a rotating shaft of the tracker, the intersection point of the three axes is an original point, the laser tracking measuring system can track a static or moving point in space and is a ball coordinate measuring system, three measured position parameters are obtained, and two angle encoders are used for automatically measuring the horizontal azimuth angle and the vertical azimuth angle of a target ball relative to the tracker; the distance between the target ball and the tracker is measured by a laser interferometer, and the installation steps are as follows:
1. firstly, ensuring the foundation to be horizontal when the double robots are installed, and primarily installing the double robots;
2. adjusting a coordinate system of the laser tracker, wherein on the premise that the plane of the coordinate system of the tracker is parallel to a horizontal plane, two points of a measuring production line are used as references to adjust the Y axis of the coordinate system of the laser tracker to be parallel, so that an XOZ plane is parallel to a robot motion plane;
3. calibrating a base coordinate origin and a Y axis of the main robot, fixing a target ball to the tail end of the main robot, rotating a first axis of the main robot, uniformly collecting in the rotating range of the first axis, selecting any 3 different points through software to perform arc fitting, and obtaining a rotating circle center of the first axis as the base coordinate origin of the main robot and a motion plane normal vector as a base coordinate of the main robot;
4. calibrating the base coordinate origin and the Y axis of the slave robot, installing the target ball at the position corresponding to the master robot at the tail end of the slave robot, and obtaining the base coordinate origin and the base coordinate axis of the slave robot by the same method as the second step;
5. and (5) accurate installation and adjustment.
Example 3
The mechanical and mechanical control comprises force/position mixed control and impedance control, the force/position control method is characterized in that environmental constraint is known, a motor is in a torque mode, a pure position control mode in a non-contact state and the torque mode in a contact state are frequently switched, the impedance control mode needs to give out impedance on each degree of freedom of the robot and the environment, working mode switching is not needed, appropriate impedance can be automatically set for an unknown environment through means such as adaptive control rate, impedance control is selected to carry out X, Z axial load distribution error compensation, the impedance control method needs to set rigidity between the robot and the environment, force errors are obtained through double-robot end force sensors, then the force errors are converted according to Hooke elasticity law to enable end force/torque to reach expected values through position control, and on the basis of a position controller, and a force feedback control loop is externally applied, signals of the force sensor are converted into position correction signals through a known compliance relationship, an output track is modified, and finally the modified track is input into the position control loop.
Example 4
The system mainly comprises an overall scheme of the control system, hardware system and software system construction and core motion control realization, wherein the control system is divided into functional blocks by combining with control requirements, the hardware system construction comprises electrical schematic diagram design and required element selection, the software system design comprises a software interface and motion control program design, and the WinCE system is expanded by a fixed-height GRT real-time internal core to improve the real-time performance of the system.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: the invention only relates to the structure related to the embodiment of the disclosure, other structures can refer to common design, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. The utility model provides a glass transfer system that building installation was used which characterized in that: the transfer system comprises a double-transfer robot, a human-computer interface and a motion control, wherein the human-computer interface comprises a file management module, a parameter setting module, a signal detection module and a monitoring communication module, and the motion control comprises a motion algorithm module and a motion logic module;
a file management module: the method comprises the steps of displaying, editing and storing a working file, wherein the working file mainly stores a single-time user program, teaching point information contained in the program and working file attribute information;
a parameter setting module: parameters which are set differently according to different application occasions are stored as a plurality of files, so that the robot faces to multiple tasks;
the signal detection module: the system comprises a detection module, a signal processing module and a signal processing module, wherein the detection module is used for detecting a connection signal of the robot system and peripheral equipment;
the monitoring communication module: the system is used for monitoring the running state of the robot, monitoring the conditions of running errors, overload, jitter and the like and informing a user;
a motion algorithm module: the type planning robot needs the movement displacement, speed and time of each axis, mainly comprises the movement planning of joint space and Euclidean space;
a motion logic module: the motion command in response to user interface input or external signal execution mainly includes reading and writing of controller parameters and motion logic execution.
2. A glass transfer system for architectural installation according to claim 1, wherein: the human-computer interface comprises user communication, system information display, user operation instruction receiving, motion control response and user instruction execution.
3. A glass transfer system for architectural installation according to claim 1, wherein: all working files, system parameter files and error logs in the file management module are stored in an XML format, online and offline modification is supported, the parameter files comprise servo parameters, hand grasping parameters, stacking parameters, time parameters and global variable parameter files of the robot, the error logs are operation error information of the robot in the operation process, and the error information comprises error codes and error time of errors and a solution method.
4. A glass transfer system for architectural installation according to claim 1, wherein: the parameters in the parameter setting module comprise limit parameters, hand grasping parameters, position parameters, load weight and size.
5. A glass transfer system for architectural installation according to claim 1, wherein: the signal detection module collects a signal command transmitted into and transmitted out from peripheral equipment when the robot finishes a work task and feedback information of a servo motor state and a limit sensor in the robot system.
6. A glass transfer system for architectural installation according to claim 1, wherein: and in the monitoring communication module, the user is informed to decide how to process the next step.
7. A glass transfer system for architectural installation according to claim 1, wherein: the motion logic module can accurately execute user operation instructions, simultaneously can deal with various emergency conditions, and ensures the safety of equipment and personnel.
8. A glass transfer system for architectural installation according to claim 1, wherein: the transfer robot comprises two attitude adjusting joints, realizes the attitude adjustment when stacking glass in a plane and stacking glass on a single robot, the four joints are driven by an alternating current servo motor to drive an RV reducer, and a balance spring device is designed and installed at the joints of the large arm, so that the torque required to be output by the large arm servo motor is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110898612.7A CN113636348A (en) | 2021-08-05 | 2021-08-05 | Glass transfer system for building installation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110898612.7A CN113636348A (en) | 2021-08-05 | 2021-08-05 | Glass transfer system for building installation |
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| CN113636348A true CN113636348A (en) | 2021-11-12 |
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| CN202110898612.7A Withdrawn CN113636348A (en) | 2021-08-05 | 2021-08-05 | Glass transfer system for building installation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260901A (en) * | 2022-01-04 | 2022-04-01 | 珠海格力智能装备有限公司 | Control system of industrial robot |
| CN114347045A (en) * | 2022-03-22 | 2022-04-15 | 佛山智能装备技术研究院 | Two-mechanical-arm cooperative motion control method and system |
-
2021
- 2021-08-05 CN CN202110898612.7A patent/CN113636348A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114260901A (en) * | 2022-01-04 | 2022-04-01 | 珠海格力智能装备有限公司 | Control system of industrial robot |
| CN114347045A (en) * | 2022-03-22 | 2022-04-15 | 佛山智能装备技术研究院 | Two-mechanical-arm cooperative motion control method and system |
| CN114347045B (en) * | 2022-03-22 | 2022-05-20 | 佛山智能装备技术研究院 | Two-mechanical-arm cooperative motion control method and system |
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Application publication date: 20211112 |